CN115520299B - Running gear and cleaning robot - Google Patents
Running gear and cleaning robot Download PDFInfo
- Publication number
- CN115520299B CN115520299B CN202211300205.2A CN202211300205A CN115520299B CN 115520299 B CN115520299 B CN 115520299B CN 202211300205 A CN202211300205 A CN 202211300205A CN 115520299 B CN115520299 B CN 115520299B
- Authority
- CN
- China
- Prior art keywords
- wiping
- along
- cleaning
- assembly
- cleaning robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The application relates to the technical field of cleaning equipment and discloses a walking device and a cleaning robot, wherein the walking device comprises a connecting component, an omnidirectional wheel component and a magnetic attraction component, the omnidirectional wheel component is connected with a supporting mechanism of the cleaning device through the connecting component, the omnidirectional wheel component can walk on a working surface to be cleaned under the action of the magnetic attraction component, two swinging brackets of the connecting component can swing adaptively along with the position change of the omnidirectional wheel component, and the omnidirectional wheel component is rotatably connected with the swinging brackets, so that in the walking process, each omnidirectional wheel component also rotates adaptively relative to the swinging brackets, and the position and angle of the omnidirectional wheel component are adjusted adaptively, so that the working surface with the curvature radius change is adapted, and the reliability of the walking device is improved. The cleaning robot comprising the running gear also has the advantages. The running gear and cleaning robot are applicable to cleaning the wind power tower, and are favorable for prolonging the service life of the tower.
Description
Technical Field
The application relates to the technical field of cleaning equipment, in particular to a traveling device and a cleaning robot.
Background
At present, when the outer surface of facilities such as buildings is cleaned, the wall climbing and cleaning with clear surfaces can be realized through the wall climbing robot. In practical application, many facilities inside and outside the room all have curved surfaces with different curvature radii, and the current wall climbing robot and the cleaning robot thereof are difficult to adapt to the change of the curvature radii of the curved surfaces, so that the cleaning difficulty is high.
Taking the outer surface of a wind power tower as an example, the tower is a support frame of a wind power generator, and the common structure is a cylindrical structure with gradually increased curvature radius from top to bottom so as to ensure the stability of the support. In the in-service use process of the wind power tower, the problems of dust pollution, greasy dirt pollution, corrosion and rust and the like exist, as the working time of the wind turbine generator is prolonged, the greasy dirt pollution condition can be more serious, the attractiveness of the tower is affected, the paint surface of the tower is seriously damaged, the corrosion and rust of the surface of the tower are easier to occur, the corrosion resistance and the structural strength of the tower are reduced, the stress deformation is caused, the collapse risk of the tower occurs, and the service life of the tower is shortened. Therefore, the cleaning work of the tower is very important, and most of the cleaning work is finished by manual high-altitude cleaning work at present, and operators attach to the tower to manually clean the tower through hoisting ropes, so that the problems of low cleaning efficiency, long cleaning period, high risk coefficient, low safety, high labor intensity, high labor cost, high cleaning cost and the like exist.
In other schemes, the wall climbing robot is adopted for cleaning, the traveling device of the existing wall climbing robot is arranged on the surface of a crawler belt part by a magnetic mechanism, the crawler belt part can be adsorbed on the surface of a tower drum by the magnetic mechanism, the crawler belt part is sleeved on a driving wheel and meshed with the driving wheel, and the driving wheel is used for driving the crawler belt part to operate, so that the crawler belt part can travel on the surface of a tower drum, and a robot body is driven to move along the surface of the tower drum to drive a cleaning device to complete cleaning work. But when the crawler-type magnetic mechanism walks on curved surfaces with different curvature radiuses, the crawler-type magnetic mechanism cannot adapt to the change of the curvature radiuses, so that the magnetic adsorption mechanism cannot be effectively attached to the surface of the tower, the adsorption force of the magnetic adsorption mechanism on the surface of the tower is reduced, the crawler is easy to separate from a working surface, and the use reliability of the wall climbing robot is reduced.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides the walking device which can adapt to curved surfaces with different curvature radiuses, improve the adsorption stability of the surface to be cleaned and improve the reliability of the cleaning robot. The application further provides a cleaning robot with the walking device.
According to the walking device, a cleaning robot can walk on a working surface to be cleaned, the walking device comprises a connecting component, an omni-wheel component and a magnetic attraction component, the connecting component comprises two swinging brackets, the two swinging brackets are arranged at intervals along a first direction and are symmetrical to each other, the swinging brackets are suitable for being connected with a supporting mechanism of the cleaning robot through a revolute pair, the two omni-wheel components are respectively arranged on the swinging brackets at intervals along a third direction, the omni-wheel components on the two swinging brackets are symmetrically arranged, the first direction and the third direction are perpendicular to each other, the omni-wheel components are rotatably connected to the swinging brackets and are used for rolling along the working surface to be cleaned, and the magnetic attraction component is used for providing magnetic attraction to enable the omni-wheel components to keep close to the working surface to be cleaned.
The cleaning robot has the advantages that under the action of the magnetic attraction force of the magnetic attraction component, the omnidirectional wheel components can be held on a working surface to be cleaned to walk, the two swinging brackets can swing adaptively along with the position change of the omnidirectional wheel components, and the omnidirectional wheel components are rotatably connected with the swinging brackets, so that the relative positions among the omnidirectional wheel components change along with the change of the curvature radius in the walking process of the third direction, the swinging brackets swing accordingly, the omnidirectional wheel components also adaptively rotate relative to the swinging brackets, the position and the angle of the omnidirectional wheel components are adjusted adaptively, the working surface with the change of the curvature radius is adapted, and the reliability of the walking device is improved.
According to some embodiments of the application, the omni-wheel assembly comprises an omni-wheel and a wheel frame, the wheel frame is hinged with the swing bracket, the magnetic attraction assembly is connected with the wheel frame, and the two omni-wheels are rotatably connected with the wheel frame and symmetrically arranged at two sides of the magnetic attraction assembly.
According to some embodiments of the application, the connecting assembly further comprises a telescopic bracket, the two telescopic brackets are respectively arranged on one sides of the two swing brackets, which are away from each other, one end of each telescopic bracket is connected with the swing bracket through a revolute pair, the other end of each telescopic bracket is suitable for being connected with the supporting mechanism through a revolute pair, and the telescopic brackets can stretch along with the swing of the swing bracket.
The cleaning robot comprises a cleaning device and a traveling device, wherein the cleaning device is used for cleaning a working surface to be cleaned, the cleaning device comprises a supporting mechanism, the supporting mechanism has a set length along a first direction, the traveling device is arranged on one side of the supporting mechanism along a second direction, the swinging support is connected to the supporting mechanism through a revolute pair, and the first direction, the second direction and the third direction are perpendicular to each other.
The cleaning robot of the second aspect of the application has at least the following beneficial effects that the cleaning robot adopts the walking device of the embodiment, can walk on the working surface with the curvature radius changing, adaptively adjusts the position and the angle of the omnidirectional wheel assembly, and improves the reliability of the walking device, thereby ensuring the normal operation of the cleaning device and improving the cleaning efficiency.
According to the cleaning robot of some embodiments of the present application, the cleaning device further includes a wiping mechanism, a spraying mechanism, and a brushing mechanism sequentially disposed along the third direction, where the wiping mechanism, the spraying mechanism, and the brushing mechanism are respectively connected to the supporting mechanism, the brushing mechanism is used for brushing a working surface to be cleaned, the spraying mechanism is used for spraying a cleaning solution on the working surface, and the wiping mechanism is used for wiping the working surface after brushing and spraying.
According to the cleaning robot of some embodiments of the present application, the support mechanism includes a connection frame and a main frame, the two main frames are respectively disposed on two sides of the connection frame along the first direction, the main frame extends along the third direction and defines an installation space with the connection frame, the brushing mechanism is disposed in the installation space, the wiping mechanism is connected to the connection frame, the spraying mechanism is connected to the main frame or the connection frame, and the connection assembly is correspondingly connected to the main frame.
According to the cleaning robot, the cleaning device further comprises a wiping mechanism, the wiping mechanism comprises a wiping bracket and a wiping rope, the wiping bracket comprises a fixing frame, an adjusting component and a guide piece, the fixing frame is provided with a set length along the first direction, the adjusting component is connected to the fixing frame, the guide pieces are respectively arranged on two sides of the adjusting component and connected to the fixing frame, the guide piece is further away from the fixing frame along the second direction, two ends of the wiping rope are respectively connected to the adjusting component and wound on the guide piece along the first direction, the wiping rope can slide relative to the guide piece to be loosened or tensioned along the second direction, and the adjusting component is used for tensioning the wiping rope along the second direction.
According to the cleaning robot of some embodiments of the present application, the cleaning device further comprises a spraying mechanism, the spraying mechanism comprises a spraying pipe and a nozzle, the spraying pipe is connected to the supporting mechanism, the nozzle is connected to one side of the spraying pipe along the second direction and is used for spraying cleaning liquid towards the second direction, the wiping mechanism is located on one side of the spraying mechanism along the third direction, the fixing frame is connected to the supporting mechanism, the wiping rope is located on one side of the fixing frame, which faces the nozzle in a consistent direction, and is used for wiping a working surface sprayed by the spraying mechanism, and the adjusting component is used for tensioning the wiping rope to be attached to the working surface to be cleaned.
According to some embodiments of the application, the cleaning robot further comprises a brushing mechanism connected to the supporting mechanism, the brushing mechanism comprises a rolling brush and a driving assembly, a central shaft of the rolling brush extends along the first direction, the brushing mechanism is located at one side, away from the wiping mechanism, of the spraying mechanism along the third direction, and the driving assembly is connected to the central shaft of the rolling brush and used for driving the rolling brush to rotate so as to brush a working surface to be cleaned.
According to some embodiments of the application, the cleaning robot further comprises a detection mechanism and a rolling brush moving assembly, the detection mechanism is in communication connection with the brushing mechanism and is used for detecting the change of the curvature radius of the working surface to be cleaned in the process of moving along the third direction, the rolling brush moving assembly is connected to the supporting mechanism, and the rolling brush moving assembly is suitable for moving the rolling brush along the second direction according to the change detected by the detection mechanism.
According to some embodiments of the application, the cleaning robot further comprises a spraying mechanism and a brushing mechanism, wherein the spraying mechanism comprises a spraying pipe and a nozzle, the spraying pipe is connected to the supporting mechanism, the nozzle is connected to one side of the spraying pipe along the second direction and used for spraying cleaning liquid towards the second direction, the brushing mechanism is connected to the supporting mechanism and comprises a rolling brush and a driving component, the central shaft of the rolling brush extends along the first direction, the brushing mechanism is located on one side of the spraying mechanism along the third direction, and the driving component is connected to the central shaft of the rolling brush and used for driving the rolling brush to rotate so as to brush the surface to be cleaned.
According to some embodiments of the application, the cleaning robot further comprises a lifting device, wherein the lifting devices are respectively connected to two sides of the supporting mechanism along the first direction, and the two lifting devices are used for synchronously lifting the supporting mechanism.
Additional aspects and advantages of the application 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 application.
Drawings
Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a top view of a cleaning robot according to an embodiment of the present application;
fig. 3 is a schematic view of a partial structure of a running gear of a cleaning robot according to an embodiment of the present application;
fig. 4 is a schematic structural view of an omni wheel assembly in a walking device according to an embodiment of the present application;
FIG. 5 is a schematic view showing an operation state of the cleaning robot according to the embodiment of the present application;
FIG. 6 is a schematic view showing another working state of the cleaning robot according to the embodiment of the present application;
FIG. 7 is a schematic view showing another working state of the cleaning robot according to the embodiment of the present application;
FIG. 8 is a schematic view of a wiping mechanism according to an embodiment of the application;
FIG. 9 is an enlarged schematic view of a portion of FIG. 8A;
FIG. 10 is an enlarged schematic view of a portion of FIG. 8B;
FIG. 11 is a schematic view of a cleaning apparatus according to an embodiment of the present application;
FIG. 12 is an enlarged schematic view of a portion of FIG. 11 at C;
FIG. 13 is a schematic view of a spray mechanism in a cleaning apparatus according to an embodiment of the present application;
FIG. 14 is an enlarged schematic view of portion D of FIG. 13;
FIG. 15 is a schematic view of a brushing mechanism in a cleaning device according to an embodiment of the present application;
FIG. 16 is a schematic view showing a structure of a detecting mechanism in a cleaning apparatus according to an embodiment of the present application;
fig. 17 is a partially enlarged schematic view of fig. 11 at E.
Reference numerals:
The device comprises a wiping mechanism 100, a wiping bracket 101, a wiping rope 102, a fixing frame 103, an adjusting component 104, a guide piece 105, a first pulley 106, a second pulley 107, a first connecting rod 108, a second connecting rod 109, an elastic piece 110, a swinging rod 111, a connecting rod 112, a connecting seat 113, an anti-tripping device 114, a wiping moving component 115 and a sliding rail 116;
The device comprises a spraying mechanism 200, a spraying pipe 201, a nozzle 202, a first pipe 203, a second pipe 204, a third pipe 205, a spraying bracket 206 and a water outlet 207;
Brushing mechanism 300, rolling brush 301, driving component 302, roll shaft 303, brush hair 304, water inlet joint 305, motor 306, speed reducer 307, rolling brush moving component 308, bracket 309, sliding piece 310, power piece 311 and flange 312;
The detection mechanism 400, a sliding table 401, a movable rod 402, a spring 403, a universal wheel 404, a first sensor 405 and a second sensor 406;
a supporting mechanism 500, a connecting frame 501 and a main frame 502;
running gear 600, coupling assembling 601, the assembly 602 of the omnidirectional wheel, the assembly 603 of magnetic attraction, swing support 604, telescopic bracket 605, the omnidirectional wheel 606, wheel carrier 607, magnet seat 608, magnet shell 609;
Lifting device 700.
Detailed Description
The conception and the technical effects produced by the present application will be clearly and completely described in conjunction with the embodiments below to fully understand the objects, features and effects of the present application. It is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present application based on the embodiments of the present application.
In the description of the embodiments of the present application, if an orientation description such as "upper", "lower", "front", "rear", "left", "right", etc. is referred to, it is merely for convenience of description and simplification of the description, and it is not indicated or implied that the apparatus or device referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the embodiments of the present application, if a feature is referred to as being "disposed", "fixed", "connected" or "mounted" on another feature, it can be directly disposed, fixed or connected to the other feature or be indirectly disposed, fixed or connected or mounted on the other feature. In the description of the embodiments of the present application, if "several" is referred to, it means more than one, if "multiple" is referred to, it is understood that the number is not included if "greater than", "less than", "exceeding", and it is understood that the number is included if "above", "below", "within" is referred to. If reference is made to "first", "second" it is to be understood as being used for distinguishing technical features and not as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
At present, the wall climbing robot cleans greasy dirt on the surface of a wind power tower through a disc brush, and is difficult to effectively clean curved surfaces with different curvature radiuses. Taking the outer wall cleaning of a tower as an example (such as a wind power tower), the tower is generally in a cylindrical structure with a small top and a large bottom, and the curvature radius of the tower is gradually increased from top to bottom so as to ensure the stability of the support. Because the outer wall of the tower cylinder is a curved surface, radian exists, and if the tower cylinder cannot be well attached to the outer wall of the tower cylinder during cleaning, the cleaning force is uneven, and the cleaning effect is difficult to ensure. Moreover, the curvature of the outer wall of the tower barrel changes, and the conventional cleaning mechanism cannot adjust the cleaning force, so that the cleaning effect is poor and the efficiency is low. Currently, in addition to the aforementioned cleaning methods, some cleaning solutions for towers are provided in the prior art, for example:
1. Chinese patent application "a tower cleaning robot" (publication number: CN 110201956A), discloses a tower cleaning robot, the device pushes the roller brush to move back and forth through the cylinder so as to adapt to the change of the taper of the tower in the up-down direction. The problem that this scheme exists is, in the cleaning process, need take corresponding sensing means and control means, through the feedback control mode of collocation, detect the back and the removal of accurate control cylinder to the curved surface of tower section of thick bamboo, just can make the cylinder brush carry out the washing of tower section of thick bamboo along with tower section of thick bamboo diameter variation, the cylinder brush does not possess self-adaptation adjustment ability.
2. Chinese patent application "a curved surface cleaning robot and magnetic force cleaning robot thereof" (publication number: CN 110341828A), disclosed a curved surface cleaning robot and magnetic force cleaning robot thereof, the device adapts to working surfaces with different curvature radius through the curved surface cleaning robot, and adjusts the positions of the cleaning brush in the radial direction and tangential direction through bolts so as to adapt to the curvature of the working surfaces. The problem that this scheme exists is, the regulation of brush cleaner need debug before the cleaning operation, and cleaning robot walks and carry out abluent in-process on the curved surface, and cleaning device's brush cleaner can't self-adaptation adjust the dynamics of cleaning.
3. The Chinese patent (publication No. CN 210440168U) discloses a magnetic climbing robot applied to cleaning and detecting a tower drum of a fan, which adopts a crawler-type magnetic climbing device to realize magnetic attraction climbing of the outer wall of the tower drum, but a crawler-type magnetic mechanism cannot adapt to the change of the curvature radius when walking on a curved surface with different curvature radiuses, so that the magnetic adsorption mechanism cannot be effectively attached to the surface of the tower drum, the adsorption force of the magnetic adsorption mechanism to the surface of the tower drum is reduced, the crawler is easily separated from a working surface, and the use reliability of the wall climbing robot is reduced.
The three tower barrel cleaning schemes listed above have the problems that the cleaning device and the running gear cannot adapt to the change of the curved surface of the tower barrel and cannot automatically adjust the cleaning force, so that the cleaning effect is poor, the cleaning efficiency is low and the climbing reliability is poor. The application provides a walking device and a cleaning robot, which can adapt to curved surfaces with different curvature radiuses, improve the reliability of the walking device, help to optimize the cleaning effect and improve the cleaning efficiency. Embodiments of the present application are described below with reference to the accompanying drawings:
referring to fig. 1 to 3, an embodiment of the first aspect of the present application provides a walking device 600, comprising a connection assembly 601, an omni-wheel assembly 602 and a magnetic attraction assembly 603, wherein the connection assembly 601 is used for connecting the omni-wheel assembly 602 and a supporting mechanism 500 of a cleaning robot, thereby enabling the cleaning robot to walk on a working surface to be cleaned, and the magnetic attraction assembly 603 is used for providing magnetic attraction force to keep the omni-wheel assembly 602 against the working surface to be cleaned, so as to avoid falling.
Referring to fig. 1 to 3, the connection assembly 601 includes two swing brackets 604, the two swing brackets 604 are spaced along a first direction and are symmetrical to each other, the swing brackets 604 are suitable for being connected with a supporting mechanism 500 of a cleaning robot through a revolute pair, two omni-wheel assemblies 602 are respectively spaced along a third direction on each swing bracket 604, the omni-wheel assemblies 602 on the two swing brackets 604 are symmetrically arranged, the first direction and the third direction are mutually perpendicular, and when the connection assembly is applied to cleaning of a wind power tower, the first direction can be a tangential direction of an outer wall surface of the tower, and the third direction can be a vertical direction.
The omni-wheel assemblies 602 are rotatably connected to the swinging brackets 604, the omni-wheel assemblies 602 are used for rolling along a working surface to be cleaned, under the action of the magnetic attraction force of the magnetic attraction assemblies 603, the omni-wheel assemblies 602 can be held on the working surface to be cleaned to walk, the two swinging brackets 604 can swing adaptively along with the position change of the omni-wheel assemblies 602, and the omni-wheel assemblies 602 are rotatably connected to the swinging brackets 604, so that the relative positions among the omni-wheel assemblies 602 change along with the change of the curvature radius in the walking process of a third direction, the swinging brackets 604 swing accordingly, the omni-wheel assemblies 602 themselves also adaptively rotate relative to the swinging brackets 604, and the positions and angles of the omni-wheel assemblies 602 are adjusted adaptively to adapt to the working surface with the change of the curvature radius, and the reliability of the walking device 600 is improved.
Referring to fig. 4, in the running device 600 of some embodiments, the omni-wheel assembly 602 includes an omni-wheel 606 and a wheel frame 607, the wheel frame 607 is hinged to the swinging bracket 604, and the magnetic component 603 is connected to the wheel frame 607, so that each omni-wheel 606 and the magnetic component 603 can be adaptively adjusted in angle, and the two omni-wheels 606 are rotatably connected to the wheel frame 607 and symmetrically arranged on two sides of the magnetic component 603, so that the stability of the omni-wheel 606 against the working surface can be improved. The magnet assembly 603 may include a magnet holder 608, a magnet and a magnet housing 609, the magnet holder 608 is connected to the wheel frame 607, the magnet housing 609 is connected to the magnet holder 608, and the magnet is disposed in the magnet housing 609, so as to realize stable connection of the magnet between the two omni-directional wheels 606.
Referring to fig. 3, in the running gear 600 of some embodiments, the connection assembly 601 further includes a telescopic bracket 605, the two telescopic brackets 605 are respectively disposed on sides of the two swing brackets 604 facing away from each other, one end of the telescopic bracket 605 is connected to the swing bracket 604 through a revolute pair, the other end is adapted to be connected to the supporting mechanism 500 through a revolute pair, and the telescopic bracket 605 can expand and contract along with the swing of the swing bracket 604. The telescopic bracket 605 may be a telescopic rod structure formed by sleeving two rod members, or may be a foldable structure formed by connecting two rod members through a revolute pair, so that on one hand, the stability of connection of the omni-wheel 606 can be improved, and on the other hand, the position adjustment of the swinging bracket 604 and the omni-wheel assembly 602 is prevented from being affected.
It should be noted that, the running mechanism of the embodiment of the present application solves the problem that the existing wall climbing robot is difficult to adapt to the curved surface with curvature change, in practical use, the running mechanism 600 of the embodiment of the present application may be used as the running mechanism 600 of the cleaning robot, applied to cleaning of the outer wall surface of the wind power tower, and each omni-wheel assembly 602 can rotate adaptively with the change of the curved surface, so that it can adapt to the change of the curvature radius of the outer wall surface of the wind power tower, and referring to fig. 5 to 7, the states of the cleaning robot with the running mechanism 600 when the curvature radius of the outer wall of the tower is R1, R2, and R3 are shown respectively, wherein R1< R2< R3, it can be seen that when the curvature radius is increased, the included angle α of the two-side swinging brackets 604 is increased, and the included angle β of the rotating shaft β of the omni-wheel 606 is also increased, that is α1< α2< α3, β1< β2< β3. Therefore, when the walking device 600 walks on a curved surface with a variable curvature radius, the swinging bracket 604 and the omni-wheel 606 can adaptively adjust the angle along with the change of the curvature radius, and compared with the prior art, the self-adaptive wall climbing device has higher self-adaptive capacity and improves the reliability of climbing the wall.
An embodiment of the second aspect of the present application provides a cleaning robot, including a cleaning device and a running device 600, where the cleaning device is used for cleaning a working surface to be cleaned, the cleaning device includes a supporting mechanism 500, the supporting mechanism 500 has a set length along a first direction, the running device 600 adopts the running device 600 of any one of the embodiments of the first aspect, the running device 600 is located at one side of the supporting mechanism 500 along a second direction, and the swinging bracket 604 is connected to the supporting mechanism 500 through a revolute pair. The first direction, the second direction and the third direction are perpendicular to each other, when the wind power tower cleaning device is applied to cleaning of a wind power tower, the first direction can be tangential to the outer wall surface of the tower, the second direction can be radial to the tower, and the third direction can be vertical. The cleaning robot of this embodiment adopts the running gear 600 of the above-mentioned embodiment, can walk on the working face that the radius of curvature changes and the position and the angle of adaptation adjustment omnidirectional wheel subassembly 602, improves running gear 600's reliability, from this, can guarantee belt cleaning device's normal operating, improves cleaning efficiency.
In some embodiments of the cleaning robot, the cleaning device further includes a wiping mechanism, fig. 8 is a schematic structural diagram of the wiping mechanism in the cleaning robot according to the embodiment of the application, referring to fig. 8, the wiping mechanism 100 includes a wiping bracket 101 and a wiping rope 102, and the wiping rope 102 can be attached to a working surface to be cleaned and move along a set direction so as to wipe moisture on the working surface.
The wiping bracket 101 comprises a fixing frame 103, an adjusting component 104 and a guide piece 105, wherein the fixing frame 103 is provided with a set length along a first direction, the adjusting component 104 is connected to the fixing frame 103, the guide piece 105 is respectively arranged on two sides of the adjusting component 104, and the guide piece 105 is connected to the fixing frame 103. In addition, the guide member 105 is further away from the fixing frame 103 relative to the adjusting assembly 104 along the second direction, and two ends of the wiping cord 102 are respectively connected to the adjusting assembly 104 and wound around the guide member 105 along the first direction. Under the action of external force, the wiping cord 102 can slide relative to the guide members 105 to be loosened or tensioned between the two guide members 105 along the second direction, the adjusting assembly 104 is located between the two guide members 105 and used for tensioning the wiping cord 102 along the second direction, and the second direction is perpendicular to the first direction, so that the wiping cord 102 can adapt to a curved surface with a larger or smaller fitting curvature and adaptively tensioning the working surface being wiped, and the wiping and cleaning force is ensured.
In the process of attaching the wiping rope 102 to the working surface to be cleaned, when the curvature radius of the curved surface through which the wiping rope 102 passes is increased, the wiping rope 102 is squeezed to be loosened from between the two guide pieces 105 to adapt to the increase of the curvature radius of the working surface to be cleaned, and meanwhile, the adjusting component 104 can enable the wiping rope 102 to be tensioned to attach to the working surface to be cleaned, so that the wiping and cleaning force can be adjusted adaptively. Conversely, when the radius of curvature of the curved surface through which the wiping rope 102 passes becomes smaller, the adjusting component 104 can make the wiping rope 102 tighten to fit the working surface to be cleaned so as to adapt to the reduction of the radius of curvature of the working surface to be cleaned, so that the wiping rope 102 is prevented from being loosened to separate from the working surface to be cleaned or weakening the wiping force, and the wiping force is adjusted adaptively.
Fig. 9 is an enlarged view of a portion of fig. 8, showing a specific structure of the guide member 105, referring to fig. 9, in some embodiments, the guide member 105 may include a first pulley 106, a second pulley 107, a first connecting rod 108 and a second connecting rod 109, wherein the first connecting rod 108 extends along a first direction, one end is connected to the fixing frame 103, the other end is connected to the first pulley 106, the second connecting rod 109 extends along a second direction, one end is connected to the first connecting rod 108, and the other end is connected to the second pulley 107. The two guides 105 are symmetrically arranged. Thus, in the second direction, the second pulley 107 is further away from the fixing frame 103 relative to the adjusting assembly 104, and the wiping cord 102 is wound around the first pulley 106 and the second pulley 107, so that there can be a movement space in the second direction, thereby facilitating loosening or tightening as the curvature of the working surface to be cleaned changes. The first pulley 106 and the second pulley 107 provide guiding and friction reduction of the drying line 102.
In some embodiments, the adjusting assembly 104 may include two elastic members 110, where one end of each of the two elastic members 110 is connected to the fixing frame 103, and the other end of each of the two elastic members is connected to two ends of the wiping cord 102, so that the wiping cord 102 can be adaptively loosened or tightened along with the change of the curvature radius of the curved surface under the traction of the elastic member 110, and then kept tightly attached to the curved surface under the elastic force of the elastic member 110, thereby ensuring the cleaning force.
Fig. 10 is an enlarged view of a portion B of fig. 8, showing a specific structure of the adjusting assembly 104, referring to fig. 10, in some embodiments, the adjusting assembly 104 may also include a swing rod 111 and an elastic member 110, where one end of the elastic member 110 is connected to the fixing frame 103, and the other end is connected to the swing rod 111. Along the first direction, two sides of the elastic member 110 are respectively provided with a swinging rod 111, one end of the swinging rod 111 is rotatably connected with the fixing frame 103, and the other end of the swinging rod 111 is connected with the wiping rope 102. The elastic member 110 may be a compression spring. Therefore, in the process of wiping and cleaning the curved surface, when the curvature radius of the curved surface is increased, the wiping and drying rope 102 can draw the swinging rod 111 to swing along the first direction so as to be away from each other, the length of the wiping and drying rope 102 for attaching the curved surface is increased, so that the curved surface can be attached, the swinging of the swinging rod 111 drives the elastic element 110 to elastically deform, the restoring force of the elastic element 110 can enable the swinging rod 111 to swing towards the direction close to each other, and thus the wiping and drying rope 102 can be tensioned, the curved surface being cleaned can be attached by the wiping and drying rope 102, and the cleaning force is ensured. The deformation of the elastic element 110 changes along with the change of the curvature radius of the curved surface to which the wiping cord 102 is attached, so that the degree of the wiping cord 102 attached to the curved surface is adjusted, and the self-adaptive adjustment of the cleaning force is realized.
Referring to fig. 10, the adjustment assembly 104 may further include a link 112 and a connection seat 113 to facilitate connection of the elastic member 110 and the swing link 111 and transmission of force or moment. Wherein, the connecting seat 113 is connected to one end of the elastic member 110 away from the fixing frame 103, along the first direction, two sides of the connecting seat 113 are respectively provided with a connecting rod 112, two ends of the connecting rod 112 are respectively connected to the connecting seat 113 and the swinging rod 111 through a revolute pair, thereby, the swinging rod 111 can drive the connecting rod 112 to move so that the connecting seat 113 is close to or far from the fixing frame 103, and the elastic member 110 is correspondingly elastically deformed.
Referring to fig. 8, to ensure stability of the connection of the wiper cord 102, some wiper mechanisms 100 further include an anti-trip 114, the wiper cord 102 being connected to the anti-trip 114, the anti-trip 114 being connected to the adjustment assembly 104. Specifically, the two ends of the wiping cord 102 are respectively connected with an anti-tripping device 114, and are connected with the swing rod 111 of the adjusting component 104 through the anti-tripping device. The trip prevention 114 used for the end connection of the conventional steel cable can be adopted, and has the advantages of firm connection, trip prevention and convenient switching. The stability of the end connection of the wiping rope 102 can be guaranteed by the anti-tripping device 114, the anti-tripping device 114 can be connected to the swing rod 111 through a revolute pair, the end switching of the wiping rope 102 is realized, the friction loss of a connecting position is reduced, and compared with the scheme that the rope is directly connected with the swing rod 111, the difficulty of connection can be reduced, and the convenience of connection is improved.
In some embodiments, the wiping mechanism 100 further includes a wiping movement assembly 115, the wiping movement assembly 115 being connected to the wiping support 101, the wiping movement assembly 115 being configured to move the wiping support 101 in the second direction. Therefore, when the curvature change span of the working surface to be cleaned is too large, the position of the wiping mechanism 100 along the second direction can be adjusted within the set range through the wiping moving assembly 115, so that the wiping rope 102 can be attached to the working surface. Specifically, the wiping movement assembly 115 may employ an air cylinder or a linear module. The fixing frame 103 in the wiping bracket 101 may be connected to the sliding rail 116, and the sliding rail 116 extends along the second direction, thereby enabling support of the wiping mechanism 100 and limiting movement of the wiping mechanism 100 along the second direction. It should be noted that, for cleaning a wind power tower, brushing and spraying are generally included, the wiping mechanism 100 of the embodiment of the present application may be used for wiping and cleaning a sprayed working surface, and as can be seen from the foregoing embodiment, the wiping mechanism 100 is suitable for a curved surface with a variable radius of curvature, and in the wiping process, the wiping rope 102 can be self-adaptively attached to the working surface, so as to ensure cleaning force. The cleaning device is applied to cleaning of wind power towers, can effectively remove water stains and residual stains, and improves cleaning efficiency.
Fig. 11 is a schematic structural view of a cleaning device in a cleaning robot according to an embodiment of the present application, fig. 12 is a schematic enlarged partial view of a portion C in fig. 11, fig. 13 is a schematic structural view of a spraying mechanism in a cleaning robot according to an embodiment of the present application, fig. 14 is a schematic enlarged partial view of a portion D in fig. 13, fig. 15 is a schematic structural view of a brushing mechanism in a cleaning robot according to an embodiment of the present application, and referring to fig. 11 to 15, in some embodiments, the cleaning device includes a supporting mechanism 500, a spraying mechanism 200 and a wiping mechanism 100, the supporting mechanism 500 is used for mounting connection of the spraying mechanism 200 and the wiping mechanism 100, the spraying mechanism 200 is used for spraying cleaning liquid on a working surface, and the wiping mechanism 100 is used for wiping the sprayed working surface.
Referring to fig. 13, the spraying mechanism 200 includes a spraying pipe 201 and a nozzle 202, the spraying pipe 201 is connected to the supporting mechanism 500, the nozzle 202 is connected to one side of the spraying pipe 201 along the second direction and is used for spraying the cleaning liquid along the second direction, the wiping mechanism 100 adopts the wiping mechanism 100 of any embodiment of the first aspect, and the wiping rope 102 is located on one side of the fixing frame 103, which is oriented to the same direction as the nozzle 202, so that the wiping rope 102 and the nozzle 202 can act on the same working surface simultaneously. In the third direction, the wiping mechanism 100 is located at one side of the spraying mechanism 200, and the fixing frame 103 is connected to the supporting mechanism 500, so that the wiping rope 102 can be used for wiping the working surface sprayed by the spraying mechanism 200, and the adjusting component 104 is used for tensioning the wiping rope 102 to be attached to the working surface to be cleaned.
When the cleaning device is actually applied to cleaning a wind power tower, the third direction can be the vertical direction, and the wiping mechanism 100 can be arranged above the spraying mechanism 200, so that in the process that the cleaning device moves from the wiping mechanism 100 to the direction of the spraying mechanism 200 (namely from top to bottom along the vertical direction), after the spraying mechanism 200 sprays and cleans a working surface to be cleaned, the wiping mechanism 100 can wipe and clean the working surface, thereby being beneficial to accelerating the removal of water stains and the removal of residual stains. As can be seen from the above-described first embodiment, the wiping mechanism 100 can also be adaptively attached to working surfaces with different radii of curvature, so as to adjust the cleaning force, thereby ensuring the cleaning quality and improving the cleaning efficiency.
Referring to fig. 13 and 14, in some embodiments, the shower 201 includes a first pipe 203, a second pipe 204, and a third pipe 205, the first pipe 203 extends along a first direction, the second pipe 204 and the third pipe 205 are respectively connected to two ends of the first pipe 203, water outlets 207 are respectively provided at the same side of the first pipe 203, the second pipe 204, and the third pipe 205 along a second direction, and each water outlet 207 is respectively connected with a nozzle 202, whereby the plurality of nozzles 202 spray toward the same side, a spray range can be enlarged along the first direction, and spray cleaning uniformity can be improved compared with a scheme of spraying cleaning liquid through only one spray head. Further, the second pipe body 204 and the third pipe body 205 are inclined relative to the first pipe body 203 toward the spraying direction of the nozzle 202, and therefore, the second pipe body 204 and the third pipe body 205 are surrounded on one side of the first pipe body 203 along the second direction, the first pipe body 203, the second pipe body 204 and the third pipe body 205 can form an arc-like structure, and can be surrounded on one side of a curved surface, and compared with the scheme of extending straight along the first direction, the inclined second pipe body 204 and third pipe body 205 can spray the arc-shaped working surface better, so that the spraying efficiency is improved. In other embodiments, the shower 201 may be integrally configured to have an arc structure with a set radius, and a plurality of nozzles 202 are arranged on one side of the shower 201 along the extending direction of the shower 201, so that the shower 201 can spray an arc-shaped curved surface, thereby improving the uniformity of spraying.
In some embodiments, referring to fig. 13, the spraying mechanism 200 further includes a spraying bracket 206, the spraying bracket 206 is connected to the supporting mechanism 500, the spraying pipe 201 is connected to the spraying bracket 206, and the spraying pipe 201 is connected to the supporting mechanism 500 through the spraying bracket 206, so that the stability of the connection of the spraying pipe 201 can be improved. The spray brackets 206 may be rod-like structures, with a fixed connection being achieved by conventional fasteners. The shower 201 may be connected to the water pump or connected to the water pump through a connection pipe. Of course, the shower bracket 206 may be provided in a tubular shape, and a passage may be provided in the shower bracket, and the passage may be connected to a pipe of the shower pipe 201 at a connection portion between the shower bracket 206 and the shower pipe 201, so that the shower bracket 206 may be provided in a tubular shape and connected to a water pump to supply the cleaning liquid to the shower pipe 201.
Referring to fig. 11 and 15, in some embodiments, the cleaning apparatus further comprises a brushing mechanism 300, the brushing mechanism 300 being connected to the support mechanism 500, the brushing mechanism 300 comprising a roller brush 301 and a drive assembly 302, the roller brush 301 being operable to brush a work surface to be cleaned. The central shaft of the rolling brush 301 extends along a first direction, and the driving assembly 302 is connected to the central shaft of the rolling brush 301, and is used for driving the rolling brush 301 to rotate so as to brush the working surface to be cleaned. In the third direction, the brushing mechanism 300 is located on the side of the spraying mechanism 200 facing away from the wiping mechanism 100, i.e. the spraying mechanism 200 is located between the brushing mechanism 300 and the wiping mechanism 100. Thus, the brushing mechanism 300, the spraying mechanism 200 and the wiping mechanism 100 can simultaneously clean the working surface to be cleaned, and the cleaning device can sequentially clean the working surface in the sequence of brushing, rinsing and wiping during the movement of the cleaning device from the wiping mechanism 100 to the brushing mechanism 300 along the third direction. For example, when the cleaning device is used for cleaning a wind power tower, the third direction may be a vertical direction, the spray pipe 201 of the spray mechanism 200 is arranged above the rolling brush 301 of the brushing mechanism 300, the wiping rope 102 of the wiping mechanism 100 is arranged above the spray pipe 201, so that the cleaning device can be moved downwards from top to bottom to clean the outer wall of the tower, and therefore, in the moving process of the cleaning device, the working surface to be cleaned is sprayed by the spray pipe 201 after being brushed by the rolling brush 301, and then is wiped by the wiping rope 102, brushing, spraying and wiping are sequentially performed along with the moving process of the cleaning device, so that the cleaning efficiency can be improved, and the cleaning liquid sprayed by the spray pipe 201 flows downwards, so that the rolling brush 301 can be matched with brushing the working surface in the brushing process, and stains can be removed better. In addition, the wiping mechanism 100 can adaptively adjust the curved surface with the curvature radius change, so as to ensure the wiping and cleaning effects.
Fig. 16 is a schematic structural view of a detection mechanism in a cleaning robot according to an embodiment of the present application, fig. 17 is a partially enlarged schematic view of a portion E in fig. 11, and referring to fig. 16 and 17, in some embodiments, the cleaning apparatus further includes a detection mechanism 400 and a rolling brush moving assembly 308, the detection mechanism 400 is communicatively connected to the brushing mechanism 300, for detecting a change amount of a curvature radius of a working surface to be cleaned during a movement along a third direction, the rolling brush moving assembly 308 is connected to the supporting mechanism, and the rolling brush moving assembly 308 is adapted to move the rolling brush along a second direction according to the change amount.
Specifically, referring to fig. 17, the roll brush moving assembly 308 may include a bracket 309, a slider 310, and a power member 311, the power member 311 being connected to the bracket 309 and the supporting mechanism 500, the roll brush 301 being connected to the bracket 309, the bracket 309 being connected to the slider 310, the slider 310 being connected to the supporting mechanism 500. The power piece 311 can drive the bracket 309 to slide along the sliding piece 310 so as to drive the rolling brush 301 to move along the second direction, and the sliding piece 310 is used for limiting the movement of the power piece 311 along the second direction. Wherein, the power piece 311 can be an electric cylinder, and the sliding piece 310 can be a conventional sliding rail sliding table 401 assembly.
The detection mechanism 400 may detect in a contact or non-contact manner, for example, referring to fig. 16, the detection mechanism 400 may include a sliding table 401, a movable rod 402, a spring 403 and a universal wheel 404, where the movable rod 402 is connected to the sliding table 401 and extends along the second direction, the universal wheel 404 is rotatably installed at an end of the movable rod 402 and is used for contacting a working surface to be cleaned, the spring 403 is sleeved on the movable rod 402, and the elastic force of the spring 403 can enable the movable rod 402 to have a tendency to move towards the working surface to be cleaned, so that the universal wheel 404 can keep abutting against the working surface during the whole movement of the cleaning device. During movement, the universal wheel 404 rolls along the work surface, and when the radius of curvature of the work surface becomes larger or smaller, the movable rod 402 can expand and contract along the second direction, so that the change of the radius of curvature can be obtained by detecting the displacement of the movable rod 402. During the cleaning process, the rolling brush moving assembly 308 can adaptively adjust the position of the rolling brush 301 according to the variation, so as to adjust the brushing force, and specific detection feedback can be realized through a conventional controller.
Referring to fig. 16, the detecting mechanism 400 may further include a first sensor 405 and a second sensor 406, where the first sensor 405 and the second sensor 406 are disposed at intervals along the second direction and may be connected to the sliding table 401 or the supporting mechanism 500, for detecting two extreme positions of the second direction movement of the movable bar 402, so as to know whether the cleaning device moving along the third direction reaches a position with the largest radius of curvature or a position with the smallest radius of curvature. The first sensor 405 and the second sensor 406 may be conventional photoelectric sensors.
Referring to fig. 12 and 16, in some embodiments, the wiping movement assembly 115 of the wiping mechanism 100 may also be communicatively connected to the detection mechanism 400, and during the cleaning process, the wiping movement assembly 115 may adaptively adjust the position of the wiping bracket 309 according to the amount of change detected by the detection mechanism 400, so that the wiping rope 102 can better fit the working surface to be cleaned.
Referring to fig. 15, in some embodiments, the roller brush 301 includes a roller shaft 303 and bristles 304, wherein the bristles 304 are disposed on the roller shaft 303 and distributed around the roller shaft 303, and the roller shaft 303 is a central shaft of the roller brush 301 and can be used as a driving shaft to be connected to the driving assembly 302, and an end portion of the roller brush can be connected to a flange 312 to facilitate connection with the driving assembly 302. The roller 303 may have a hollow passage formed therein, and the wall of the roller 303 may have a plurality of through holes formed therein in a radial direction, the through holes being communicated with the passage, the passage being capable of being connected with the water inlet joint 305, thereby introducing a cleaning liquid. In practical use, the cleaning liquid can be introduced into the channel of the roller 303, and when the roller 303 rotates, the cleaning liquid continuously flows out of the through holes, so that the liquid can be supplied to the bristles 304, water flow is formed under the action of centrifugal force, and the situation of the brush can be realized, thereby having an automatic cleaning function.
The driving assembly 302 may include a motor 306 and a speed reducer 307, the motor 306 is connected with the speed reducer 307, the speed reducer 307 is connected to the roller 303, and the motor 306 operates to drive the speed reducer 307 to drive the roller 303 to rotate, so as to realize rotation of the brush, and the brush is used for brushing a working surface to be cleaned. The motor 306 may be a servo motor, and the speed reducer 307 may be a worm gear speed reducer. The cleaning liquid can be water or water solution dissolved with cleaning agent. The roller 303 may be a seamless carbon steel tube, and the surface may be a protective layer formed by spraying powder paint. The bristles 304 may be formed from abrasive filaments, all of conventional materials.
Referring to fig. 11, in some embodiments, the support mechanism 500 includes a connection frame 501 and a main frame 502, where the two main frames 502 are disposed on two sides of the connection frame 501 along a first direction, respectively, and may be used for mounting structures such as a driving assembly 302, a control assembly, and a distribution box. The connection frame 501 is connected to the main frame 502, and the main frame 502 extends along the third direction, so that an installation space is defined between the main frame 502 and the connection frame 501, the brushing mechanism 300 is disposed in the installation space, for example, the rolling brush 301 is disposed in the installation space and is connected to the main frame 502 through the roller shaft 303 of the rolling brush 301, the driving assembly 302 is connected to the main frame 502, the wiping mechanism 100 is connected to the connection frame 501 and is disposed above the installation space, the spraying mechanism 200 is connected to the main frame 502 or the connection frame 501, the traveling device 600 is connected to one side of the supporting mechanism 500 corresponding to the brushing mechanism 300, and a strong adsorption force can be provided for the position of the brushing mechanism 300 to ensure the brushing force of the rolling brush 301, and interference on the wiping mechanism 100 or the spraying mechanism 200 can be avoided. The connection component 601 of the travelling mechanism 600 is correspondingly connected to the main frame 502, so that the omnidirectional wheel component 602 can drive the cleaning device to move on a working surface to be cleaned, and the working surface is cleaned through the brushing mechanism 300, the spraying mechanism 200 and the wiping mechanism 100. In this embodiment, the supporting mechanism 500 may be used as a supporting body to implement the installation of the brushing mechanism 300, the spraying mechanism 200, the wiping mechanism 100, the running device 600, and other mechanisms, and after assembly, the moving of the supporting mechanism 500 may be used to implement the overall movement of the mechanisms, and meanwhile, the mechanisms may form mutually independent modules connected to the supporting mechanism 500, so as to implement a modularized assembly mode, and the assembly and the disassembly are convenient and easy to maintain.
Wherein, link 501 and main frame 502 all accessible member are built and fixed connection forms, can have stable structure, make things convenient for the installation of each mechanism to can reduce the dead weight.
In the cleaning robot of some embodiments, the cleaning device may include a wiping mechanism 100, a spraying mechanism 200 and a brushing mechanism 300 sequentially disposed along a third direction, where the three are respectively connected to the supporting mechanism 400, the brushing mechanism 300 is used for brushing a working surface to be cleaned, the spraying mechanism 200 is used for spraying cleaning liquid on the working surface, and the wiping mechanism 100 is used for wiping the working surface after brushing and spraying. The cleaning device in some embodiments of the cleaning robot may include only the wiper mechanism 100, or the spray mechanism 200, or the brush mechanism 300, or a combination of any two thereof. The specific arrangement of the wiping mechanism 100, the spraying mechanism 200 and the brushing mechanism 300 can be referred to the previous embodiments.
In some embodiments, the cleaning robot further includes a lifting device 700, two sides of the supporting mechanism 500 along the first direction are respectively connected with the lifting devices 700, and the two lifting devices 700 are used for synchronously lifting the supporting mechanism 500, so that after the travelling device 600 drives the cleaning device to move from top to bottom along a curved surface for one stroke and cleaning, the cleaning device can be lifted upwards by the lifting devices 700 so as to facilitate the movement and cleaning of the next stroke.
The cleaning robot provided by the embodiment of the application is suitable for cleaning the outer wall surface of the wind power tower, and can be used for effectively cleaning the tower by taking wind power generation as renewable clean energy, so that the problems of reduced structural strength, reduced corrosion resistance, stress deformation and the like caused by pollution and corrosion can be effectively avoided. It should be noted that, in actual use, the wiping mechanism or the cleaning device of the embodiment of the application may be disposed on the running device, and the running device drives the cleaning device to move, so as to clean the corresponding working surface.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300205.2A CN115520299B (en) | 2022-10-24 | 2022-10-24 | Running gear and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211300205.2A CN115520299B (en) | 2022-10-24 | 2022-10-24 | Running gear and cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115520299A CN115520299A (en) | 2022-12-27 |
| CN115520299B true CN115520299B (en) | 2025-04-08 |
Family
ID=84704575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211300205.2A Active CN115520299B (en) | 2022-10-24 | 2022-10-24 | Running gear and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115520299B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341828A (en) * | 2019-07-26 | 2019-10-18 | 上海酷酷机器人有限公司 | A kind of curved surface running gear and its magnetic cleaner device people |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | A surface-adaptive wheeled wall-climbing robot and its working method |
| CN114794951A (en) * | 2022-02-15 | 2022-07-29 | 沈阳航空航天大学 | A hanging rope type curtain wall cleaning machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10322201B3 (en) * | 2003-05-16 | 2004-08-26 | Taurus Instruments Gmbh | Automatic cleaning system for facade of building has two rotating brush heads in housings one above the other and connected to suction pipes |
| US10451222B2 (en) * | 2017-07-12 | 2019-10-22 | Saudi Arabian Oil Company | Magnetic crawler vehicle with passive rear-facing apparatus |
| CN111345736A (en) * | 2018-12-24 | 2020-06-30 | 北京奇虎科技有限公司 | Sweeping robot and sweeping device thereof |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
| CN215745046U (en) * | 2021-08-31 | 2022-02-08 | 湖南沄耀中创科技有限公司 | Round brush belt cleaning device and climbing cleaning robot |
-
2022
- 2022-10-24 CN CN202211300205.2A patent/CN115520299B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341828A (en) * | 2019-07-26 | 2019-10-18 | 上海酷酷机器人有限公司 | A kind of curved surface running gear and its magnetic cleaner device people |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | A surface-adaptive wheeled wall-climbing robot and its working method |
| CN114794951A (en) * | 2022-02-15 | 2022-07-29 | 沈阳航空航天大学 | A hanging rope type curtain wall cleaning machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115520299A (en) | 2022-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210195939U (en) | A tower operation equipment with adaptive tower radius | |
| CN111760729A (en) | Pipeline inner wall rust cleaning robot | |
| CN111513621A (en) | Robot for scrubbing glass and wall surface on outer facade of building | |
| CN112696560B (en) | Pipeline robot for cleaning inclined pipeline | |
| CN107811587A (en) | A kind of basket-hanging high-altitude exterior wall and glass curtain wall cleaning device | |
| CN115816273B (en) | Oilfield is with seamless steel pipe burnishing device that has dust collection function | |
| CN115520299B (en) | Running gear and cleaning robot | |
| CN115682649B (en) | Wiping mechanism and cleaning device | |
| CN212859483U (en) | Pipeline cleaning robot | |
| CN211809522U (en) | Gantry car washer | |
| CN220836896U (en) | Screw spindle cleaning machine | |
| CN115969275A (en) | Glass curtain wall cleaning robot driven by flexible cable to perform peristaltic cleaning and cleaning method | |
| CN217070024U (en) | Be used for prosthetic inside scale removal device of oil pipe | |
| US20240217092A1 (en) | Building exterior wall cleaning robot | |
| CN216396855U (en) | Anticorrosive spraying device in portable bridge outside | |
| CN214918507U (en) | Crawler self-cleaning device for photovoltaic cleaning robot | |
| CN213855932U (en) | Metal surface washing and cleaning device | |
| CN211397779U (en) | Oil sludge cleaning and wall climbing robot for fan tower cylinder | |
| CN220245200U (en) | Elevator wire rope maintenance equipment | |
| CN220726490U (en) | Cleaning device for fan tower | |
| CN113019781A (en) | Be used for municipal guardrail paint spraying apparatus | |
| CN113198766B (en) | Caterpillar band self-cleaning device for photovoltaic cleaning robot | |
| CN111236065B (en) | Spraying equipment and spraying method for fingerprint-free coating of handrail | |
| CN223032769U (en) | Maintenance device for elevator steel wire rope | |
| CN222856207U (en) | Heating pipe cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |