Cleaning mechanism and cleaning robot

Abstract

The cleaning mechanism comprises a support unit, a visual detection unit, an air injection unit, a spraying unit and a wiping unit, the visual detection unit comprises a light source and a visual camera, the air injection unit comprises an air injection pipe and an air nozzle, and the spraying unit comprises a spraying pipe and a spraying nozzle. The wiping unit comprises a rotary driving part and a rotary wiping assembly. According to the utility model, the visual detection unit, the air injection unit, the mist spraying unit and the wiping unit are arranged, so that the to-be-cleaned object can be automatically positioned, the to-be-cleaned object can be air-dried or dust or foreign matters on the to-be-cleaned object can be blown away, mist can be sprayed to the to-be-cleaned object, and the to-be-cleaned object can be wiped; the effect of removing pollutants on the to-be-cleaned object is good, and the problem that the radar is low in precision due to pollution is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a cleaning mechanism and a cleaning robot. Background Technology

[0002] In many fields such as modern industry and logistics, material handling robots play a crucial role, greatly improving the efficiency and automation of goods handling. However, in the daily use environment of material handling robots, there are many factors that affect their performance, among which sensor contamination is particularly prominent.

[0003] Material handling robots rely on various sensors for precise operation and navigation, such as lidar, which is a crucial component for the robot's environmental perception. Its proper functioning is essential for the robot's safe and efficient operation. However, in actual working conditions, lidar inevitably comes into contact with contaminants such as dust, water stains, and oil.

[0004] When the viewing window of a lidar system is contaminated with dust, water stains, or oil, its ranging performance is severely affected. These contaminants adhere to the surface of the lidar's viewing window. On one hand, when the emitted light is emitted outward, the contaminants prevent it from penetrating effectively, leading to energy attenuation and limited propagation distance. On the other hand, when reflected light returns to the viewing window, the contaminants further weaken the signal strength. This bidirectional signal attenuation reduces the effective detection range of the lidar and increases the blind zone. These problems can lead to holes in the point cloud of the ground and the target. In a robot's perception system, point cloud data is crucial for understanding the environment. Holes in the point cloud result in incomplete information perceived by the vehicle, causing missing points. This not only causes the handling robot to misjudge its surroundings—for example, failing to accurately identify the location, size, and shape of obstacles—but in extreme cases, it can render the entire lidar unusable, causing the handling robot to lose its critical environmental perception capabilities. This severely impacts the safety and accuracy of handling operations, increasing the risk of collisions and other accidents. Therefore, it is urgent to address the problem of reduced accuracy caused by contamination of lidar and other sensors. Utility Model Content

[0005] Therefore, this utility model provides a cleaning mechanism and a cleaning robot, which effectively removes contaminants from the object to be cleaned.

[0006] To solve the above-mentioned technical problems, this utility model provides a cleaning mechanism, comprising:

[0007] Support unit;

[0008] A visual inspection unit is mounted on the support unit. The visual inspection unit includes a light source and a visual camera. The light source is used to illuminate the object to be cleaned, and the visual camera is used to detect the position of the object to be cleaned.

[0009] An air jet unit is mounted on the support unit. The air jet unit includes an air jet pipe and an air jet nozzle. The air jet pipe is used to deliver compressed gas, and the air jet nozzle is connected to the air jet pipe and is used to spray air onto the surface to be cleaned.

[0010] A spray unit is installed on the support unit. The spray unit includes a spray pipe and a spray nozzle. The spray pipe is used to deliver cleaning fluid, and the spray nozzle is connected to the spray pipe and is used to spray onto the surface to be cleaned.

[0011] A wiping unit is mounted on the support unit. The wiping unit includes a rotary drive and a rotary wiping assembly. The rotary drive provides rotational power to the rotary wiping assembly, which is used to wipe the surface to be cleaned.

[0012] Furthermore, the support unit includes a base and a telescopic platform. The telescopic platform is adaptively floatingly connected to the base. The floating direction of the telescopic platform is perpendicular to the direction of the rotation axis of the rotating wiping assembly. The rotating drive component is mounted on the telescopic platform.

[0013] Furthermore, a slider and a guide rod are connected to the base, the telescopic platform is connected to the slider via a slide rail, and the telescopic platform is slidably connected to the guide rod in an irremovable manner. A first spring is sleeved on the guide rod, and the first spring is elastically connected between the base and the telescopic platform.

[0014] Furthermore, the light source is a ring-shaped light source.

[0015] Furthermore, the rotating wiping assembly includes:

[0016] A cleaning head module includes a cleaning head body and a bushing. The cleaning head body is used to wipe the surface to be cleaned. The bushing is fixed to one end of the cleaning head body. The free end of the bushing is provided with a notch. The notch has a snap-fit ​​groove on its wall and a limiting groove on its wall.

[0017] The rotating shaft module includes a rotating shaft part, a sleeve part, and a second spring. One end of the rotating shaft part is connected to the rotary drive component. The sleeve part is coaxially fixed to the other end of the rotating shaft part. A snap-fit ​​post is provided on the outer side of the sleeve part. The sleeve part is coaxially connected to the inner side of the bushing part. The snap-fit ​​post is connected to the limiting groove. The second spring is built into the sleeve part. One end of the second spring abuts against the rotating shaft part, and the other end of the second spring abuts against the cleaning head body. The elastic force of the second spring forces the snap-fit ​​post to press against the limiting groove.

[0018] Furthermore, the other end of the rotating shaft is coaxially connected to a pin, and the center of the cleaning head body is provided with a socket, into which the pin is inserted.

[0019] Furthermore, it also includes a photoelectric sensor and a photoelectric contact piece. The photoelectric sensor is mounted on the support unit, and the photoelectric contact piece is mounted on the rotating shaft. The photoelectric sensor is used to detect the photoelectric contact piece.

[0020] Furthermore, the rotating wiping assembly is rotatably connected to the support unit, and the rotating drive unit drives the rotating wiping assembly to rotate via a timing wheel and a timing belt.

[0021] This utility model also provides a cleaning robot, including a mobile chassis, a robotic arm, an air pump, a spray generator, and the cleaning mechanism. The robotic arm is mounted on the mobile chassis, the air pump is mounted on the mobile chassis and connected to the air jet pipe, the spray generator is mounted on the mobile chassis and connected to the spray pipe, and the support unit of the cleaning mechanism is mounted at the end of the robotic arm.

[0022] Furthermore, it also includes a cleaning head platform, which is mounted on the mobile chassis. The cleaning head platform is provided with a positioning pin, and the cleaning head body of the cleaning mechanism can be slidably connected to the positioning pin along the axial direction. The positioning pin restricts the rotation of the cleaning head body.

[0023] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0024] 1) The cleaning mechanism described in this utility model, by setting a visual detection unit, an air jet unit, a spray unit and a wiping unit, can autonomously locate the object to be cleaned, dry or blow away dust or foreign objects on the object to be cleaned, spray the object to be cleaned and wipe the object to be cleaned. The pollutant removal effect is good and solves the problem of low radar accuracy due to contamination.

[0025] 2) The cleaning mechanism described in this utility model includes a support unit comprising a base and a telescopic platform. The telescopic platform can adaptively float relative to the base, which can prevent the risk of the rotating wiping component hitting the surface to be cleaned to a certain extent in the event of visual positioning problems.

[0026] 3) In the cleaning mechanism described in this utility model, the telescopic platform and the base are connected by a slider, a slide rail and a guide rod, making the connection more reliable;

[0027] 4) The cleaning mechanism described in this utility model uses a ring light source, which can provide uniform illumination without increasing shadows;

[0028] 5) The cleaning mechanism described in this utility model includes a cleaning head module and a rotating shaft module, and the cleaning head module and rotating shaft module are automatically and quickly disassembled and assembled using a robotic arm and a rotating drive component.

[0029] 6) The cleaning mechanism described in this utility model, by setting pins and holes, ensures that the sleeve part and the bushing part are coaxial before assembly, which facilitates the accurate assembly of the sleeve part and the bushing part.

[0030] 7) The cleaning mechanism described in this utility model, by setting photoelectric sensors and photoelectric contacts, can detect whether the rotating shaft module has returned to its initial position, which facilitates the connection between the rotating shaft module and the cleaning head module, as well as the connection between the cleaning head module and the positioning pin.

[0031] 8) The cleaning mechanism described in this utility model connects the rotating shaft module and the rotating drive component through a synchronous pulley and a synchronous belt drive. The positional relationship between the rotating drive component and the rotating shaft module is not critical, and it can absorb a certain amount of vibration to prevent overload.

[0032] 9) The cleaning robot described in this utility model can move autonomously to the required position by setting a mobile chassis and a robotic arm, and adjust the angle and position of the cleaning mechanism as needed to achieve autonomous cleaning of the laser radar of the handling robot;

[0033] 10) The cleaning robot described in this utility model, by setting a cleaning head platform, facilitates the robot to quickly and conveniently replace the cleaning head. By setting a positioning pin, it is easy to keep the cleaning head on the cleaning head platform in a set posture, which facilitates the assembly and disassembly of the bushing part and the sleeve part. Attached Figure Description

[0034] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0035] Figure 1 This is a schematic diagram of the cleaning mechanism in this utility model;

[0036] Figure 2 This is a schematic diagram showing the connection between the rotary drive component and the rotary wiping assembly in this utility model;

[0037] Figure 3 This is a connection diagram of the cleaning head module in this utility model;

[0038] Figure 4 This is a connection diagram of the rotary shaft module in this utility model;

[0039] Figure 5 This is a schematic diagram of the cleaning robot in this utility model;

[0040] Figure 6 This is a schematic diagram of the positioning hole of the cleaning head in this utility model;

[0041] Figure 7 This is a schematic diagram of the cleaning head platform in this utility model;

[0042] Figure 8 This is a schematic diagram of the positioning pin in this utility model;

[0043] Figure 9 This is a schematic diagram of the cleaning robot in operation according to this utility model.

[0044] Explanation of reference numerals in the instruction manual:

[0045] A. Cleaning Robot; 1. Cleaning Mechanism; 11. Support Unit; 111. Base; 112. Telescopic Platform; 113. Slider; 114. Guide Rod; 115. Slide Rail; 116. First Spring; 121. Light Source; 122. Vision Camera; 131. Jet Pipe; 132. Jet Nozzle; 141. Spray Pipe; 142. Spray Nozzle; 15. Wiping Unit; 151. Rotary Drive Component; 152. Cleaning Head Body; 1521. Insertion Hole; 1522. Positioning Hole; 1523. Positioning Groove; 153. Bushing 1531, Notch; 1532, Snap-fit ​​groove; 1533, Limiting groove; 154, Rotating shaft; 155, Sleeve; 1551, Snap-fit ​​post; 1552, Pin; 156, Second spring; 157, Photoelectric sensor; 158, Photoelectric contact; 159, Synchronous pulley; 150, Synchronous belt; 16, Connecting seat; 2, Mobile chassis; 3, Robotic arm; 4, Air pump; 5, Spray generator; 6, Cleaning head platform; 61, Positioning pin; 611, Positioning protrusion; B, Handling robot; 7, LiDAR. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0047] See Figures 1 to 4 As shown, this utility model provides an embodiment of a cleaning mechanism.

[0048] Support unit 11;

[0049] A visual inspection unit is installed on the support unit 11. The visual inspection unit includes a light source 121 and a visual camera 122. The light source 121 is used to illuminate the object to be cleaned, and the visual camera 122 is used to detect the position of the object to be cleaned.

[0050] A jet unit is installed on the support unit 11. The jet unit includes a jet pipe 131 and a jet nozzle 132. The jet pipe 131 is used to deliver compressed gas. The jet nozzle 132 is connected to the jet pipe 131 and is used to spray gas onto the surface to be cleaned.

[0051] A spray unit is installed on the support unit 11. The spray unit includes a spray pipe 141 and a spray nozzle 142. The spray pipe 141 is used to deliver cleaning fluid, and the spray nozzle 142 is connected to the spray pipe 141 and is used to spray onto the surface to be cleaned.

[0052] Wiping unit 15 is mounted on the support unit 11. Wiping unit 15 includes a rotary drive 151 and a rotary wiping assembly. The rotary drive 151 is used to provide rotational power. The rotary wiping assembly is connected to the rotary drive 151 and rotates with the rotary drive 151. The rotary wiping assembly is used to wipe the surface to be cleaned.

[0053] In the above description, the support unit 11 serves as the mounting base for the cleaning mechanism 1, supporting the entire cleaning mechanism 1. The support unit 11 is connected externally via the connecting seat 16. The light source 121 and the vision camera 122 cooperate to detect the position of the surface to be cleaned. The surface to be cleaned has uniquely characteristic markers. The vision camera 122 captures images and identifies the positions of these markers, calculating the relative geometric relationship between the markers and the light source 121 and the vision camera 122. The jet pipe 131 and the jet nozzle 132 cooperate to spray compressed air onto the surface to be cleaned. The compressed air is delivered to the jet nozzle 132 through the jet pipe 131. The jet nozzle 132 typically has a specific shape and structure to control and guide the gas flow, causing the gas to be ejected at a certain speed, angle, and manner. The spray pipe 141 and spray nozzle 142 cooperate to spray atomized cleaning fluid onto the surface to be cleaned. The atomized cleaning fluid is delivered to the spray nozzle 142 through the spray pipe 141. The spray nozzle 142 typically has a specific shape and structure to control and guide the flow of the mist, causing the mist to be sprayed out at a certain speed, angle, and manner. The rotary drive component 151 serves as the power source for the cleaning mechanism 1, driving the entire rotary wiping assembly to rotate, thereby wiping the surface to be cleaned. In this embodiment, the rotary drive component 151 is an electric motor. The structure of the rotary wiping assembly is described in detail below.

[0054] The cleaning mechanism 1 requires the cooperation of other mechanisms to achieve cleaning, such as the mobile chassis 2, robotic arm 3, air pump 4, and spray generator 5 mentioned later. In operation, the object to be cleaned is first autonomously located using a light source 121 and a vision camera 122. Then, a spray is applied to the object through a spray pipe 141 and a spray nozzle 142. Next, a rotating drive unit 151 and a rotating wiping assembly wipe the object. Finally, the object is dried using an air jet pipe 131 and an air jet nozzle 132. This final removal of contaminants from the object solves the problem of low radar accuracy due to contamination. In some cases, the air jet pipe 131 and air jet nozzle 132 can also be used to blow away dust or foreign objects from the object.

[0055] In this embodiment, the support unit 11 includes a base 111 and a telescopic platform 112. The telescopic platform 112 is adaptively and floatingly connected to the base 111. The floating direction of the telescopic platform 112 is perpendicular to the direction of the rotation axis of the rotating wiping assembly. The rotating drive 151 is mounted on the telescopic platform 112.

[0056] As described above, the telescopic platform 112 can automatically adjust and maintain a suitable position or state according to changes in the surrounding environment or its own condition, achieving elastic contact between the rotating wiping component and the surface to be cleaned. When the rotating wiping component touches the surface to be cleaned, it can adaptively adjust the contact force between the two to prevent excessive contact force and damage to both the rotating wiping component and the surface to be cleaned. In the event of visual positioning problems, it can mitigate the risk of the rotating wiping component colliding with the surface to be cleaned to a certain extent.

[0057] In this embodiment, the base 111 is connected to a slider 113 and a guide rod 114. The telescopic platform 112 is slidably connected to the slider 113 via a slide rail 115. The telescopic platform 112 is also slidably connected to the guide rod 114 in a non-detachable manner. A first spring 116 is sleeved on the guide rod 114. The first spring 116 is elastically connected between the base 111 and the telescopic platform 112.

[0058] A sliding hole is provided on the telescopic platform 112, through which the guide rod 114 passes. A limiting head is provided at the end of the guide rod 114 away from the base 111. The size of the limiting head is larger than the size of the sliding hole, so that the telescopic platform 112 will not detach from the guide rod 114. Both the slide rail 115 and the guide rod 114 are used to guide and support the movement of the telescopic platform 112. When the rotating wiping assembly is not in contact with the surface to be cleaned, the deformation of the first spring 116 is small, and the elastic force of the first spring 116 keeps the rotating wiping assembly in a stable position. When the rotating wiping assembly contacts the surface to be cleaned, the rotating wiping assembly is subjected to the reaction force of the surface to be cleaned, overcoming the elastic force of the second spring 156 and retracting. The deformation of the second spring 156 increases, ensuring that the contact force between the rotating wiping assembly and the surface to be cleaned is not too large.

[0059] In this embodiment, the light source 121 is a ring light source.

[0060] Ring light sources are typically mounted around the lens of a vision camera. The ring-shaped light source provides uniform illumination without increasing shadows.

[0061] In this embodiment, the above-mentioned rotating wiping assembly includes:

[0062] The cleaning head module includes a cleaning head body 152 and a bushing part 153. The cleaning head body 152 is used to wipe the surface to be cleaned. The bushing part 153 is fixed to one end of the cleaning head body 152 with a bushing. The free end of the bushing part 153 is provided with a notch 1531. The groove wall of the notch 1531 is provided with a snap-fit ​​groove 1532. The groove wall of the snap-fit ​​groove 1532 is provided with a limiting groove 1533.

[0063] The rotating shaft module includes a rotating shaft portion 154, a sleeve portion 155, and a second spring 156. One end of the rotating shaft portion 154 is connected to the rotary drive component 151. The sleeve portion 155 is coaxially fixed to the other end of the rotating shaft portion 154. A locking post 1551 is provided on the outer side of the sleeve portion 155. The sleeve portion 155 is coaxially connected to the inner side of the bushing portion 153. The locking post 1551 is connected to the limiting groove 1533. The second spring 156 is built into the sleeve portion 155. One end of the second spring 156 abuts against the rotating shaft portion 154, and the other end of the second spring 156 abuts against the cleaning head body 152. The elastic force of the second spring 156 forces the locking post 1551 to press against the limiting groove 1533.

[0064] In the above description, the notch 1531 is recessed on the free end face of the bushing portion 153. The notch 1531 has a first groove wall in the circumferential direction of the bushing portion 153. The snap-fit ​​groove 1532 is recessed on the first groove wall of the notch 1531. The snap-fit ​​groove 1532 has a second groove wall in the axial direction of the bushing portion 153. The limiting groove 1533 is provided on the second groove wall of the snap-fit ​​groove 1532 near the free end of the bushing portion 153. The limiting groove 1533 matches the size of the snap-fit ​​post 1551. The snap-fit ​​post 1551 abuts against the limiting groove 1533. The bottom and the groove wall of the limiting groove 1533 are in contact with the snap-fit ​​post 1551. In this embodiment, the notch 1531 and the snap-fit ​​groove 1532 are connected to form an L-shape, with one part extending axially along the bushing portion 153 and the other part extending circumferentially along the bushing portion 153. The snap-fit ​​post 1551 extends radially along the sleeve portion 155 and passes through the snap-fit ​​groove 1532. For force balance, both the snap-fit ​​groove 1532 and the snap-fit ​​post 1551 should be provided in at least two evenly distributed around the central axis of the bushing portion 153 and the sleeve portion 155. In this embodiment, both the snap-fit ​​groove 1532 and the snap-fit ​​post 1551 are provided in two. The second spring 156 mainly provides elastic force. When the bushing portion 153 and the sleeve portion 155 are assembled, due to the action of external force, the deformation of the second spring 156 increases, and the snap-fit ​​post 1551 enters the limiting groove 1533. After the snap-fit ​​post 1551 enters the limiting groove 1533, the external force is removed, and the deformation of the second spring 156 decreases, but it is still in a deformed state. At this time, the elastic force of the second spring 156 allows the snap-fit ​​post 1551 to press against the limiting groove 1533. In this embodiment, the second spring 156 is a compression spring. When the bushing portion 153 and the sleeve portion 155 are disassembled, one end of the second spring 156 is connected to the rotating shaft portion 154 and partially located inside the sleeve portion. After the bushing portion 153 and the sleeve portion 155 are engaged, one end of the second spring 156 abuts against the end of the rotating shaft portion 154, and the other end abuts against the end of the cleaning head body 152.

[0065] The outer surface of the cleaning head body 152 is curved, with a large area, and can adapt to various shapes of surfaces to be cleaned, making it suitable as the working surface of the cleaning head body 152 and the surface to be cleaned. The cleaning head is equipped with multiple cleaning heads, allowing for interchangeability depending on the usage scenario or cleaning process. For example, for surfaces requiring wiping water stains or reaching into crevices and holes, a sponge cleaning head or a non-woven fabric cleaning head can be selected; for surfaces requiring strong cleaning, a brush cleaning head can be selected.

[0066] In the above technical solution, by setting up a bushing part 153, a sleeve part 155 and a second spring 156, the automated and rapid assembly and disassembly of the bushing part 153 and the sleeve part 155 can be achieved by using the robotic arm 3 and the rotary drive component 151 described later.

[0067] In this embodiment, the other end of the aforementioned rotating shaft 154 is coaxially connected to a pin 1552, and the center of the aforementioned cleaning head body 152 is provided with a socket 1521, into which the aforementioned pin 1552 is inserted.

[0068] During the connection process between the sleeve portion 155 and the bushing portion 153, the pin 1552 is first inserted into the insertion hole 1521, thereby ensuring that the sleeve portion 155 and the bushing portion 153 are coaxial. In this embodiment, the second spring 156 is sleeved on the outside of the pin 1552, and the free end of the pin 1552 is a tapered head, which facilitates the pin 1552 entering the insertion hole 1521.

[0069] In this embodiment, a photoelectric sensor 157 and a photoelectric contact 158 ​​are also included. The photoelectric sensor 157 is mounted on the support unit 11, and the photoelectric contact 158 ​​is mounted on the rotating shaft 154. The photoelectric sensor 157 is used to detect the photoelectric contact 158.

[0070] When the sleeve portion 155 and the bushing portion 153 are quickly connected, they need to move relative to each other axially under a set position and angle relationship. In this embodiment, when the sleeve portion 155 and the bushing portion 153 are quickly connected, the rotating shaft portion 154 needs to be in the initial position. When the rotating shaft portion 154 is in the initial position, the photoelectric sensor 157 can detect the photoelectric contact piece 158. Whether the photoelectric sensor 157 can detect the photoelectric contact piece 158 determines whether the rotating shaft portion 154 is in the initial position, so that the sleeve portion 155 and the bushing portion 153 can be docked and the cleaning head body 152 can be docked with the positioning pin mentioned below.

[0071] In this embodiment, the rotating wiping assembly is rotatably connected to the support unit, and the rotating drive unit drives the rotating wiping assembly to rotate via the synchronous wheel 159 and the synchronous belt 150.

[0072] The aforementioned rotary drive component 151 and shaft 154 are driven by belt drive, a common mechanical transmission method. On one hand, the center distance between the two synchronous pulleys 159 can be adjusted within a wide range. The positional requirements for the rotary drive component 151 and shaft 154 are not very high. On the other hand, the synchronous belt 150 itself has a certain degree of elasticity. When the motor speed is uneven or the load changes abruptly, the belt can absorb these vibrations and impacts to a certain extent. When the transmitted load exceeds the limit of the friction between the synchronous belt 150 and the synchronous pulley 159, the synchronous belt 150 will slip on the synchronous pulley 159, effectively preventing damage to the rotary wiping assembly due to overload.

[0073] See Figures 5 to 9 This invention provides an embodiment of a cleaning robot.

[0074] The cleaning robot A includes a mobile chassis 2, a robotic arm 3, an air pump 4, a spray generator 5, and the aforementioned cleaning mechanism 1. The robotic arm 3 is mounted on the mobile chassis 2, the air pump 4 is mounted on the mobile chassis 2 and connected to the air jet pipe 131, the spray generator 5 is mounted on the mobile chassis 2 and connected to the spray pipe 141, and the support unit of the cleaning mechanism 1 is mounted at the end of the robotic arm 3.

[0075] The mobile chassis 2 is the foundation of the entire cleaning robot, enabling it to move to different working positions. To achieve autonomous movement, the mobile chassis 2 can utilize autonomous robot chassis such as AGVs or AMRs, allowing for autonomous movement to different locations. The robotic arm 3 is a mechanical device that mimics the function of a human arm, capable of performing various complex movements and operations in three-dimensional space. The control system sends commands to the drive system, ultimately causing the end effector to reach the designated position and complete the predetermined operation. The robotic arm 3 employs a multi-joint structure to achieve multi-degree-of-freedom control; generally, the robotic arm can be designed with 6 degrees of freedom to achieve multi-position and multi-angle control of the cleaning mechanism. The air pump 4 converts kinetic energy into gas pressure energy. The spray generator 5 converts liquid into tiny particulate droplets and sprays them out.

[0076] In this embodiment, a cleaning head platform 6 is also included. The cleaning head platform 6 is disposed on the mobile chassis 2. The cleaning head platform 6 is provided with a positioning pin 61. The cleaning head body 152 of the cleaning mechanism 1 can be slidably connected to the positioning pin 61 along the axial direction. The positioning pin 61 restricts the rotation of the cleaning head body 152.

[0077] Since the cleaning head body 152 is a consumable item, it will gradually wear down, lose its original function, and become dirty after repeated use, absorbing dust and stains during wiping. Furthermore, the cleaning head will gradually wear down and eventually lose its cleaning ability. Therefore, it needs to be replaced frequently. By setting up a cleaning head platform 6 on the mobile chassis 2, multiple cleaning head bodies 152 can be stored on the cleaning head platform 6, allowing the robot to replace the cleaning head conveniently, quickly, and easily.

[0078] The outer side of the aforementioned positioning pin 61 is provided with a positioning protrusion 611, and the other end of the aforementioned cleaning head body 152 is provided with a positioning hole 1522. The side wall of the aforementioned positioning hole 1522 is provided with a positioning groove 1523. The aforementioned positioning pin 61 is inserted into the aforementioned positioning hole 1522, the aforementioned positioning protrusion 611 and the aforementioned positioning groove 1523 are in a concave-convex fit, the aforementioned positioning pin 61 and the aforementioned positioning hole 1522 are in a fit, the aforementioned positioning protrusion 611 and the aforementioned positioning groove 1523 can slide along the axial direction of the aforementioned positioning pin 61 and mutually restrict rotation. By holding the cleaning head body 152 at a set angle, the robotic arm 3 only needs to control the angle of the rotating shaft 154 to make the position and angle relationship between the rotating shaft 154 and the cleaning head body 152 meet the requirements of quick connection.

[0079] The assembly process of bushing 153 and sleeve 155 is described below:

[0080] First, the cleaning head body 152 is positioned by the positioning pin 61, which ensures that the cleaning head body 152 can be axially disengaged from the positioning pin 61, but cannot rotate relative to the positioning pin 61.

[0081] Then, the robotic arm 3 drives the sleeve part 155 to enter the inner hole of the bushing part 153 axially. During this process, the snap-fit ​​post 1551 enters the notch groove 1531, and the second spring 156 deforms.

[0082] Subsequently, the rotary drive 151 drives the rotating shaft 154 to rotate in the forward direction. During this process, the sleeve 155 rotates relative to the bushing 153, and at the same time, the snap-fit ​​post 1551 enters the snap-fit ​​groove 1532.

[0083] Next, the robotic arm 3 moves the cleaning head body 152 upward. During this process, the deformation of the second spring 156 decreases, and the elastic force of the second spring 156 forces the locking post 1551 to press against the side wall of the locking groove 1532.

[0084] The disassembly process of bushing 153 and sleeve 155 is described below:

[0085] First, the robotic arm 3 places the cleaning head body 152 on the positioning pin 61, which ensures that the cleaning head body 152 can be axially assembled on the positioning pin 61, and that the cleaning head cannot rotate relative to the positioning pin 61 after being assembled on the positioning pin 61.

[0086] Then, the rotary drive 151 drives the rotating shaft 154 to rotate in the opposite direction. During this process, the sleeve 155 rotates relative to the bushing 153. At the same time, the snap-fit ​​post 1551 disengages from the snap-fit ​​groove 1532 and returns to the notch groove 1531.

[0087] Then, the robotic arm 3 drives the sleeve part 155 to detach from the bushing part 153 along the axial direction, completing the disassembly of the rotating shaft part 154 and the cleaning head body 152.

[0088] The following example illustrates the working process of a cleaning robot by cleaning the lidar 7 of a handling robot. The surface of the lidar 7 is the surface to be cleaned.

[0089] During the cleaning process, the mobile chassis 2 is first moved to the vicinity of the transport robot B. Then, the position and posture of the cleaning mechanism 1 are adjusted by the robotic arm 3 so that the cleaning head body 152 comes into contact with the lidar 7 on the transport robot. After that, the rotary drive 151 drives the cleaning head body 152 to rotate, so that the cleaning head body 152 wipes the surface to be cleaned.

[0090] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A cleaning mechanism, characterized in that, include: Support unit; A visual inspection unit is mounted on the support unit. The visual inspection unit includes a light source and a visual camera. The light source is used to illuminate the object to be cleaned, and the visual camera is used to detect the position of the object to be cleaned. An air jet unit is mounted on the support unit. The air jet unit includes an air jet pipe and an air jet nozzle. The air jet pipe is used to deliver compressed gas, and the air jet nozzle is connected to the air jet pipe and is used to spray air onto the surface to be cleaned. A spray unit is installed on the support unit. The spray unit includes a spray pipe and a spray nozzle. The spray pipe is used to deliver cleaning fluid, and the spray nozzle is connected to the spray pipe and is used to spray onto the surface to be cleaned. A wiping unit is mounted on the support unit. The wiping unit includes a rotary drive and a rotary wiping assembly. The rotary drive provides rotational power to the rotary wiping assembly, which is used to wipe the surface to be cleaned.

2. The cleaning mechanism according to claim 1, characterized in that, The support unit includes a base and a telescopic platform. The telescopic platform is adaptively floatingly connected to the base. The floating direction of the telescopic platform is perpendicular to the direction of the rotation axis of the rotating wiping assembly. The rotating drive component is mounted on the telescopic platform.

3. The cleaning mechanism according to claim 2, characterized in that, The base is connected to a slider and a guide rod. The telescopic platform is connected to the slider via a slide rail, and the telescopic platform is slidably connected to the guide rod in an inseparable manner. A first spring is sleeved on the guide rod, and the first spring is elastically connected between the base and the telescopic platform.

4. The cleaning mechanism according to claim 1, characterized in that, The light source is a ring light source.

5. The cleaning mechanism according to claim 1, characterized in that, The rotating wiping assembly includes: A cleaning head module includes a cleaning head body and a bushing. The cleaning head body is used to wipe the surface to be cleaned. The bushing is fixed to one end of the cleaning head body. The free end of the bushing is provided with a notch. The notch has a snap-fit ​​groove on its wall and a limiting groove on its wall. The rotating shaft module includes a rotating shaft part, a sleeve part, and a second spring. One end of the rotating shaft part is connected to the rotary drive component. The sleeve part is coaxially fixed to the other end of the rotating shaft part. A snap-fit ​​post is provided on the outer side of the sleeve part. The sleeve part is coaxially connected to the inner side of the bushing part. The snap-fit ​​post is connected to the limiting groove. The second spring is built into the sleeve part. One end of the second spring abuts against the rotating shaft part, and the other end of the second spring abuts against the cleaning head body. The elastic force of the second spring forces the snap-fit ​​post to press against the limiting groove.

6. The cleaning mechanism according to claim 5, characterized in that, The other end of the rotating shaft is coaxially connected to a pin, and the center of the cleaning head body is provided with a socket, into which the pin is inserted.

7. The cleaning mechanism according to claim 5, characterized in that, It also includes a photoelectric sensor and a photoelectric contact piece. The photoelectric sensor is mounted on the support unit, and the photoelectric contact piece is mounted on the rotating shaft. The photoelectric sensor is used to detect the photoelectric contact piece.

8. The cleaning mechanism according to claim 1, characterized in that, The rotating wiping assembly is rotatably connected to the support unit, and the rotating drive unit drives the rotating wiping assembly to rotate via a synchronous pulley and a synchronous belt.

9. A cleaning robot, characterized in that, The device includes a mobile chassis, a robotic arm, an air pump, a spray generator, and a cleaning mechanism as described in any one of claims 1 to 8. The robotic arm is mounted on the mobile chassis, the air pump is mounted on the mobile chassis and connected to the air jet pipe, the spray generator is mounted on the mobile chassis and connected to the spray pipe, and a support unit of the cleaning mechanism is mounted at the end of the robotic arm.

10. The cleaning robot according to claim 9, characterized in that, It also includes a cleaning head platform, which is mounted on the mobile chassis. The cleaning head platform is provided with a positioning pin. The cleaning head body of the cleaning mechanism of claim 5 can be slidably connected to the positioning pin along the axial direction. The positioning pin restricts the rotation of the cleaning head body.

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