Explosion-proof scissor lift cleaning cart

Abstract

The utility model discloses a kind of explosion-proof scissor fork cleaning lift truck, explosion-proof scissor fork cleaning lift truck includes lift truck body, mechanical arm, cleaning module and navigation module, navigation module includes magnetic stripe and vehicle magnetic sensor, magnetic stripe is embedded in ground, vehicle magnetic sensor is installed on mobile chassis, control module includes first controller, second controller and third controller, first controller is used to obtain the deviation data of mobile chassis relative to magnetic stripe that vehicle magnetic sensor collects, to control the activity direction of mobile chassis, second controller is used to control mechanical arm activity, to control cleaning module cleaning operation by controlling mechanical arm, third controller is used to control lift platform scissor fork lifting structure to carry out lifting action.According to the explosion-proof scissor fork cleaning lift truck of the utility model, cleaning effect is good, efficiency is high, flexibility is strong, can improve the working efficiency of explosion-proof scissor fork cleaning lift truck by control module, so that each structural component is efficiently active.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to an explosion-proof scissor lift cleaning vehicle. Background Technology

[0002] In factory workshops, frequent cleaning is required to ensure that the workshop is not affected by impurities in the environment. However, factory workshops are generally high and the factory environment is complex. The cleaning equipment in the relevant technology is difficult to meet the cleaning needs, so manual intervention is required, which inevitably affects the cleaning efficiency. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide an explosion-proof scissor lift cleaning vehicle, which has good cleaning effect, high efficiency, and strong flexibility.

[0004] According to an embodiment of the present invention, the explosion-proof scissor lift cleaning vehicle includes: a vehicle body, the vehicle body comprising a mobile chassis and a scissor lifting structure, the lower end of the scissor lifting structure being mounted on the mobile chassis, the upper end of the scissor lifting structure having a mounting portion, and the scissor lifting structure being adaptable to folding or extending so that the mounting portion can move in the vertical direction; a robotic arm, one end of which is connected to the mounting portion, and the other end of which is provided with a connector; a cleaning module, the cleaning module being detachably connected to the connector; and a navigation module. The navigation module includes a magnetic strip and an on-board magnetic sensor. The magnetic strip is embedded in the ground, and the on-board magnetic sensor is installed on the mobile chassis. The control module includes a first controller, a second controller, and a third controller. The first controller is used to acquire the deviation data of the mobile chassis relative to the magnetic strip collected by the on-board magnetic sensor to control the movement direction of the mobile chassis. The second controller is used to control the movement of the robotic arm to control the cleaning module's cleaning operation. The third controller is used to control the lifting platform's scissor lift structure to perform lifting and lowering actions.

[0005] According to the embodiments of the present invention, the explosion-proof scissor lift cleaning vehicle can better set the movement route of the explosion-proof scissor lift cleaning vehicle by setting a navigation module. By setting the lift vehicle body and the mechanical arm, the cleaning module can be better moved to the position to be cleaned for cleaning operations. The cleaning effect is good and the flexibility is strong. The control module can improve the working efficiency of the explosion-proof scissor lift cleaning vehicle, so that the various structural components can move efficiently.

[0006] In addition, the explosion-proof scissor lift cleaning vehicle according to this utility model may also have the following additional technical features:

[0007] In some embodiments of this utility model, the lifting platform scissor lift structure includes: a drive assembly and a scissor fork, the drive assembly being used to drive the scissor fork to fold or extend, and the upper end of the scissor fork having the mounting portion.

[0008] In some embodiments of this invention, the surface of the scissor fork is coated with an antistatic coating.

[0009] In some embodiments of this utility model, the robotic arm is a six-axis robotic arm, and a torque sensor is provided inside the joint of the six-axis robotic arm.

[0010] In some embodiments of this utility model, the mobile chassis is provided with a contact copper brush, one end of which is connected to the mobile chassis and the other end extends toward the ground and contacts the ground.

[0011] In some embodiments of this utility model, the mobile chassis is provided with an ion generator, which includes a housing, an ion plate, and a connector. One end of the housing is provided with a connector, which is electrically connected to the ion plate. The connector is plugged into and fixed to the connector, which is used to connect the connector to a power source.

[0012] In some embodiments of this utility model, the explosion-proof scissor lift cleaning vehicle further includes at least two gas sensors, both of which are used to obtain the concentration of silicon powder or the oxygen content.

[0013] In some embodiments of this utility model, the mobile chassis includes tracks, the surface of which is provided with adsorption holes, and the inside of which is provided with adsorption channels, the adsorption channels communicating with the adsorption holes. A vacuum motor is provided on the mobile chassis, and the vacuum motor communicating with the adsorption channels.

[0014] In some embodiments of this utility model, the pore diameter D of the adsorption pore satisfies: 0.3mm≤D≤0.8mm.

[0015] In some embodiments of this utility model, the explosion-proof scissor lift cleaning vehicle further includes: an image acquisition module, which is used to acquire images of the cleaning area after cleaning.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a structural schematic diagram of the explosion-proof scissor lift cleaning vehicle according to an embodiment of the present utility model.

[0019] Figure 2 This is a schematic diagram of the track plate and adsorption holes according to an embodiment of the present utility model.

[0020] Figure label:

[0021] 100. Explosion-proof scissor lift cleaning truck;

[0022] 10. Lifting vehicle body; 1. Mobile chassis; 11. Tracks; 101. Track plates; 111. Suction holes; 2. Lifting platform scissor lift structure; 21. Drive assembly; 22. Scissor fork; 23. Mounting unit;

[0023] 20. Robotic arm; 201. Connector; 30. Cleaning module; 41. Magnetic strip; 50. Image acquisition module; 60. Fall protection net. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] The following is for reference. Figures 1-2 Description of an explosion-proof scissor lift cleaning vehicle 100 according to an embodiment of the present utility model.

[0028] like Figure 1 and Figure 2 As shown, the explosion-proof scissor lift cleaning vehicle 100 according to an embodiment of the present invention includes a lift vehicle body 10, a robotic arm 20, a cleaning module 30, and a navigation module. The lift vehicle body 10 includes a mobile chassis 1 and a lifting platform scissor lift structure 2. The lower end of the lifting platform scissor lift structure 2 is mounted on the mobile chassis 1, and the upper end of the lifting platform scissor lift structure 2 has a mounting part 23. The lifting platform scissor lift structure 2 is adapted to be folded or extended so that the mounting part 23 can move in the vertical direction. One end of the robotic arm 20 is connected to the mounting part 23, and the other end of the robotic arm 20 is provided with a connector 201. The cleaning module 30 is detachably connected to the connector 201.

[0029] In other words, the mobile chassis 1 can move on the ground, and the lifting platform scissor lift structure 2 can extend or retract in the vertical direction. Therefore, during the operation of the explosion-proof scissor lift cleaning vehicle 100, it can be moved to any position effectively. After the mobile chassis 1 has moved to any position, the lifting platform scissor lift structure 2 can extend or retract in the vertical direction, thereby adjusting the cleaning height of the cleaning module 30 and thus performing the cleaning action more effectively. The robotic arm 20 can also move freely, further improving the flexibility of the cleaning module 30. For example, the explosion-proof scissor lift cleaning vehicle 100 can be used in workshops to clean the walls and ceilings. The cleaning module 30 can move flexibly within the workshop, thus effectively cleaning the workshop.

[0030] Furthermore, the navigation module includes a magnetic strip 41 and an on-board magnetic sensor. The magnetic strip 41 is pre-embedded in the ground, and the on-board magnetic sensor is installed on the mobile chassis 1. That is, during the movement of the mobile chassis 1, it can move along the arrangement direction of the magnetic strip 41. In other words, the magnetic strip 41 is pre-embedded in the ground and generates a specific magnetic field. The on-board magnetic sensor installed on the mobile chassis 1 can sense this magnetic field in real time. By analyzing the position, direction, and path information of the magnetic strip 41, and combining it with the sensor's positioning data, the deviation between the vehicle's current position and the target path is calculated, and then fed back to the control system to control the steering, speed, and other actuators of the mobile chassis 1, so that the vehicle can travel accurately along the path laid by the magnetic strip 41, thereby achieving precise navigation.

[0031] More specifically, the control module includes a first controller, a second controller, and a third controller. The first controller is used to acquire the deviation data of the mobile chassis 1 relative to the magnetic strip 41 collected by the vehicle-mounted magnetic sensor to control the direction of movement of the mobile chassis 1. The second controller is used to control the movement of the robotic arm 20 to control the cleaning module 30 for cleaning operations. The third controller is used to control the lifting platform scissor lift structure 2 to perform lifting and lowering actions. In other words, the first controller is the actuator that controls the steering, speed, etc. of the mobile chassis 1. During the operation of the explosion-proof scissor lift cleaning vehicle 100, the first controller can control the movement of the mobile chassis 1 to control the position of the cleaning module 30 in the horizontal direction. The third controller can control the lifting and lowering actions of the lifting platform scissor lift structure 2 to control the position of the cleaning module 30 in the vertical direction. The second controller can control the movement of the robotic arm 20, which can significantly increase the flexibility of the cleaning module 30. Therefore, when the explosion-proof scissor lift cleaning vehicle 100 performs cleaning operations, it can perform cleaning more efficiently and with good flexibility.

[0032] According to the embodiment of this utility model, the explosion-proof scissor lift cleaning vehicle 100 can better set the movement route of the explosion-proof scissor lift cleaning vehicle 100 by setting a navigation module. By setting the lift vehicle body 10 and the robotic arm 20, the cleaning module 30 can be better moved to the position to be cleaned for cleaning operations. The cleaning effect is good and the flexibility is strong. The working efficiency of the explosion-proof scissor lift cleaning vehicle 100 can be improved by the control module, so that the various structural components can move efficiently.

[0033] In a specific example, the explosion-proof scissor lift cleaning vehicle 100 can not only be equipped with a navigation module that uses magnetic strips 41 and magnetic sensors, but also with a laser radar scanning module, i.e., dual-mode positioning technology. Specifically, high-precision magnetic strips 41 are pre-embedded in the workshop floor at 0.5m intervals, and paired with an on-board magnetic sensor with an accuracy of ±1mm to ensure the lift vehicle follows the track. At the same time, it is equipped with a SLAM laser radar with a horizontal field of view of 270° and a detection distance of 30m to scan the surrounding environment in real time and build a map. It can promptly detect deviation problems caused by ground deformation, aging of magnetic strips 41, etc., and dynamically correct the navigation error of magnetic strips 41, effectively improving the navigation stability and positioning accuracy of the explosion-proof scissor lift cleaning vehicle 100 in complex workshop environments.

[0034] For example, the lidar scanning module may include a SLAM lidar. SLAM (Simultaneous Localization and Mapping) lidar senses the environment by emitting laser beams and receiving reflected signals, enabling functions such as dynamically correcting magnetic stripe 41 offset errors. During operation, the lidar emits laser beams into the surrounding space at high speed. The laser beams are reflected back after encountering objects and captured by the receiver. By calculating the time difference between laser emission and reception, combined with the principle of the constant speed of light, the distance between the lidar and the object can be accurately measured. Its 270° horizontal field of view allows it to scan a large area of ​​the environment, with a detection range of up to 30m, acquiring three-dimensional point cloud data of the surrounding environment.

[0035] Based on this data, the SLAM algorithm processes and analyzes it in real time. On the one hand, it determines its position on the map based on the constructed map and the currently scanned environmental features; on the other hand, it continuously updates and improves the environmental map. When the magnetic strip 41 shifts due to ground deformation, aging, or other reasons, the map data constructed by the LiDAR differs from the preset path of the magnetic strip 41. Through comparative analysis, the system can calculate the specific value of the magnetic strip 41 shift and then dynamically correct the magnetic strip 41 navigation to ensure that the lifting vehicle travels along the accurate path.

[0036] For example, the path planning algorithm combines Boustrophedon full-coverage path with intelligent obstacle avoidance strategy to improve cleaning efficiency and safety. Based on a U-shaped path planning, it can systematically and comprehensively cover the cleaning area, ensuring that objects such as wall panels are cleaned. Simultaneously, the algorithm can dynamically adjust the posture of the robotic arm 20 in real time according to changes in wall panel height, ensuring the accuracy and effectiveness of cleaning operations. When encountering obstacles, once the LiDAR detects an obstacle ≥5cm in size, it triggers a three-level obstacle avoidance process: first, it controls the lifting vehicle to decelerate, reducing the risk of collision; if deceleration still fails to avoid the obstacle, it plans an alternative route and flexibly changes the direction of travel; when the obstacle is difficult to bypass, it promptly suspends operation to avoid collision. This algorithm balances cleaning coverage, operational accuracy, and safety protection, effectively improving the autonomous operation capability of the explosion-proof scissor lift cleaning vehicle 100 in complex environments.

[0037] In some embodiments of this utility model, such as Figure 1 As shown, the lifting platform scissor lift structure 2 includes: a drive assembly 21 and a scissor fork 22. The drive assembly 21 is used to drive the scissor fork 22 to fold or extend. The upper end of the scissor fork 22 has a mounting part 23.

[0038] For example, the drive assembly 21 can be composed of a motor, hydraulic pump, or lead screw nut, and is connected to the scissor fork 22 via a transmission component. The scissor fork 22 consists of multiple sets of cross-hinged linkages, which can rotate flexibly around the hinge points. The upper mounting part 23 is used to support equipment or goods. During operation, the drive assembly 21 is activated. If hydraulically driven, the hydraulic oil pushes the piston rod of the hydraulic cylinder, causing the scissor fork 22 to extend. Under the action of the linkage mechanism, the mounting part 23 rises smoothly. If electrically driven by a lead screw, the motor drives the lead screw to rotate, and the lead screw nut moves along the lead screw, causing the scissor fork 22 to unfold or fold, achieving lifting and lowering. When lowering, the drive assembly 21 operates in the opposite direction, and the scissor fork 22 folds and retracts. The structure is compact, occupies little space, and is suitable for various scenarios; the movement is smooth, the linkage mechanism of the scissor fork 22 distributes the load pressure, reduces swaying, and has a strong load-bearing capacity. By reasonably designing the number of sets and materials of the scissor fork 22, it can bear heavy items; the operation is simple, which can improve work efficiency.

[0039] Optionally, the explosion-proof scissor lift cleaning vehicle 100 can employ a dual braking system, such as a dual guarantee of an electromagnetic brake and a mechanical ratchet lock. For example, the electromagnetic brake can be installed between the drive assembly 21 and the transmission component. Thus, when the drive assembly 21 drives the scissor fork 22 to rise and fall via the transmission component, the electromagnetic brake can directly brake the output shaft of the drive assembly 21 or the transmission component, effectively cutting off power transmission and preventing the scissor fork 22 from continuing to move.

[0040] A mechanical ratchet locking device can be installed at critical transmission points of the scissor fork 22, such as near the connecting shaft of the scissor arm or the drive chain. Its position must ensure that it can promptly lock the corresponding transmission components in case the scissor mechanism unexpectedly tends to slide downwards, preventing the scissor arm from extending or retracting further, thereby avoiding platform descent.

[0041] In some embodiments of this invention, the surface of the scissor fork 22 is coated with an antistatic coating.

[0042] In other words, applying an anti-static coating to the surface of the scissor fork 22 effectively reduces the accumulation of static electricity caused by friction, preventing the static electricity from attracting dust, particles, and other impurities, ensuring the clean operation of the lifting platform, preventing interference with electronic equipment due to static electricity, improving the safety and reliability of lifting operations, extending the service life of the equipment, and reducing component wear caused by static electricity. Furthermore, it can reduce the risk of dangerous accidents such as fires and explosions caused by static electricity, providing a safer working environment for operators.

[0043] Common types of antistatic coatings include conductive polymer coatings, which utilize the conjugated π electron system in conductive polymers to allow charges to move freely within the coating, thus dissipating the charge; and coatings with added conductive fillers, such as carbon nanotubes or metal powders, which form a conductive network by interconnecting the conductive fillers, guiding static electricity to the ground.

[0044] In some embodiments of this utility model, the robotic arm 20 is a six-axis robotic arm, and torque sensors are installed in the joints of the six-axis robotic arm. That is, the six-axis robotic arm consists of six independently rotatable joints, each of which is equipped with a torque sensor, which can monitor and precisely control the contact force of 0.1N-10N in real time, avoiding damage caused by improper force when cleaning wall panels and other tasks; through the coordinated movement of the six degrees of freedom, the robotic arm 20 can complete complex trajectory movements in three-dimensional space, flexibly grasping, transporting, assembling or cleaning objects; its end effector can be replaced according to different task requirements, which can effectively improve production efficiency and work quality.

[0045] More specifically, torque sensors are installed within the joints of the six-axis robotic arm 20, enabling precise sensing of torque changes experienced by each joint during operation. Real-time torque monitoring converts this torque into contact force data, allowing for adjustable contact force control from 0.1N to 10N. When cleaning wall panels, this prevents over-cleaning due to excessive force, effectively preventing damage and protecting the integrity of the cleaned surface. Simultaneously, this function enhances the flexibility and adaptability of the robotic arm 20, allowing it to clean wall panels of varying materials and fragility. This improves the robotic arm 20's accuracy and reliability, expands its application scenarios, and reduces maintenance costs and resource waste caused by improper operation.

[0046] For example, the six-axis robotic arm has a load capacity of ≥5kg, which can meet the load-bearing requirements of various cleaning modules 30. Its ±0.1mm repeatability ensures accurate high-precision operations, guaranteeing error-free movement and effectively improving product quality and production efficiency. Simultaneously, the six-axis design provides six degrees of freedom, allowing for flexible movement in three-dimensional space, adapting to complex work scenarios and task requirements, and enabling multi-angle and multi-directional operations, providing reliable support for industrial intelligent upgrading.

[0047] For example, the cleaning module 30 may include an ultrasonic atomizing cleaning head, a rotary brush head, and a vacuum suction head. These three heads can be interchangeably mounted on the connector 201 of the robotic arm 20. Specifically, the ultrasonic atomizing cleaning head uses high-frequency oscillation to atomize the cleaning liquid into tiny particles with a diameter of 50-200 μm, allowing them to fully penetrate the stains. Combined with a negative pressure recovery system, it uses strong suction to recover cleaning waste liquid and suspended particles, achieving a recovery rate of ≥95%, thus avoiding secondary pollution and recycling the cleaning liquid. The rotary brush head uses carbon fiber bristles (surface resistance 10^6 Ω) to reduce electrostatic adsorption. Its steplessly adjustable speed of 100-500 rpm allows for flexible adjustment of cleaning intensity based on the stubbornness of the stains, effectively removing stubborn dirt. The vacuum suction head uses an H14-grade HEPA filter with high filtration efficiency, effectively intercepting fine particles. An integrated differential pressure sensor monitors filter clogging in real time, promptly reminding the user to replace the filter when the resistance reaches an alarm threshold of ≥500 Pa, ensuring effective adsorption. These modules complement each other and can be flexibly selected according to different cleaning scenarios and needs, which not only improves cleaning efficiency and quality, but also reduces maintenance costs and enhances equipment applicability and reliability.

[0048] In some embodiments of this utility model, the various driving structures in this application may be driven by explosion-proof motors.

[0049] In some embodiments of this utility model, the mobile chassis 1 is provided with a contact copper brush, one end of which is connected to the mobile chassis 1, and the other end extends toward the ground and contacts the ground.

[0050] In other words, copper has excellent electrical conductivity. When static electricity is generated in the mobile chassis 1 due to friction or other reasons, the contact-type copper brush can act as a conductor, quickly conducting the static electricity to the ground and preventing it from accumulating on the chassis. On the one hand, this prevents static electricity from attracting dust and particles, reducing contamination and damage to precision components on the chassis and extending the equipment's lifespan. On the other hand, it prevents static electricity from interfering with the normal operation of onboard electronic equipment, ensuring the stable operation of navigation, control, and other systems. In addition, it can eliminate potential safety hazards such as fires and explosions caused by static electricity, providing a guarantee for the safe and efficient operation of the mobile chassis 1.

[0051] In some embodiments of this utility model, the mobile chassis 1 is provided with an ion generator, which includes a housing, an ion sheet, and a connector. One end of the housing is provided with a connector, which is electrically connected to the ion sheet. The connector is plugged into and fixed to the connector, which is used to connect the connector to the power supply.

[0052] In other words, when the ion generator is powered on, the ion plate generates positive and negative ions under the action of electrical energy, which are released into the surrounding space through the casing. When the mobile chassis 1 generates static electricity due to friction, these ions with opposite charges will actively neutralize the static charge, quickly eliminating the static electricity. The ion generator can actively eliminate static electricity, which is more efficient than passive static discharge methods and can effectively prevent static electricity from attracting dust and interfering with electronic components. The ion generator can also maintain the static balance around the mobile chassis 1, ensuring the stable operation of sensitive equipment. The ion generator can also reduce equipment failures caused by static electricity, reduce maintenance costs, and improve the safety and reliability of the mobile chassis 1.

[0053] In some embodiments of this utility model, the explosion-proof scissor lift cleaning vehicle 100 further includes at least two gas sensors, both of which are used to obtain the concentration of silicon powder or the oxygen content.

[0054] For example, the explosion-proof scissor lift cleaning vehicle 100 includes two gas sensors. These two sensors operate independently, continuously monitoring the concentration of silica powder or oxygen content in the environment. When detecting silica powder concentration, the sensors utilize principles such as light scattering and laser detection to capture the influence of silica powder particles on light signals and convert them into electrical signals. Oxygen content detection primarily employs electrochemical or paramagnetic principles, converting changes in oxygen concentration into measurable electrical signals. Both sensors synchronously transmit data to the control system. When one sensor malfunctions, displays abnormal data, or is interfered with, the other sensor can still function normally. The control system automatically selects accurate and reliable data as the basis for judgment through data comparison and verification.

[0055] Furthermore, when the silicon powder concentration exceeds 10 g / m³ 3 When the oxygen content drops below 19.5%, an audible and visual alarm is immediately activated to alert personnel to evacuate or take oxygen supplementation measures to prevent the risk of asphyxiation due to oxygen deficiency. This dual-threshold monitoring mechanism effectively ensures operational safety, reduces the probability of accidents, and ensures the safe operation of equipment and personnel in complex and hazardous environments.

[0056] First, the use of at least two independently operating gas sensors greatly improves the reliability and stability of detection, preventing data errors due to the failure of a single sensor and avoiding safety accidents caused by misjudgments. Second, it enhances the adaptability of the equipment under complex working conditions, enabling timely and accurate reflection of changes in silica powder concentration and oxygen content in the environment, providing safety warnings for the explosion-proof scissor lift cleaning vehicle 100. Third, it reduces the frequency of equipment maintenance; the dual redundancy design lowers the probability of downtime for maintenance due to sensor failure, ensuring continuous and efficient operation of the equipment.

[0057] In some embodiments of this utility model, such as Figure 1 and Figure 2 As shown, the mobile chassis 1 includes tracks 11, with adsorption holes 111 on the surface of the tracks 11 and adsorption channels inside the tracks 11, which communicate with the adsorption holes 111. A vacuum motor is installed on the mobile chassis 1, and the vacuum motor is also connected to the adsorption channels. In other words, when the tracks 11 are in operation, the vacuum motor starts, creating a negative pressure within the adsorption channels and adsorption holes 111. When the tracks 11 roll over the ground, the adsorption holes 111 suck in dust, debris, and other impurities adhering to the surface of the tracks 11, which are then collected through the adsorption channels. This design not only prevents impurities from entangled in the tracks 11, reducing wear and extending service life, but also prevents impurities from entering the interior of the mobile chassis 1, ensuring the normal operation of mechanical components. Compared to traditional tracks 11, this self-cleaning track 11 eliminates the need for frequent manual cleaning, effectively reducing maintenance costs and improving equipment operating efficiency. It is particularly suitable for harsh working environments with high dust levels and complex debris, ensuring that the mobile chassis 1 always maintains a good working condition.

[0058] For example, the track 11 includes a plurality of track plates 101, each track plate 101 being provided with an adsorption channel and an adsorption hole 111, and the vacuum motor can be connected to the plurality of adsorption channels through a hose.

[0059] In some embodiments of this utility model, the pore diameter D of the adsorption pore 111 satisfies: 0.3mm≤D≤0.8mm.

[0060] For example, the pore size D of the adsorption pore 111 can be 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.35mm, 0.45mm, 0.65mm, or 0.75mm.

[0061] In the above example, the pore size is between 0.3mm and 0.8mm. This ensures that the adsorption pores 111 generate sufficient negative pressure to efficiently adsorb dust, debris, and other impurities, preventing impurities from adhering to the track 11 and affecting operation. It also prevents excessively large pores from causing dispersed adsorption force and reducing cleaning efficiency. Simultaneously, this size prevents larger particles from entering the adsorption channels, preventing blockage and ensuring stable operation of the vacuum system. Furthermore, a suitable pore size helps reduce the contact resistance between the track 11 and the ground, reducing energy consumption and extending the service life of the track 11. It also adapts to different cleaning scenarios, ensuring that the mobile chassis 1 can stably and efficiently complete self-cleaning in various environments, improving the overall performance and reliability of the equipment.

[0062] In some embodiments of this utility model, such as Figure 1 As shown, the explosion-proof scissor lift cleaning vehicle 100 also includes an image acquisition module 50, which is used to acquire images of the cleaning area after cleaning.

[0063] For example, the image acquisition module 50 of the explosion-proof scissor lift cleaning truck 100 relies on a vision assistance system and combines it with digital twin monitoring to build an intelligent cleaning system. The vision assistance system can adopt a dual-camera configuration: a 120° FOV wide-angle camera is responsible for macroscopic path recognition, scanning the cleaning area from a wide perspective to plan the optimal travel route for the lift truck, ensuring comprehensive coverage of the cleaning work without blind spots; the 5μm resolution microscopic camera focuses on microscopic details, and through image grayscale value analysis, evaluates the cleaning effect in real time and accurately, judging whether the cleaned objects such as wall panels have reached the preset cleanliness standard. If the standard is not met, timely feedback and adjustments can be made.

[0064] Meanwhile, digital twin monitoring technology creates a virtual model of the equipment, synchronously mapping key information such as the robotic arm's 20 poses, cleaning coverage, and energy consumption data in real time. Operators can intuitively grasp the equipment's operating status and remotely intervene to flexibly adjust cleaning strategies. The synergy of these two functions not only enhances the intelligence and accuracy of cleaning operations but also reduces manual inspection costs, ensures cleaning quality, and significantly improves operational safety and management efficiency.

[0065] In some embodiments, negative pressure control can also be implemented in the construction area. The negative pressure control in the work area utilizes a centrifugal fan to create a 5-10 Pa negative pressure gradient. The principle is that the centrifugal fan continuously draws air, making the air pressure in the work area lower than the outside air, forming a directional airflow. During this process, the polluted airflow is stably drawn into the treatment system and filtered to trap fine particulate matter, silica powder, and other pollutants, ensuring that the emitted gas is clean and meets standards. On the one hand, the stable negative pressure gradient effectively prevents pollutant gas from overflowing, protecting the surrounding environment and personnel health; on the other hand, combined with a high-efficiency filtration system, pollutant emissions can be significantly reduced, meeting environmental protection requirements, while also reducing the accumulation of pollutants in the work area, providing a safe and clean working environment for the explosion-proof scissor lift cleaning vehicle 100 and ensuring stable equipment operation.

[0066] For example, the explosion-proof scissor lift cleaning vehicle 100 also includes a fall protection net 60. The waterproof net is installed on the outer periphery of the mounting part 23, which can better protect the scissor lifting structure 2 of the lifting platform and prevent objects falling from above from damaging the scissor lifting structure 2 of the lifting platform.

[0067] Other components and operations of the explosion-proof scissor lift cleaning vehicle 100 according to the embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0068] In the description of this specification, references to terms such as "some embodiments," "optionally," "furthermore," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An explosion-proof scissor lift cleaning vehicle (100), characterized in that, include: The lifting vehicle body (10) includes a mobile chassis (1) and a lifting platform scissor lift structure (2). The lower end of the lifting platform scissor lift structure (2) is mounted on the mobile chassis (1). The upper end of the lifting platform scissor lift structure (2) has a mounting part (23). The lifting platform scissor lift structure (2) is adapted to be folded or extended so that the mounting part (23) can move in the vertical direction. A robotic arm (20), one end of which is connected to the mounting part (23), and the other end of which is provided with a connector (201); A cleaning module (30) is detachably connected to the connector (201); The navigation module includes a magnetic strip (41) and an on-board magnetic sensor. The magnetic strip (41) is embedded in the ground and the on-board magnetic sensor is installed on the mobile chassis (1). The control module includes a first controller, a second controller, and a third controller. The first controller is used to acquire the deviation data of the mobile chassis (1) relative to the magnetic strip (41) collected by the vehicle-mounted magnetic sensor to control the direction of movement of the mobile chassis (1). The second controller is used to control the movement of the robotic arm (20) so as to control the cleaning module (30) to perform cleaning operations by controlling the robotic arm (20). The third controller is used to control the lifting platform scissor lift structure (2) to perform lifting actions.

2. The explosion-proof scissor lift cleaning vehicle (100) according to claim 1, characterized in that, The lifting platform scissor lift structure (2) includes: a drive assembly (21) and a scissor fork (22). The drive assembly (21) is used to drive the scissor fork (22) to fold or extend. The upper end of the scissor fork (22) has the mounting part (23).

3. The explosion-proof scissor lift cleaning vehicle (100) according to claim 2, characterized in that, The surface of the scissor fork (22) is coated with an antistatic coating.

4. The explosion-proof scissor lift cleaning vehicle (100) according to claim 1, characterized in that, The robotic arm (20) is a six-axis robotic arm, and a torque sensor is installed in the joint of the six-axis robotic arm.

5. The explosion-proof scissor lift cleaning vehicle (100) according to claim 4, characterized in that, The mobile chassis (1) is provided with a contact copper brush, one end of which is connected to the mobile chassis (1) and the other end extends toward the ground and contacts the ground.

6. The explosion-proof scissor lift cleaning vehicle (100) according to claim 4, characterized in that, The mobile chassis (1) is provided with an ion generator, which includes a housing, an ion plate and a connector. One end of the housing is provided with a connector, which is electrically connected to the ion plate. The connector is plugged into and fixed to the connector, which is used to connect the connector to the power supply.

7. The explosion-proof scissor lift cleaning vehicle (100) according to claim 1, characterized in that, Also includes: At least two gas sensors, both of which are used to obtain the silicon powder concentration or oxygen content.

8. The explosion-proof scissor lift cleaning vehicle (100) according to claim 1, characterized in that, The mobile chassis (1) includes a track (11), the surface of the track (11) is provided with an adsorption hole (111), the inside of the track (11) is provided with an adsorption channel, the adsorption channel is connected to the adsorption hole (111), and a vacuum motor is provided on the mobile chassis (1), the vacuum motor is connected to the adsorption channel.

9. The explosion-proof scissor lift cleaning vehicle (100) according to claim 8, characterized in that, The pore size D of the adsorption pore (111) satisfies: 0.3mm≤D≤0.8mm.

10. The explosion-proof scissor lift cleaning vehicle (100) according to claim 1, characterized in that, Also includes: Image acquisition module (50), which is used to acquire images of the cleaned area after cleaning.

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