CN115055461A

CN115055461A - Cleaning robot and operation method thereof

Info

Publication number: CN115055461A
Application number: CN202210470602.8A
Authority: CN
Inventors: 赵雷; 杨虎森; 蓝志明; 邹剑平
Original assignee: Shenzhen Yuntai Image Technology Co ltd
Current assignee: Shenzhen Yuntai Image Technology Co ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-09-16

Abstract

The invention provides a cleaning robot and an operation method thereof, comprising the following steps: the track driving system comprises a guide rail, a moving mechanism connected with the guide rail and a driving mechanism for driving the moving mechanism to move along the guide rail; one end of the multi-section mechanical arm is connected with a connecting seat connected and arranged on the track driving system in a swinging mode, and the other end of the multi-section mechanical arm is provided with a cleaning mechanism; the track driving system supports the multi-section mechanical arm to move along the track, and a cleaning mechanism supported by the multi-section mechanical arm is used for cleaning a cleaning area below the track. The cleaning mechanism arranged at the far end of the multi-section mechanical arm can move along the track driving system by the walking of the multi-section mechanical arm on the track driving system, and the cleaning mechanism can flexibly change the position under the bending and stretching actions of the multi-section mechanical arm so as to clean a cleaning target object positioned below the track driving system.

Description

Cleaning robot and operation method thereof

Technical Field

The present invention relates to the field of cleaning machines and control computers and, more particularly, to a cleaning robot and an operating method thereof.

Background

The air-water backflushing filter pool (the penultimate treatment pool before the tap water enters the pipeline) of the filtering system in the water plant is used as a key process of the whole process of the sewage treatment plant and the clean water treatment plant, the treatment effect of the whole system is finally kept, the operation condition directly influences the quality of the water produced by the water plant, the requirement on the cleanliness of the filter pool is high, and the filter pool should be cleaned every day theoretically. At present, the manual operation mode is mainly used, and the following problems exist:

a) the efficiency is low:

although the time required by water discharging and back flushing of the filter tank is short, the cleaning of the tank wall is mainly carried out by a cleaner entering the water tank by using a brush, the operation is time-consuming and labor-consuming, the cleaning frequency of the water tank is influenced, and the requirement of daily cleaning is difficult to achieve in the practical operation;

b) sanitation hidden danger:

in the manual operation process, sundries on the working sole are easily brought into the bottom of the filter tank, thereby polluting the filter tank for filtering sand. In addition, the operation in the filter tank has high requirements on the health level of cleaners;

c) cleaning filtered sand:

similarly, as the worker enters the pool for operation, after the cleaning is finished, part of the filtered sand is adhered to the working shoes and is scattered to the passageway along with the cleaner leaving the filter pool. On the one hand, the waste of the filtered sand is caused, and on the other hand, the difficulty is increased for cleaning the passageway.

d) The cleaning effect is difficult to judge:

at present, the cleaning effect of a water plant is mainly judged by visual inspection, and a standard and effective judging tool is lacked.

When the filter tank is cleaned by using the existing cleaning equipment, all corners of the filter tank cannot be cleaned, and the existing equipment is difficult to meet the requirement that no foreign matters such as parts, oil stains and the like fall into the water tank in the cleaning operation process.

Disclosure of Invention

According to the embodiment of the invention, the cleaning robot and the operation method thereof are provided, and the filter chamber below the track driving system can be comprehensively cleaned.

In a first aspect of the present invention, a cleaning robot is provided. The cleaning robot includes:

the track driving system comprises a guide rail, a moving mechanism connected with the guide rail and a driving mechanism for driving the moving mechanism to move along the guide rail;

one end of the multi-section mechanical arm is connected with the connecting seat connected and arranged on the moving mechanism in a swinging mode, and the other end of the multi-section mechanical arm is provided with a cleaning mechanism; wherein,

the track driving system supports the multiple sections of mechanical arms to move along the guide rail, and a cleaning mechanism supported by the multiple sections of mechanical arms is used for cleaning a cleaning area below the guide rail.

There is further provided in accordance with the above-described aspect and any one of the possible implementations, an implementation, a multi-segment robotic arm comprising,

a proximal arm segment connected to the track drive system;

a distal arm segment for connection with the cleaning mechanism; and

at least one intermediate arm segment disposed between the proximal arm segment and the distal arm segment,

the arm sections and the near-end arm section are connected with the connecting seat in a manner of swinging on a first plane, and when the multiple sections of arms move to the cleaning area, the arms swing on the first plane, so that the cleaning mechanism is opposite to the cleaning area.

In accordance with the above aspect and any one of the possible implementations, there is further provided an implementation in which an angle cylinder is disposed between the connecting seat and the moving mechanism, so that the multi-segment mechanical arm rotates around the connecting seat on the second plane.

The above-described aspect and any possible implementation further provide an implementation, wherein the guide rail includes,

a first guide rail disposed at an upper side; and

a second guide rail arranged at the lower side;

the moving mechanism comprises a moving mechanism and a moving mechanism,

a first slide unit and a second slide unit fitted to the first guide rail and the second guide rail, respectively,

the first sliding assembly comprises at least one set of wheels for clamping the guide rail from the vertical direction, and the second sliding assembly comprises at least one set of wheels for clamping the guide rail from the horizontal direction.

The above aspects and any possible implementations further provide an implementation in which the moving mechanism has a brake caliper for applying a resistance force in contact with the guide rail or the wheel member of the first and second slide assemblies.

There is further provided in accordance with the above-described aspect and any possible implementation, an implementation, the cleaning mechanism including,

a cleaning brush for brushing the cleaning area;

a water gun for spraying water to the cleaning area; and

a rotating motor provided at a base of the cleaning brush.

The aspect and any possible implementation manner described above further provide an implementation manner, wherein the other end of the multi-segment mechanical arm is provided with a cleaning mechanism mounting part, a base part of the cleaning mechanism is connected with the cleaning mechanism mounting part,

the base of the cleaning brush is connected with an angle cylinder, and the angle cylinder drives the cleaning brush to swing relative to the cleaning mechanism mounting part through a connecting piece.

The above aspect and any possible implementation manner further provide an implementation manner, further comprising an angle sensor arranged at one end of the connecting piece and used for detecting the swinging position of the cleaning brush.

The above aspects and any possible implementation manners further provide an implementation manner, further including an obstacle avoidance sensor disposed at a front end of the moving mechanism and/or the traveling direction of the multi-segment mechanical arm, for sensing an obstacle in front of the traveling of the cleaning robot, and a control system making the multi-segment mechanical arm stop traveling or detour to avoid the obstacle based on a signal of the obstacle avoidance sensor.

In a second aspect of the present invention, there is provided an operating method of a cleaning robot for cleaning a cleaning region using the cleaning robot as described above.

The cleaning robot and the operation method thereof can lead the cleaning mechanism arranged at the far end of the multi-section mechanical arm to move along the track driving system by the walking of the multi-section mechanical arm on the track driving system, and the cleaning mechanism can flexibly change the position and the posture under the bending and extending actions of the multi-section mechanical arm so as to clean the cleaning target object which is positioned at the side of the track driving system or surrounded by the track driving system.

The invention can be applied to the cleaning of a pool, the multi-section mechanical arm bends, stretches and expands downwards from the track driving system at the side of the pool, and the track driving system provides stable lateral support for the multi-section mechanical arm. According to the invention, the track driving system comprises a plurality of guide rails which are arranged in parallel in the vertical direction, the sliding assemblies are respectively connected with the guide rails in the vertical direction and/or the horizontal direction, and the sliding assemblies apply clamping force to the guide rails in different directions, so that the running stability is ensured.

The cleaning robot and the operation method thereof can lead the multi-section mechanical arm to walk in a large range, probe downwards and inwards, and realize the comprehensive cleaning of the pool.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

fig. 1 is a schematic structural view illustrating a cleaning robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view illustrating a cleaning robot according to an embodiment of the present invention;

FIG. 3 shows a schematic diagram of a track drive system of a cleaning robot provided by an embodiment of the present invention;

fig. 4 is a schematic structural view illustrating a moving mechanism of a cleaning robot according to an embodiment of the present invention;

fig. 5 is a schematic structural view illustrating a moving mechanism of a cleaning robot according to an embodiment of the present invention;

fig. 6 shows a schematic view of a retracted state of the cleaning robot provided by the embodiment of the present invention;

FIG. 7 shows a schematic view of a wash basin wall of a cleaning robot provided by an embodiment of the present invention;

fig. 8 is a schematic view illustrating a washing drain tank of the cleaning robot according to the embodiment of the present invention;

fig. 9 is a schematic structural view showing a cleaning mechanism of a cleaning robot according to an embodiment of the present invention;

fig. 10 is a schematic structural view illustrating a cleaning mechanism of a cleaning robot according to an embodiment of the present invention;

FIG. 11 illustrates a schematic connection diagram of an electromechanical system 500 of a cleaning robot provided by an embodiment of the present invention;

fig. 12 is a schematic circuit diagram of a cleaning robot according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 12 is:

a 100-rail drive system, a 111 first rail, a 112 second rail, a 120 rail mount, a 121 first rail support, a 122 second rail support, a 130 moving mechanism, a 131 first sliding assembly, a 132 second sliding assembly, a 1311 first wheel, a 1312 second wheel, a 133 first bracket, a 134 second bracket, a 1331 mounting slot, a 1332 elongated through hole, a 135 first force application assembly, a 1351 guide, a 1352 tension spring, a 140 drive mechanism, a seat plate 150, a 160 brake caliper;

200 sections of mechanical arms, 211 a first mechanical arm section, 212 a second mechanical arm section, 213 a third mechanical arm section, 221 a first air pressure cylinder, 222 a second air pressure cylinder, 223 a third air pressure cylinder, 240 a connecting seat, 241 an X-axis angle cylinder, 250 a cleaning mechanism mounting part and 251 a connecting piece;

300 cleaning mechanism, 310 cleaning brush, 320 water gun, 330Y-axis angle cylinder and 340 rotating motor;

400 sensor system, 410 angle sensor;

500 an electromechanical system;

600 control the system.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, a detailed description of an embodiment of the present invention will be given with reference to the accompanying drawings, and it is to be understood that the described embodiment is an example for implementing the present invention and is not to be construed as limiting the scope of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The invention is applied to cleaning objects with a tank-shaped and deep-groove structure, such as gas-water backflushing filter tanks in water plants, the cleaning objects have large cleaning area and large width and depth range to be cleaned, and comprise peripheral tank walls, tank bottoms, included angles between the tank walls and the tank bottoms, corners, drainage grooves, filter layers and the like, a large amount of trapped and stripped dirt is usually arranged at the filter layers, and the included angles between the tank walls and the bottom surfaces, the corners and the like are difficult to clean or are easy to ignore. The air-water backflushing filter tank is a penultimate treatment tank before tap water enters a pipeline, plays a final role in controlling the treatment effect of the whole water treatment system, and directly influences the quality of water produced by a water plant under the operation condition, so that the requirement on the cleanliness of the air-water backflushing filter tank is high. Therefore, the present embodiment provides a cleaning robot capable of cleaning the filter chamber in a comprehensive manner.

A cleaning robot and an operating method thereof according to an embodiment of the present invention will be described with reference to fig. 1 to 12.

As shown in fig. 1 and 2, a cleaning robot according to an embodiment of the present invention includes: a track drive system 100, a multi-segment robotic arm 200, a cleaning mechanism 300, a sensor system 400, an electromechanical system 500, and a control system 600. The track drive system 100 supports the multi-segment robot arm 200 to move along the rails of the track drive system 100 and cleans a cleaning region located below the rails of the track drive system 100 using the cleaning mechanism 300 supported by the multi-segment robot arm 200.

As shown in fig. 1-4, the track drive system 100 is disposed along the pool side and includes a plurality of guide rails, a guide rail bracket 120, a moving mechanism 130, a driving mechanism 140, a seat plate 150, and a brake caliper 160. In the present embodiment, two guide rails are provided, including the first guide rail 111 and the second guide rail 112, and are provided inside the guide rail housing 120. In the present embodiment, the inner side is the side facing the filter chamber, and is the right direction as in fig. 1; the outer side is the side facing away from the filter, such as the left side in fig. 1. The rail housing 120 is fixed at a plurality of positions around the pool edge or extended along the pool edge, and has a vertical support surface extended in a vertical direction, and a first rail support portion 121 and a second rail support portion 122 provided at inner sides of the vertical support surface. The first rail supporting part 121 extends from the upper end of the vertical supporting surface along the inner side of the horizontal direction, and the first rail 111 is connected with the first rail supporting part 121 from the outer side; the second rail support portion 122 extends inward in the horizontal direction from the lower portion of the vertical support surface, and then extends vertically upward, and the second rail 112 is connected to the second rail support portion 122 from the lower side. The ends of the first rail supporting part 121 and the second rail supporting part 122 are on the same vertical plane, so that the first rail 111 is disposed at the upper side and the second rail 112 is disposed at the lower side, and are disposed in parallel in the vertical direction.

The guide rail support supports the first guide rail 111 and the second guide rail 112 to enable the first guide rail 111 and the second guide rail 112 to be arranged around the filter tank, the cross section of the first guide rail 111 and the second guide rail 112 in the vertical direction is circular, the materials are made of stainless steel, the first guide rail 111 and the second guide rail are arranged in an extending mode along the edge of the filter tank and are in arc transition at corners, and the joints of the guide rails are welded.

The moving mechanism 130 is connected to and slides freely along the guide rail, and includes a sliding member connected to and sliding along a surface of the guide rail, a bracket supporting the sliding member, and a force applying member clamping the sliding member to the guide rail. The sliding assembly comprises a first sliding assembly 131 and a second sliding assembly 132 which are respectively embedded and connected with the first guide rail 111 and the second guide rail 112, the first sliding assembly 131 is provided with two pairs of wheels which clamp the guide rails from the vertical direction to form a first wheel set, and the two pairs of wheels of the first wheel set are arranged in the front and back direction in the extending direction of the first guide rail 111; the second sliding assembly 132 is provided with two pairs of wheels which grip the rail from the horizontal direction, constituting a second wheel set, and the two pairs of wheels of the second wheel set are arranged one behind the other in the extension direction of the second rail 112, so that the two pairs of wheels of the first wheel set correspond to the two pairs of wheels of the second wheel set in the vertical direction.

As shown in fig. 4 and 5, each pair of paired wheels is composed of a first wheel member 1311 and a second wheel member 1312 arranged on both sides of the corresponding guide rail, the first wheel member 1311 and the second wheel member 1312 are provided as U-shaped grooved wheels, and the groove surfaces are matched with the curved surfaces of the guide rail. First and

second wheel members

1311, 1312 of the first wheel set are respectively provided on upper and lower sides in the vertical direction of first guide wheel 111, and the axial directions of first and

second wheel members

1311, 1312 of the first wheel set are substantially horizontal. The first wheel member and the second wheel member of the second wheel set are respectively arranged on the right side and the left side of the second guide rail 112 in the horizontal direction, and the axial directions of the first wheel member and the second wheel member of the second wheel set are approximately vertical.

The bracket includes a first bracket 133 carrying the first slider assembly 131 and a second bracket 134 carrying the second slider assembly 132. The first bracket 133 is coupled to the two pairs of wheels of the first slider assembly 131, and the first bracket 133 is formed with mounting grooves 1331 surrounding both axial sides of the first and

second wheel members

1311 and 1312 of the first slider assembly 131 such that the first and

second wheel members

1311 and 1312 are disposed in the mounting grooves 1331. An opening is formed in a wall surface of an outer side of the mounting groove 1331 corresponding to the first guide rail 111, the first guide rail 111 is inserted through the opening of the outer side wall of the first bracket 133 and is disposed in the mounting groove 1331 formed in the first bracket 133, and the first guide rail 111 is disposed between the first wheel 1311 and the second wheel 1312 of the first slide assembly 131, so that the first wheel 1311 and the second wheel 1312 of the first slide assembly 131 stably clamp the first guide rail 111 in a vertical direction.

Two ends of the rotating shaft of the first wheel 1311 of the first sliding assembly 131 are fixedly connected to two sidewalls of the mounting groove 1331 of the first bracket 133. Two corresponding inner wall surfaces of the mounting groove 1331 formed by the first bracket 133 are formed with elongated through holes 1332 extending in a direction perpendicular to the first guide rail 111 in the vertical direction, and both ends of the rotating shaft of the second wheel member 1312 of the first sliding assembly 131 are disposed in the elongated through holes 1332. The first force application assembly 135 includes a guide portion 1351 and a tension spring 1352, the guide portion 1351 is formed in a square thin plate shape and is sleeved on the rotating shaft of the second wheel member 1312 of the first sliding assembly 131, the tension spring 1352 has two springs, one end of each spring is fixedly connected to both sides of the guide portion 1351, the other end of each spring is fixedly connected to the inner wall surface of the mounting groove 1331 on the first wheel member 1311 side of the first sliding assembly 131 across both sides of the first guide rail 111, so that the two springs are disposed on both sides of the first wheel member 1311 and the second wheel member 1312 of the first sliding assembly 131, the tension spring 1352 provides a tension force for clamping the guide rail to the first sliding assembly 131, thereby the first sliding assembly 131 vertically clamps the first guide wheel 111, the second wheel member 1312 of the first sliding assembly 131 is movably connected to both side walls of the first bracket 133, the second wheel member 1312 can move along the extending direction of the elongated through hole 1332, the distance between the two wheels can be flexibly adjusted, or the first wheel 1311 of the first sliding component 131 can be movably connected with two side walls of the first support 133 relatively, so that the clamping force of the first sliding component 131 on the first guide rail 111 when the first sliding component is adjusted to turn to the first guide rail 111 is adjusted, when the moving mechanism 130 walks to a corner, the first sliding component 131 can flexibly turn to the corner, and the movement is stable and smooth.

The driving mechanism 140 is disposed in the first bracket 133 and connected to an inner end of a rotating shaft of the first wheel 1311 of the first sliding assembly 131, and the driving mechanism 140 is a speed reduction motor for providing driving power to the first wheel 1311 of the first sliding assembly 131 to drive the first sliding assembly 131 to move along the guide rail.

The second bracket 134 is coupled to two pairs of wheels of the second slider assembly 132, and the second bracket 134 is formed with mounting grooves surrounding both axial sides of the first and second wheels of the second slider assembly 132 such that the first and second wheels are disposed in the mounting grooves. An opening is formed on the wall surface of the lower side of the mounting groove formed by the second sliding assembly 132, so that the second guide rail 112 passes through the opening of the lower side wall of the second bracket 134 and is arranged in the mounting groove formed by the second bracket 134, the second guide rail 112 is arranged between the first wheel piece and the second wheel piece of the second sliding assembly 132, and the first wheel piece and the second wheel piece of the second sliding assembly 132 stably clamp the second guide rail 112 in the horizontal direction.

Two ends of the rotating shaft of the first wheel of the second sliding assembly 132 are fixedly connected with two side walls of the mounting groove of the second bracket 134. Two corresponding inner wall surfaces of the mounting groove formed in the second bracket 134 are formed with an elongated through hole, a guide portion, and a tension spring having the same structure as the elongated through hole 1332 formed in the first bracket 133. An elongated through hole formed in the second bracket 134 extends in a direction perpendicular to the second guide rail 112 in the horizontal direction, and both ends of the rotation shaft of the second wheel member of the second slide assembly 132 are disposed in the elongated through hole. The second force application assembly comprises a guide part and a tension spring, the guide part is formed into a square thin plate shape, a rotating shaft of a second wheel piece of the second sliding assembly 132 is sleeved with the rotating shaft, the tension spring is provided with two springs, one end of each spring is respectively connected and fixed on two sides of the guide part, the other end of each spring respectively spans two sides of the second guide rail 112 and is connected and fixed with the inner wall surface of the mounting groove on one side of the first wheel piece of the second sliding assembly 132, so that the two springs are arranged on two sides of the first wheel piece and the second wheel piece of the second sliding assembly 132, the tension spring provides tensioning force for clamping the guide rail for the second sliding assembly 132, therefore, the second guide wheel 112 is clamped by the second sliding assembly 132 in the horizontal direction, the second wheel piece of the second sliding assembly 132 is movably connected with two side walls of the second bracket 134 relatively, the second wheel piece can move along the extending direction of the strip-shaped through hole, and the distance between the two wheels can be flexibly adjusted, or the first wheel of the second sliding component 132 may be movably connected to two side walls of the second bracket 134, so as to adjust the clamping force on the second guide rail 112 when the second sliding component turns on the second guide rail 112, and when the moving mechanism 130 walks to a corner, the second sliding component 132 can flexibly turn and move smoothly.

The seat plate 150 is formed in a plate shape arranged in a vertical direction, the first and second sliding

assemblies

131 and 132 are connected with an outer side plane of the seat plate 150 through the first and

second brackets

133 and 134 arranged outside the first and second sliding assemblies, the driving mechanism 140 drives the first sliding assembly 131, and the second sliding assembly 132 below is driven to move through the seat plate 150. Alternatively, a motor may be provided to the second sliding member 132 to drive the second sliding member 132. The seat plate 150 is connected to the first and

second brackets

133 and 134 through the rotation hinge, and when the moving mechanism 130 walks to a corner, the seat plate 150 can swing relative to the first and

second brackets

133 and 134, so that the seat plate 150 can be more flexibly turned as shown in fig. 3. The multi-segment robot arm 200 is connected by a base plate 150.

A brake caliper 160 is disposed between the two pairs of wheels of the first slide assembly 131, and embraces the first guide rail 111 to apply a resistance force to provide a braking force. Alternatively, the brake caliper 160 contacts the wheel of the first or

second slide assemblies

131, 132 to apply a resistance force to provide a braking force.

As shown in fig. 1 and 2, the multi-segment robot 200 has three segments including a first segment 211, a second segment 212, and a third segment 213, wherein the proximal end of the first segment 211 is connected to the track drive system 100, the second segment 212 is connected to the distal end of the first segment 211, the third segment 213 is connected to the distal end of the second segment 212, and a cleaning mechanism 300 is disposed at the distal end of the third segment 213, that is, the first arm segment 211 is a proximal arm segment connected to the orbital drive system 100, the third arm segment 213 is a distal arm segment connected to the cleaning mechanism 300, the second arm segment 212 is disposed in an intermediate arm segment between the proximal and distal arm segments, in this embodiment, the intermediate arm segment is provided as one, and in other embodiments, the intermediate arm segment may be provided as a plurality. The mechanical arm sections are connected through a rotating joint, so that the mechanical arm sections can swing on a first plane, and the first plane is an XZ plane shown in figure 2. The rotary joint can adopt a step bearing or a double-cone shaft to be matched with a plurality of groups of bearings, so that the stability of each mechanical arm section during telescopic motion and the matching precision of each mechanical arm section are ensured.

One end of the multi-segment robot arm 200, i.e., the proximal end of the first robot arm segment 211, is connected to the inner plane of the base plate 150 through the connecting seat 240, so that the multi-segment robot arm 200 is fixed to the inner plane of the base plate 150, thereby connecting the multi-segment robot arm 200 to the track driving system 100. An X-axis rotation cylinder 241 is disposed between the connecting seat 240 and the seat plate 150, so that the connecting seat 240 rotates around an X-axis, as shown in fig. 2, that is, the connecting seat 240 drives the multi-stage mechanical arm 200 to rotate around the connecting seat 240 on a second plane, which is a YZ plane as shown in fig. 2.

Each arm section is driven by a pneumatic actuator cylinder to perform a bending and stretching action, one end of the first pneumatic actuator cylinder 221 is rotatably connected with an extension part extending from the inner side wall surface of the connecting seat 240, and the other end of the first pneumatic actuator cylinder is connected with the middle part of the first arm section 211. The second pneumatic actuator 222 is connected at one end to the middle of the first robot section 211 and at the other end to the second robot section 212, the second robot section 212 having an extension extending from the connection with the first robot section 211 in the direction of the second robot section 212, the second pneumatic actuator 222 being connected at the other end to the end of the extension. A third pneumatic ram 223 is connected between the middle of the second arm segment 212 and the middle of the third arm segment 213. The material of each section of mechanical arm adopts aluminum alloy or carbon fiber, makes whole arm lightweight, reduces the upset moment that the focus skew brought when the arm moves, prolongs the maintenance cycle, and the range of length is 800mm to 1200 mm.

The multi-section mechanical arm 200 can swing on a plane in two directions at the same time through the X-axis angle cylinder 241 and each air pressure actuator cylinder, so that the third mechanical arm section 213 is opposite to a cleaning area, and the motions of multi-angle and multi-direction bending, stretching, unfolding, rotation around the horizontal direction and the like are performed, thereby ensuring the large range and flexibility of the motion of the multi-section mechanical arm 200. And the pneumatic actuator cylinder is used, so that compared with a hydraulic cylinder, sundries such as hydraulic oil and the like are prevented from falling into the pool to pollute the filter pool.

As shown in fig. 9 and 10, the other end of the multi-stage robot arm 200, i.e., the distal end portion of the third arm stage 213, is provided with a cleaning mechanism mounting portion 250 for mounting the cleaning mechanism 300, and the end of the cleaning mechanism mounting portion 250 is open and formed in a shape of "Jiong". The cleaning mechanism 300 includes a cleaning brush 310, a water gun 320, and a rotary motor 340, the cleaning brush 310 is used for washing an area to be cleaned, a base of the cleaning brush 310 is connected to the rotary motor 340, the rotary motor 340 is disposed in the cleaning mechanism mounting portion 250 and connected to the cleaning mechanism mounting portion 250 through a connecting member 251, and the cleaning brush 310 rotates about a rotation shaft of the rotary motor 340. The brush of the cleaning brush 310 extends outward from the center in a spreading shape. Accordingly, the driving member of the base portion of the cleaning brush 310 drives the cleaning brush 310 to rotate, and an included angle, a corner, and the like in the tank can be completely cleaned by the rotating motion. The water gun 320 is used for spraying water to an area to be cleaned and is fixedly connected to the connecting member 251.

The washing mechanism 300 further includes a Y-axis angling cylinder 330 connected to one end of the connecting member 251, the Y-axis angling cylinder 330 is disposed outside the cleaning mechanism mounting portion 250, and drives the base of the cleaning brush 310 to swing around the Y-axis, i.e., to swing on a first plane with respect to the cleaning mechanism mounting portion 250, the rotation angle is 180 °, and the flexibility and cleaning range of the cleaning brush 310 are increased. The other end of the connection member 251 is provided with an angle sensor 410 for detecting a swing angle of the cleaning brush 310 on the first plane.

As shown in fig. 1 and 6, the multi-stage robotic arm 200 can be folded into a stowed position driven by the pneumatic ram, such that the cleaning mechanism 300 is stowed adjacent to the track drive system 100. Driven by the pneumatic actuator, the multi-stage mechanical arm 200 performs bending and stretching actions to a working position, the depth of the multi-stage mechanical arm 200 reaches about 3 meters at the maximum, as shown in fig. 2 and 7, when the pool wall is cleaned, the multi-stage mechanical arm 200 probes downwards, and the third mechanical arm section 213 is in a horizontal state, so that the cleaning brush 310 and the water gun 320 are opposite to the pool wall; as shown in FIG. 8, during cleaning of the drain, the multi-stage robotic arm 200 is lowered such that the cleaning brush 310 extends into the drain. The multi-section mechanical arm 200 is provided with a plurality of mechanical arm sections, the length and the range of the mechanical arm stretching and bending are guaranteed, the mechanical arm can flexibly rotate in a plurality of plane directions, the mechanical arm can be extended downwards and inwards in a large range, and therefore the cleaning brush 310 is attached to the wall of the water pool to be cleaned by adjusting the posture of the multi-section mechanical arm 200, and the filter pool is comprehensively cleaned.

The sensor system 400 includes an angle sensor and an obstacle avoidance sensor, the rotation joint of each arm segment is provided with the angle sensor, and the control system 600 determines the swing angle of each arm segment based on the signal of the angle sensor provided at the rotation joint of each arm segment. And, the control system 600 detects the swing angle of the cleaning brush 310 based on the signal of the angle sensor 410 provided at the other end of the connection member 251. The angle sensor employs a rotary angular displacement sensor for positioning each arm segment and the position of the cleaning mechanism 300 by detecting a change in angle, which counts once by the number and amount of rotations of the shaft, increases when rotating in one direction, and decreases when changing the direction of rotation. The measured number is fed back to the control system 600 through a voltage pulse signal, the control system 600 processes the signal and sends out an instruction to control the opening and closing of the electromagnetic valve, so that the stretching amount of each mechanical arm section is controlled.

An obstacle avoidance sensor is arranged at the front end of the moving mechanism 130 in the sliding direction, the obstacle avoidance sensor is an inductive proximity sensor, and a metal mark is adhered to the outer surface of an obstacle which may be encountered in the operation process of the cleaning robot. During the walking of the cleaning robot, the obstacle close to the robot can be detected without actually contacting with the target obstacle. The obstacle avoidance sensor consists of high-frequency oscillation, detection, amplification, triggering, output circuits and the like. The oscillation and stop state of the oscillator is converted into an electric signal and sent to the control system 600, the control system 600 processes the signal, and the control system 600 sends out a command of stopping walking or bypassing based on the signal of the obstacle avoidance sensor to avoid the obstacle. Or, the obstacle avoidance sensor can also adopt an infrared sensor.

The multi-section mechanical arm 200 can also be provided with obstacle avoidance sensors, detect obstacles close to the obstacle avoidance sensors, send electric signals to the control system 600, the control system 600 processes the signals, and send instructions to control the opening and closing of the electromagnetic valve based on the signals of the obstacle avoidance sensors, so that the stretching amount or the bypassing of each mechanical arm section are controlled to avoid the obstacles.

As shown in fig. 11, the electromechanical system 500 includes a pneumatic system, and the air compressor provides high-pressure air as power, and the high-pressure air is stored in the air storage tank and then supplied to the first pneumatic cylinder 221, the second pneumatic cylinder 222, the third pneumatic cylinder 223, the X-axis corner cylinder 241, the Y-axis corner cylinder 330, the brake caliper 160, and the water gun 320. Electromagnetic valves are respectively arranged on pipelines connected with the first pneumatic actuator 221, the second pneumatic actuator 222, the third pneumatic actuator 223, the X-axis corner cylinder 241, the Y-axis corner cylinder 330 and the brake caliper 160 and the air storage tank. The water gun 320 is connected with the gas storage tank and the high-pressure water pump in parallel, the water sprayed in the water gun 320 is pressurized by the high-pressure water pump in a first stage, and is pressurized by the high-pressure air pump in a second stage at the same time, and high-pressure gas-water flow is formed. The air compressor is provided with a barometer, can automatically detect the air pressure in the air storage tank and automatically supply air to maintain the constant air pressure.

As shown in fig. 12, the electromechanical system 500 further includes a power supply system, the power supply system supplies power to each electric device, the power supply system is configured with a 48V lithium battery, and the control system 600 controls the power supply system to ensure safety of charging and discharging. The control system 600 also controls the voltage conversion, which may be 12V or 5V for various electric devices.

The embodiment of the invention also provides an operation method of the cleaning robot, which comprises the following steps: the control system 600 controls the multi-segment mechanical arm 200 to move along the guide rail, and controls the multi-segment mechanical arm 200, the cleaning brush 310 of the cleaning mechanism 300, and the water gun 320 to clean the filter chamber, the drainage tank and the like. The cleaning process is that the filter tank is run for one circle by a route which is set in sequence from the initial position of the walking, and the route returns to the initial position, and the cycle is the period.

Cleaning includes both manual and automatic modes of operation. The control system 600 comprises a remote controller and a control computer, wherein each switch and channel on the remote controller executes an action, the control computer controls each electromagnetic valve, the driving mechanism 140 and the rotating motor 340 of the electromechanical system 500, processes signals of the switches and the sensor system 400 of the remote controller, and monitors the running state of each part of the cleaning robot in real time through the control system 600. The automatic working mode is continuous operation, after the start button is pressed, the whole set of multi-section mechanical arm 200 automatically walks and extends according to a preset angle, and the operation is circularly carried out for a preset period until the cleaning of the filter tank is completed. The switching value input signal of the control system 600 is a digital signal and is directly connected to a control computer, and the control computer controls each electromagnetic valve through an intermediate relay.

Taking the four walls of the cleaning filter tank as an example, the concrete working process is as follows:

a) starting to work, enabling each mechanical arm section of the multi-section mechanical arm 200 to enter a working position of a cleaning area from a retracting position according to a preset angle, and detecting the rotating angle of each rotating joint and the cleaning brush 310 by an angle sensor;

b) controlling the cleaning brush 310 to rotate and starting the water gun 320;

c) the multi-section mechanical arm 200 repeatedly moves up and down according to the preset bending length and angle range to drive the cleaning brush 310 and the water gun 320, and the cleaning brush 310 swings relative to the multi-section mechanical arm 200 to wash under the drive of the Y-axis angle cylinder 330;

d) the multi-section mechanical arm 200 travels around the filter tank along the guide rail, so that the cleaning brush 310 and the water gun 320 brush the wall of the filter tank along the traveling direction;

e) the cleaning robot runs for a circle around the filter tank to complete a period and returns to the original position;

f) the cleaning robot performs a washing work for a preset period.

Further, the number of the guide rails is not limited in the present embodiment, and two or more guide rails may be provided in other embodiments. Likewise, the number of the sliding assemblies is not limited in this embodiment, and in other embodiments, the sliding assemblies may be provided in two or more corresponding guide rails and connected to the plurality of guide rails in the vertical and/or horizontal direction. In addition, the present embodiment does not limit the number of the robot arms, and in other embodiments, the number of the robot arm stages may be three or more.

The cleaning robot and the operation method thereof of the present invention can move the cleaning mechanism 300 disposed at the far end of the multi-segment mechanical arm 200 along the track driving system 100 by the walking of the multi-segment mechanical arm 200 on the track driving system 100, and the cleaning mechanism 300 can flexibly change the position and posture under the flexing and rotating actions of the multi-segment mechanical arm 200 to clean the cleaning target object located beside the track driving system 100 or surrounded by the track driving system 100, thereby avoiding the pollution to the filter tank caused by the cleaning operation disposed in the tank.

The track driving system 100 can support the multi-section mechanical arm 200 to stably bend, extend and rotate downwards from the edge of the pool, and provide stable lateral support. The multi-section mechanical arm 200 and the track driving system 100 are stably arranged, the multi-section mechanical arm 200 walks in a large range and probes downwards and inwards, and the filter tank is comprehensively cleaned.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, the description of the terms "one embodiment," "some embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized by comprising:

a track drive system (100) comprising a guide rail, a moving mechanism (130) coupled to the guide rail, and a drive mechanism (140) that drives the moving mechanism (130) to move along the guide rail;

one end of the multi-section mechanical arm (200) is connected with a connecting seat (240) which is connected and arranged on the moving mechanism (130) in a swinging mode, and the other end of the multi-section mechanical arm is provided with a cleaning mechanism (300); wherein,

the track drive system (100) supports the multi-segment robot arm (200) for movement along the guide rail and cleans a cleaning region located below the guide rail using a cleaning mechanism (300) supported by the multi-segment robot arm (200).

2. The cleaning robot according to claim 1,

the multi-segment robotic arm (200) includes,

a proximal arm segment connected to the rail drive system (100);

a distal arm segment for connection with the cleaning mechanism (300); and

the arm sections and the proximal end arm section are connected with the connecting seat (240) in a manner of swinging on a first plane, and when the multi-section mechanical arm (200) moves to a cleaning area, the multi-section mechanical arm swings on the first plane, so that the cleaning mechanism (300) is opposite to the cleaning area.

3. The cleaning robot according to claim 2,

and a corner cylinder is arranged between the connecting seat (240) and the moving mechanism (130), so that the multi-section mechanical arm (200) rotates around the connecting seat (240) on a second plane.

4. The cleaning robot according to claim 1,

the guide rail comprises a guide rail body and a guide rail body,

a first guide rail (111) provided on the upper side; and

a second guide rail (112) provided on the lower side;

the moving mechanism (130) comprises a moving mechanism,

a first slide unit (131) and a second slide unit (132) that are fitted to the first guide rail (111) and the second guide rail (112), respectively,

the first sliding assembly (131) comprises at least one set of wheels gripping the rail from the vertical direction, and the second sliding assembly (132) comprises at least one set of wheels gripping the rail from the horizontal direction.

5. The cleaning robot according to claim 4,

the moving mechanism (130) is provided with a brake caliper (160) used for contacting with the guide rail or the wheel members of the first and second sliding assemblies (131) and (132) to exert resistance.

6. The cleaning robot according to claim 1,

the cleaning mechanism (300) comprises a cleaning mechanism,

a cleaning brush (310) for brushing the cleaning area;

a water gun (320) for spraying water onto the cleaning area; and

a rotating motor (340) provided at the base of the cleaning brush (310).

7. The cleaning robot according to claim 6,

the other end of the multi-section mechanical arm (200) is provided with a cleaning mechanism mounting part (250), the base part of the cleaning mechanism (300) is connected with the cleaning mechanism mounting part (250),

an angle cylinder is connected to the base of the cleaning brush (310), and the angle cylinder drives the cleaning brush (310) to swing relative to the cleaning mechanism mounting part (250) through a connecting piece (251).

8. The cleaning robot according to claim 7,

the cleaning brush also comprises an angle sensor (410) which is arranged at one end of the connecting piece (251) and is used for detecting the swinging position of the cleaning brush (310).

9. The cleaning robot according to claim 1,

the robot cleaning system further comprises an obstacle avoidance sensor which is arranged at the front end of the moving mechanism (130) and/or the front end of the walking direction of the multi-section mechanical arm (200) and used for sensing an obstacle in front of the walking direction of the cleaning robot, and a control system (600) enables the multi-section mechanical arm (200) to stop walking or detour to avoid the obstacle based on a signal of the obstacle avoidance sensor.

10. An operation method of a cleaning robot is characterized in that,

cleaning a cleaning area using the cleaning robot according to any one of claims 1 to 9.