CN113682097A - Amphibious crawler-type cleaning robot - Google Patents
Amphibious crawler-type cleaning robot Download PDFInfo
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- CN113682097A CN113682097A CN202111107650.2A CN202111107650A CN113682097A CN 113682097 A CN113682097 A CN 113682097A CN 202111107650 A CN202111107650 A CN 202111107650A CN 113682097 A CN113682097 A CN 113682097A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an amphibious crawler-type cleaning robot, which comprises a bearing frame, two groups of crawler-type traveling mechanisms, a three-degree-of-freedom lifting and swinging mechanism arranged at the front end of a robot body, a three-degree-of-freedom high-pressure water jet cloud deck arranged at the rear end of the robot body, two driving motors, a centrifugal dirt suction pump dirt suction system arranged outside the robot body and a robot vision and detection control system, wherein the three-degree-of-freedom high-pressure water jet cloud deck is arranged at the rear end of the robot body; the robot integrally adopts an electric drive control system, so that the pollution to the environment is avoided while cleaning, and the energy utilization rate is reduced. The machine body has the advantages of simple structure, modular design, compact arrangement and good operation flexibility.
Description
Technical Field
The invention belongs to the technical field of special robots, and particularly relates to an amphibious cleaning robot device.
Background
Industrial pipelines such as petrochemical large-scale storage tanks and nuclear power stations, reservoir culverts and the like are affected by external factors such as vibration, pressure, corrosion and the like for a long time in the actual working process, leakage accidents are easy to occur, serious economic loss is caused, harm is brought to the environment, and even more, the safety of residents and the national security is endangered. In order to work safely and stably and prolong the service life of the equipment, the related facilities must be cleaned and maintained regularly. With the continuous improvement of labor cost, requirements on working efficiency and working environment safety factors, the special cleaning robot has wider application.
However, the current special cleaning robot has a single working environment and extremely strong pertinence in use function, is difficult to use in some environments, and is more difficult to realize one machine with multiple functions.
Disclosure of Invention
In order to solve the problems, the invention provides an amphibious crawler-type cleaning robot. The robot can adapt to different amphibious working environments, is modularly designed, has a simple structure and has superiority.
The invention can be used for cleaning storage tanks which need to be cleaned regularly and have larger risk of manual cleaning, such as large floating roof oil storage tanks, large chemical storage tanks, liquefied natural gas storage tanks and the like; cleaning a primary loop system consisting of a nuclear island voltage stabilizer of a nuclear power station and corresponding pipelines and valves of the nuclear island voltage stabilizer, a secondary loop system consisting of a conventional island water-feeding pump and corresponding pipelines and valves of the nuclear island voltage stabilizer, a large-scale hydraulic engineering pipe network, a city water supply and drainage pipeline system and other pipeline networks which need to be cleaned and dredged regularly and cannot be reached manually; or cleaning silt and small garbage at the bottoms of rivers and channels, reservoir culverts, seabed and ground.
The technical scheme of the invention is as follows:
an amphibious crawler-type cleaning robot comprises a bearing frame, two groups of crawler-type traveling mechanisms, a three-degree-of-freedom lifting and swinging mechanism arranged at the front end of a robot body, a three-degree-of-freedom high-pressure water jet cloud deck arranged at the rear end of the robot body, two driving motors, a centrifugal dirt pumping and sucking system arranged outside the robot body, and a robot vision and detection control system;
the first electric push rod of the three-degree-of-freedom lifting and swinging mechanism is connected with the bearing frame through a fixing piece; the second electric push rod is arranged in the three-degree-of-freedom lifting and swinging mechanism at the front end of the machine body through a fixing piece; the three-degree-of-freedom lifting and swinging mechanism arranged at the front end of the machine body is connected with the bearing frame through a hollow rivet and a first electric push rod; the three-degree-of-freedom high-pressure water jet holder arranged at the rear end of the machine body is connected with the bearing frame through the nut column; the two driving motors are respectively connected with the bearing frame through a motor bracket and are positioned on two sides of the front end of the bearing frame; the two groups of crawler-type traveling mechanisms are connected with the bearing frame through screws and are positioned on two sides of the bearing frame, and the two groups of crawler-type traveling mechanisms are respectively connected with driving motors arranged on two sides of the front end of the bearing frame.
Preferably, the crawler-type travelling mechanism comprises a crawler cross beam frame, a travelling mechanism outer side cover plate, a driving wheel, two bearing wheel supporting plates, a bearing wheel, two guide wheel supporting pieces, eight guide wheels and three supporting wheels; the outer side cover plate of the walking mechanism is connected with the track beam frame through screws; the two bearing wheel supporting plates are respectively positioned on two sides of the track cross beam frame; the bearing wheel is connected with the bearing wheel supporting plate through a shaft; after the eight guide wheels are combined pairwise and are respectively connected with the guide wheel supporting piece through the shafts, the guide wheel supporting piece is respectively connected with the track cross beam frame through pins; the supporting wheels are connected with the track cross beam frame through shafts; the driving motor is connected with the driving wheel.
Preferably, the three-degree-of-freedom lifting and swinging mechanism arranged at the front end of the machine body comprises a first electric push rod, a second electric push rod, two electric push rod fixing pieces, two trunnion frames, two trunnion plates, a connecting table, a swinging head and a swinging push rod; two trunnion framves link to each other with the bearing frame front end respectively, first electric putter passes through the electric putter mounting and links to each other with the bearing frame, second electric putter passes through the electric putter mounting to be fixed inside the swing head, and two trunnion plates are installed respectively in two trunnion frame outsides, the joint table passes through hollow rivet and is connected with the trunnion plate of both sides respectively, and links to each other with first electric putter through the round pin, the swing head passes through hollow rivet respectively with the joint table link to each other from top to bottom, the swing push rod passes through the nut post and links to each other with second electric putter front end, and links to each other with the swing head through hollow rivet.
Preferably, the three-degree-of-freedom high-pressure water jet holder arranged at the rear end of the machine body comprises a water jet spray head, a high-pressure water jet fixing frame, three high-pressure water jet supporting frames, three steering engine fixing frames, three small flanges, three steering engines, a bearing, two bearing inner plates, a holder supporting plate and a water feeding hose; the three high-pressure water jet supporting frames are respectively a first high-pressure water jet supporting frame, a second high-pressure water jet supporting frame and a third high-pressure water jet supporting frame, the three steering engine fixing frames are respectively a first steering engine fixing frame, a second steering engine fixing frame and a third steering engine fixing frame, the three steering engines are respectively a first steering engine, a second steering engine and a third steering engine, and the three small flanges are respectively a first small flange, a second small flange and a third small flange; the cradle head supporting plate is connected with a top cover of the robot through a nut column, the bearing is arranged on the cradle head supporting plate, the bearing inner plates are respectively arranged at two sides of the bearing, a first steering gear fixing frame is arranged at the rear part of the bearing frame, the first steering gear is arranged in the first steering gear fixing frame, the first small-sized flange is connected with the bearing inner plate at the lower part, the first steering gear is connected with the first small-sized flange, the first high-pressure water jet supporting frame and the bottom part of the second high-pressure water jet supporting frame are connected, the first high-pressure water jet supporting frame and the second high-pressure water jet supporting frame are respectively connected with the second small-sized flange and the third small-sized flange, the second steering gear and the third steering gear fixing frame are connected at different sides in the inner part, the second steering gear and the third steering gear are respectively connected with the second steering gear fixing frame and the third steering gear fixing frame, and the second steering gear fixing frame is connected with the bearing inner plate at the upper part, the third high-pressure water jet supporting frame is connected with the third steering engine fixing frame and is connected with the high-pressure water jet fixing frame, the water jet injector head is arranged in the high-pressure water jet fixing frame, and the water feeding hose is connected with the water jet injector head.
Preferably, the centrifugal dirt pumping pump sewage pumping system arranged outside the machine body comprises a centrifugal dirt pumping pump and a dirt sucking head; the sewage suction head is connected with the front end of the three-degree-of-freedom lifting and swinging mechanism, and the sewage suction head is connected with the centrifugal sewage pump through a sewage suction hose.
Preferably, the robot control system and the vision and detection system comprise a robot double-control system, two searchlights, two cameras and a robot front support. The robot front support is connected with the robot swinging head, and the two searchlights and the two cameras are respectively connected with the robot front support and the third high-pressure water jet flow support frame.
The invention has the beneficial effects that:
the invention provides an amphibious crawler-type cleaning robot, which is large in support area of a crawler-type traveling mechanism and small in sinking degree, so that the adaptability of the robot to unknown complex terrains can be enhanced. The three-freedom lifting swing mechanism meets the three-freedom-degree requirement of the front end of the robot flexibly through two electric push rods, the three-freedom-degree high-pressure water jet cloud deck is used for flushing and washing special dirt with a certain height, the dirt suction head can be switched according to different targets and application scenes, the centrifugal dirt suction pump can suck the targets indiscriminately, and the four electric push rods are matched with each other to jointly enhance the operation capacity of the robot under different unknown working environments. The robot vision and detection system distinguishes a target object through a searchlight and a camera carried by the robot, and feeds the target object back to a robot operator in real time, so that the man-machine interaction and the operation capability of the robot are enhanced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a base carrier;
FIG. 3 is a schematic view of a crawler track;
FIG. 4 is a schematic diagram of a three-degree-of-freedom lifting and swinging mechanism;
FIG. 5 is a three degree of freedom high pressure water jet pan head;
FIG. 6 is a left side view of the inventive structure;
FIG. 7 is a top view of the structure of the present invention;
in the figure: the robot comprises a chassis bearing frame 1, a bearing frame base 1-1, a bearing frame top frame 1-2, a robot top cover 1-3, a robot rear cover 1-4, stainless steel handles 1-5, a crawler type walking mechanism 2, a crawler cross beam frame 2-1, driving wheels 2-2, bearing wheel supporting plates 2-3, bearing wheels 2-4, guide wheel supporting pieces 2-5, guide wheels 2-6, a motor support 2-7, supporting wheels 2-8, walking mechanism outer side cover plates 2-9, a crawler belt 2-10, a three-degree-of-freedom lifting and swinging mechanism 3, an trunnion frame 3-1, a trunnion plate 3-2, a connecting table 3-3, an electric push rod fixing piece 3-4, a first electric push rod 3-5, a swinging push rod 3-6, a swinging head 3-7, a swing head 3-3, a swing head 2, a robot rear cover 2-4, a stainless steel handle 1-5, a crawler type walking mechanism 2-6, a motor support 2-7, a motor support, a motor, 3-8 parts of electric push rod fixing frame, 3-9 parts of second electric push rod, 4 parts of three-degree-of-freedom high-pressure water jet holder, 4-1-1 parts of first steering engine fixing frame, 4-1-2 parts of second steering engine fixing frame, 4-1-3 parts of third steering engine fixing frame, 4-2-1 parts of first high-pressure water jet supporting frame, 4-2-2 parts of second high-pressure water jet supporting frame, 4-2-3 parts of third high-pressure water jet supporting frame, 4-3-1 parts of first steering engine, 4-3-3 parts of second steering engine, 4-4 parts of bearing inner plate, 4-5 parts of bearing, 4-6 parts of holder supporting plate, 4-7 parts of nut column, 4-8 parts of water jet injector head, 4-9 parts of water feeding hose, 4-10-1 parts of first small-sized flange, A second small flange 4-10-2, a third small flange 4-10-3, a [ mansion 1] driving motor 5, a dirt suction head 6-1, a dirt suction hose 6-2, a front support 7-1 of the robot, a front searchlight fixing clamp 7-2, a front searchlight 7-3, a front searchlight fixing clamp 7-4, a front camera 7-5, a rear camera fixing clamp 7-6, a rear camera 7-7, a rear searchlight fixing clamp 7-8 and a rear searchlight 7-9.
The specific implementation mode is as follows:
in order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments described herein without any creative effort shall fall within the protection scope of the present application.
The technical scheme of the invention is further described in detail in the following with reference to the attached drawings:
as shown in fig. 1-7, an amphibious crawler-type cleaning robot comprises a bearing frame 1, two sets of crawler-type traveling mechanisms 2, a three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of a machine body, a three-degree-of-freedom high-pressure water jet holder 4 arranged at the rear end of the machine body, two driving motors 5, a centrifugal dirt suction pump dirt suction system arranged outside the machine body, and a robot vision and detection control system;
a first electric push rod 3-5 of the three-degree-of-freedom lifting and swinging mechanism 3 is connected with the bearing frame 1 through a fixing piece; the second electric push rod 3-9 is arranged in the three-degree-of-freedom lifting and swinging mechanism 3 at the front end of the machine body through a fixing piece; the three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the machine body is connected with the bearing frame 1 through a hollow rivet and a first electric push rod 3-5; the three-degree-of-freedom high-pressure water jet holder 4 arranged at the rear end of the machine body is connected with the bearing frame 1 through a nut column; the two driving motors 5 are respectively connected with the bearing frame 1 through motor brackets 2-7 and are positioned at two sides of the front end of the bearing frame 1; the two groups of crawler-type traveling mechanisms 2 are connected with the bearing frame 1 through screws and are positioned on two sides of the bearing frame 1, and the two groups of crawler-type traveling mechanisms 2 are respectively connected with driving motors 5 arranged on two sides of the front end of the bearing frame 1.
Preferably, the crawler type travelling mechanism 2 comprises a crawler cross beam frame 2-1, a travelling mechanism outer side cover plate 2-9, a driving wheel 2-2, two bearing wheel support plates 2-3, a bearing wheel 2-4, two guide wheel support pieces 2-5, eight guide wheels 2-6 and three support wheels 2-8; the outer side cover plate 2-9 of the walking mechanism is connected with the track cross beam frame 2-1 through screws; two bearing wheel support plates 2-3 are respectively positioned at two sides of the track cross beam frame 2-1; the bearing wheels 2-4 are connected with the bearing wheel support plates 2-3 through shafts; after the eight guide wheels 2-6 are combined in pairs and are respectively connected with the guide wheel supporting pieces 2-5 through shafts, the guide wheel supporting pieces 2-5 are respectively connected with the track beam frame 2-1 through pins; the supporting wheels 2-8 are connected with the track cross beam frame 2-1 through shafts; the driving motor 5 is connected with the driving wheel 2-2.
Preferably, the three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the machine body comprises a first electric push rod 3-5, a second electric push rod 3-9, two electric push rod fixing pieces 3-4, two trunnion frames 3-1, two trunnion plates 3-2, a connecting table 3-3, a swinging head 3-7 and a swinging push rod 3-6; the two trunnion frames 3-1 are respectively connected with the front end of the bearing frame 1, the first electric push rod 3-5 is connected with the bearing frame 1 through an electric push rod fixing piece 3-4, the second electric push rod 3-9 is fixed inside the swing head 3-7 through an electric push rod fixing part 3-4, the two trunnion plates 3-2 are respectively arranged at the outer sides of the two trunnion frames 3-1, the connecting table 3-3 is respectively connected with trunnion plates 3-2 at two sides through hollow rivets, and is connected with a first electric push rod 3-5 through a pin, the swinging head 3-7 is respectively connected with the connecting table 3-3 up and down through a hollow rivet, the swing push rod 3-6 is connected with the front end of the second electric push rod 3-9 through a nut column and is connected with the swing head 3-7 through a hollow rivet.
Preferably, the three-degree-of-freedom high-pressure water jet holder 4 arranged at the rear end of the machine body comprises 4-8 parts of a water jet injector head, a high-pressure water jet fixing frame, three high-pressure water jet supporting frames, three steering engine fixing frames, three small flanges, three steering engines, 4-5 parts of bearings, 4-4 parts of two bearing inner plates, 4-6 parts of a holder supporting plate and 4-9 parts of a water feeding hose; the three high-pressure water jet support frames are respectively a first high-pressure water jet support frame 4-2-1, a second high-pressure water jet support frame 4-2-2 and a third high-pressure water jet support frame 4-2-3, the three steering engine fixing frames are respectively a first steering engine fixing frame 4-1-1, a second steering engine fixing frame 4-1-2 and a third steering engine fixing frame 4-1-3, the three steering engines are respectively a first steering engine 4-3-1, a second steering engine 4-3-2 and a third steering engine 4-3-3, and the three small flanges are respectively a first small flange 4-10-1, a second small flange 4-10-2 and a third small flange 4-10-3; the cradle head support plate 4-6 is connected with a robot top cover through a nut column, the bearing 4-5 is installed on the cradle head support plate 4-6, the bearing inner plate 4-4 is respectively installed on two sides of the bearing 4-5, the first steering engine fixing frame 4-1 is installed behind the bearing frame 1, the first steering engine 4-3-1 is installed in the first steering engine fixing frame 4-1-1, the first small flange 4-10-1 is connected with the bearing inner plate 4-4 below, the first steering engine 4-3-1 is connected with the first small flange 4-10-1, the first high-pressure water jet support frame 4-2-1 and the second high-pressure water jet support frame 4-2-2 are connected at the bottom, and the first high-pressure water jet support frame 4-2-1, A second high-pressure water jet support frame 4-2-2 is respectively connected with a second small-sized flange 4-10-2 and a third small-sized flange 4-10-3, and is internally connected with a second steering engine 4-3-2 and a third steering engine fixing frame 4-1-3 on different sides, the second steering engine 4-3-2 and the third steering engine 4-3-3 are respectively connected with a second steering engine fixing frame 4-1-2 and a third steering engine fixing frame 4-1-3, the second steering engine fixing frame 4-1-2 is connected with an upper bearing inner plate 4-4, the third high-pressure water jet support frame 4-2-3 is connected with a third steering engine fixing frame 4-1-3 and is connected with a high-pressure water jet fixing frame 4-11, and the injector head 4-8 is arranged in the high-pressure water jet fixing frame, the water feeding hose 4-9 is connected with the water jet spraying head 4-8.
Preferably, the centrifugal dirt pumping pump sewage pumping system arranged outside the machine body comprises a centrifugal dirt pumping pump and a dirt sucking head 6-1; the sewage suction head 6-1 is connected with the front end of the three-degree-of-freedom lifting and swinging mechanism, and the sewage suction head 6-1 is connected with a centrifugal sewage pump through a sewage suction hose 6-2. The centrifugal sewage pumping pump can be carried on the robot or other proper positions according to requirements.
Preferably, the robot control system and the vision and detection system comprise a robot double-control system, two searchlights, two cameras and a robot front support. The robot front support 7-1 is connected with a robot swinging head 3-7, the two searchlights 7-3 and 7-8 and the two cameras 7-5 and 7-7 are respectively connected with the robot front support 7-1 and the third high-pressure water jet flow support frame 4-2-3, the front searchlight 7-3 is fixed through a front searchlight fixing clamp 7-2, the front camera 7-5 is fixed through a front camera fixing clamp 7-4, the rear camera 7-7 is fixed through a rear camera fixing clamp 7-6, and the rear searchlight 7-9 is fixed through a rear searchlight fixing clamp 7-8.
In summary, the working principle of the invention is as follows:
in the invention, the chassis is an I-shaped and I-shaped combined bearing frame, and the two groups of crawler belt travelling mechanisms 2 are respectively connected to two sides of the chassis bearing frame through screws, so that the travelling mechanism is integrally formed. The three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the machine body is connected with a bearing frame top frame 1-2 through a screw by an trunnion frame 3-1, and an electric push rod fixing frame 3-8 is connected with a bearing frame base 1-1 through a screw. The three-degree-of-freedom high-pressure water jet holder installed at the rear end of the machine body is integrally connected with a robot top cover 1-3 through nut columns 4-7, and two driving motors 5 are fixed by a motor support 2-7 and a bearing frame top frame 1-2 after being combined and fixed through the motor support 2-7 and a driving wheel 2-2, so that the two driving motors 5 are respectively fixed on two sides of the front end of a chassis bearing frame 1.
When the cleaning robot moves, the two driving motors 5 at the front end of the base bearing frame 1 respectively drive the front driving wheels 2-2 to rotate, so that the cleaning robot is driven to move forwards. Meanwhile, the robot turns, retreats and turns around by adopting the tank turning and motion principle.
When the cleaning robot works, the robot identifies a cleaning object by the aid of the front searchlight 7-3 and the front camera 7-5 aiming at the target cleaning object located on the similar ground, and the three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the robot body flexibly lifts and swings by means of the cooperation of the first electric push rod 3-5 and the second electric push rod 3-9, so that the dirt suction head 6-1 reaches the position of the target cleaning object. At the moment, the external centrifugal sewage pump starts to work, and the target cleaning object is processed through the sewage suction head 6-1 and the sewage suction hose 6-2, so that the cleaning effect is achieved.
When the cleaning robot works, after the cleaning object is identified by the robot through the rear searchlight 7-9 and the rear camera 7-7 aiming at the target cleaning object which is positioned at a position similar to the position higher than the ground, the three-degree-of-freedom high-pressure water jet holder arranged at the rear end of the machine body is mutually matched through the three steering engines 4-3, so that the water jet injector head 4-8 is aligned with the target cleaning object, and then the high-pressure water jet starts to flush and clean the target cleaning object. At the moment, the robot identifies the cleaning object through the front searchlight 7-3 and the front camera 7-5, and the three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the machine body flexibly lifts and swings through the cooperation of the first electric push rod 3-5 and the second electric push rod 3-9 to enable the dirt suction head 6-1 to reach the position of the target cleaning object. At the moment, the external centrifugal sewage pump starts to work, and the target cleaning object is processed through the sewage suction head 6-1 and the sewage suction hose 6-2, so that the cleaning effect is achieved.
When the cleaning robot works, aiming at the working environment or the working environment of the similar ground position combined by the two conditions, the robot can identify the cleaning object through the front searchlight 7-3 and the front camera 7-5 and drive the three-degree-of-freedom lifting and swinging mechanism 3 arranged at the front end of the machine body to work, meanwhile, the rear searchlight 7-9 and the rear camera 7-7 identify the cleaning object, and the three-degree-of-freedom high-pressure water jet holder arranged at the rear end of the machine body is mutually matched through the three steering engines 4-3, so that the water jet injector heads 4-8 synchronously work, the target cleaning object positioned at a high place or on the ground is better cleaned, and the working efficiency and the working quality of the robot are improved.
In the embodiments, the technical features may be arbitrarily combined, and for the sake of brief description, all possible combinations of the technical features in the embodiments are not described, but the combinations of the technical features are not contradictory, and should be considered as the scope of the present description.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. An amphibious crawler-type cleaning robot which is characterized in that: the robot comprises a bearing frame, two groups of crawler-type traveling mechanisms, a three-degree-of-freedom lifting and swinging mechanism arranged at the front end of a machine body, a three-degree-of-freedom high-pressure water jet cloud deck arranged at the rear end of the machine body, two driving motors, a centrifugal dirt suction pump dirt suction system arranged outside the machine body and a robot vision and detection control system;
the first electric push rod of the three-degree-of-freedom lifting and swinging mechanism is connected with the bearing frame through a fixing piece; the second electric push rod is arranged in the three-degree-of-freedom lifting and swinging mechanism at the front end of the machine body through a fixing piece; the three-degree-of-freedom lifting and swinging mechanism arranged at the front end of the machine body is connected with the bearing frame through a hollow rivet and a first electric push rod; the three-degree-of-freedom high-pressure water jet holder arranged at the rear end of the machine body is connected with the bearing frame through the nut column; the two driving motors are respectively connected with the bearing frame through a motor bracket and are positioned on two sides of the front end of the bearing frame; the two groups of crawler-type traveling mechanisms are connected with the bearing frame through screws and are positioned on two sides of the bearing frame, and the two groups of crawler-type traveling mechanisms are respectively connected with driving motors arranged on two sides of the front end of the bearing frame.
2. An amphibious tracked cleaning robot as claimed in claim 1, wherein the tracked running gear comprises a track beam frame, running gear outer side cover plates, a drive wheel, two load bearing wheel support plates, a load bearing wheel, two guide wheel supports, eight guide wheels and three support wheels; the outer side cover plate of the walking mechanism is connected with the track beam frame through screws; the two bearing wheel supporting plates are respectively positioned on two sides of the track cross beam frame; the bearing wheel is connected with the bearing wheel supporting plate through a shaft; after the eight guide wheels are combined pairwise and are respectively connected with the guide wheel supporting piece through the shafts, the guide wheel supporting piece is respectively connected with the track cross beam frame through pins; the supporting wheels are connected with the track cross beam frame through shafts; the driving motor is connected with the driving wheel.
3. An amphibious crawler-type cleaning robot according to claim 1, wherein the three-degree-of-freedom lifting and swinging mechanism disposed at the front end of the robot body comprises a first electric push rod, a second electric push rod, two electric push rod fixing members, two trunnion frames, two trunnion plates, a connecting table, a swinging head and a swinging push rod; two trunnion framves link to each other with the bearing frame front end respectively, first electric putter passes through the electric putter mounting and links to each other with the bearing frame, second electric putter passes through the electric putter mounting to be fixed inside the swing head, and two trunnion plates are installed respectively in two trunnion frame outsides, the joint table passes through hollow rivet and is connected with the trunnion plate of both sides respectively, and links to each other with first electric putter through the round pin, the swing head passes through hollow rivet respectively with the joint table link to each other from top to bottom, the swing push rod passes through the nut post and links to each other with second electric putter front end, and links to each other with the swing head through hollow rivet.
4. An amphibious crawler-type cleaning robot according to claim 1, wherein the three-degree-of-freedom high-pressure water jet holder mounted at the rear end of the robot body comprises a water jet head, a high-pressure water jet fixing frame, three high-pressure water jet supporting frames, three steering engine fixing frames, three small flanges, three steering engines, bearings, two inner bearing plates, a holder supporting plate and a water feeding hose; the three high-pressure water jet supporting frames are respectively a first high-pressure water jet supporting frame, a second high-pressure water jet supporting frame and a third high-pressure water jet supporting frame, the three steering engine fixing frames are respectively a first steering engine fixing frame, a second steering engine fixing frame and a third steering engine fixing frame, the three steering engines are respectively a first steering engine, a second steering engine and a third steering engine, and the three small flanges are respectively a first small flange, a second small flange and a third small flange; the cradle head supporting plate is connected with a top cover of the robot through a nut column, the bearing is arranged on the cradle head supporting plate, the bearing inner plates are respectively arranged at two sides of the bearing, a first steering gear fixing frame is arranged at the rear part of the bearing frame, the first steering gear is arranged in the first steering gear fixing frame, the first small-sized flange is connected with the bearing inner plate at the lower part, the first steering gear is connected with the first small-sized flange, the first high-pressure water jet supporting frame and the bottom part of the second high-pressure water jet supporting frame are connected, the first high-pressure water jet supporting frame and the second high-pressure water jet supporting frame are respectively connected with the second small-sized flange and the third small-sized flange, the second steering gear and the third steering gear fixing frame are connected at different sides in the inner part, the second steering gear and the third steering gear are respectively connected with the second steering gear fixing frame and the third steering gear fixing frame, and the second steering gear fixing frame is connected with the bearing inner plate at the upper part, the third high-pressure water jet supporting frame is connected with the third steering engine fixing frame and is connected with the high-pressure water jet fixing frame, the water jet injector head is arranged in the high-pressure water jet fixing frame, and the water feeding hose is connected with the water jet injector head.
5. The amphibious crawler-type cleaning robot according to claim 1, wherein the centrifugal dirt suction pump dirt suction system installed outside the body comprises a centrifugal dirt suction pump, a dirt suction head; the sewage suction head is connected with the front end of the three-degree-of-freedom lifting and swinging mechanism, and the sewage suction head is connected with the centrifugal sewage pump through a sewage suction hose.
6. An amphibious tracked cleaning robot according to claim 1, wherein said robot control system, vision and detection system comprises a robot bi-control system, two searchlights, two cameras, a robot front mount; the robot front support is connected with the robot swinging head, and the two searchlights and the two cameras are respectively connected with the robot front support and the third high-pressure water jet flow support frame.
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| CN202111107650.2A CN113682097B (en) | 2021-09-22 | 2021-09-22 | Amphibious crawler-type cleaning robot |
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| CN202111107650.2A CN113682097B (en) | 2021-09-22 | 2021-09-22 | Amphibious crawler-type cleaning robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| WO2020058988A1 (en) * | 2018-09-18 | 2020-03-26 | Janyu Technologies Pvt. Ltd. | Sludge cleaning remotely operable vehicle |
| US20200205371A1 (en) * | 2018-12-24 | 2020-07-02 | National Taiwan University Of Science And Technology | Master-slave cooperative cleaning robot system |
| CN111409787A (en) * | 2020-04-29 | 2020-07-14 | 河北兴舟科技有限公司 | Underwater cleaning robot |
| CN212313829U (en) * | 2020-05-12 | 2021-01-08 | 山东交通学院 | Three-degree-of-freedom high-bearing working device of underwater wall surface cleaning robot |
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2021
- 2021-09-22 CN CN202111107650.2A patent/CN113682097B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| WO2020058988A1 (en) * | 2018-09-18 | 2020-03-26 | Janyu Technologies Pvt. Ltd. | Sludge cleaning remotely operable vehicle |
| US20200205371A1 (en) * | 2018-12-24 | 2020-07-02 | National Taiwan University Of Science And Technology | Master-slave cooperative cleaning robot system |
| CN111409787A (en) * | 2020-04-29 | 2020-07-14 | 河北兴舟科技有限公司 | Underwater cleaning robot |
| CN212313829U (en) * | 2020-05-12 | 2021-01-08 | 山东交通学院 | Three-degree-of-freedom high-bearing working device of underwater wall surface cleaning robot |
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