CN218792094U - Mining cleaning robot - Google Patents

Abstract

The application discloses a mining cleaning robot, which comprises a moving device, a cleaning device and a negative pressure device, wherein the cleaning device is arranged in front, the negative pressure device is arranged behind the cleaning device, when the robot moves, the cleaning device can firstly clean the ground, and the negative pressure device follows behind the cleaning device and is used for collecting dirt swept by the cleaning device; the robot comprises a robot body and is characterized by further comprising a magnetic guide rail, a first magnetic guide rail sensor, a second magnetic guide rail sensor and a card reader, wherein the magnetic guide rail can be paved at all positions where the robot needs to arrive, the movement route and the movement space of the robot can be determined by setting the magnetic guide rail, when the robot travels along the magnetic guide rail, the robot can rapidly judge the movement direction through the first magnetic guide rail sensor, the second magnetic guide rail sensor and the card reader, and the robot can accurately and efficiently move.

Description

Mining cleaning robot

Technical Field

The application relates to the technical field of underground robots, in particular to a mining cleaning robot.

Background

The internal environment of the mine is limited, and the current inspection, cleaning and other works under the mine are mostly realized manually, so that time and labor are wasted.

Disclosure of Invention

The application aims to overcome the defects in the prior art and provide the mining cleaning robot.

In order to achieve the above technical object, the present application provides a mining cleaning robot, including: the moving device comprises a roller and a moving driving component, and the moving driving component is used for driving the roller to rotate so as to facilitate the roller to roll on the ground; the cleaning device is arranged at the front end of the mobile device and used for cleaning the ground; the negative pressure device is arranged at the rear end of the mobile device and is used for pumping dirt on the ground; the magnetic guide rail is arranged on the ground; the first magnetic guide rail sensor is arranged on the mobile device and used for identifying the magnetic guide rail so as to facilitate the advance of the mobile device; the second magnetic guide rail sensor is arranged on the mobile device and used for identifying the magnetic guide rail so as to facilitate the backward movement of the mobile device; and the card reader is arranged on the mobile device and used for identifying magnetic points on the magnetic guide rail so as to facilitate the mobile device to select a moving path.

Further, the cleaning device includes: the brush disc is used for cleaning the ground; and the cleaning driving mechanism is used for driving the brush disc to rotate.

Further, the cleaning device comprises two brush discs; the cleaning device further includes: one of the brush discs is connected with the driving gear; the other brush disc is connected with the driven gear; the driving gear is meshed with the driven gear, and the cleaning driving mechanism is used for driving the driving gear to rotate.

Further, the negative pressure device includes: the water absorption rake is provided with a water absorption hole; the flexible strip is arranged on the water absorption rake and is used for contacting the ground.

Further, the water absorption rake is arranged to be of an arc-shaped structure; and/or the flexible strip comprises a first flexible strip and a second flexible strip, the first flexible strip is arranged on the front side of the water absorption rake, and the second flexible strip is arranged on the rear side of the water absorption rake; and/or the first anti-collision wheel is arranged at the end part of the water absorption rake; and/or the second anti-collision wheel is arranged on one side of the water absorption rake far away from the cleaning device.

Further, cleaning device includes the brush dish, and negative pressure device includes the rake that absorbs water, and mining cleaning robot still includes: the first water tank comprises a clean water cavity and a sewage cavity, the clean water cavity is communicated with the brush disc, and a discharge port is arranged on the sewage cavity; the second water tank is communicated with the water sucking rake; the negative pressure device also comprises a suction mechanism, and the suction mechanism is used for sucking air from the second water tank so as to facilitate the water sucking rake to suck and remove dirt on the ground; the second water tank is also communicated with the sewage cavity, and the dirt pumped into the second water tank can enter the sewage cavity and is finally discharged through the discharge port.

Further, cleaning device includes the brush dish, and negative pressure device still includes aggregate unit including the suction rake, mining cleaning robot, and aggregate unit includes: the first connecting rod is used for connecting the brush disc; the second connecting rod is used for connecting the water absorption rake; and the linkage driving mechanism is used for driving the first connecting rod and the second connecting rod, driving the brush disc and the water absorption rake to lift.

Further, the linkage drive mechanism includes: the output end of the linkage motor is provided with a first bevel gear; the linkage screw rod is fixedly provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; the movable block is in threaded connection with the linkage screw rod, when the linkage screw rod rotates, the movable block can move along the linkage screw rod, and the first connecting rod and the second connecting rod are both connected with the movable block.

Further, the linkage device further comprises: the first contact piece and the second contact piece are arranged on the movable block; a first travel switch disposed opposite the first contact member; the second travel switch is arranged opposite to the second contact piece; when the linkage motor works, the first bevel gear and the second bevel gear can drive the linkage screw rod to rotate, so that the movable block moves along the linkage screw rod; when the movable block moves to the position that the first contact piece contacts the first travel switch, the first connecting rod and the second connecting rod drive the brush disc and the water absorption rake to be lifted to a first preset position; when the movable block moves to the second contact piece to contact the second travel switch, the first connecting rod and the second connecting rod drive the brush disc and the water absorption rake to be placed to a second preset position.

Furthermore, the moving device also comprises a chassis frame, and the moving driving component is fixedly arranged on the chassis frame; the linkage further includes: the first bracket is fixedly arranged on the front side of the chassis frame, and the first connecting rod is arranged on the first bracket in a swinging manner; the second bracket is fixedly arranged at the rear side of the chassis frame, and the second connecting rod is arranged on the second bracket in a swinging manner; wherein, the movable block is connected to the one end of first connecting rod, and the brush dish is connected to the other end, and movable block is connected to second connecting rod one end, and the other end is connected the rake that absorbs water.

The application provides a mining cleaning robot, which comprises a moving device, a cleaning device and a negative pressure device, wherein the cleaning device is arranged in front, the negative pressure device is arranged behind the cleaning device, when the robot moves, the cleaning device can firstly clean the ground, and the negative pressure device follows behind the cleaning device and is used for collecting dirt swept by the cleaning device; the robot comprises a robot body and is characterized by further comprising a magnetic guide rail, a first magnetic guide rail sensor, a second magnetic guide rail sensor and a card reader, wherein the magnetic guide rail can be paved at all positions where the robot needs to arrive, the movement route and the movement space of the robot can be determined by setting the magnetic guide rail, when the robot travels along the magnetic guide rail, the robot can rapidly judge the movement direction through the first magnetic guide rail sensor, the second magnetic guide rail sensor and the card reader, and the robot can accurately and efficiently move.

Drawings

Fig. 1 is a schematic structural diagram of a mining cleaning robot provided by the present application;

FIG. 2 is a structural cross-sectional view of a mobile device in the mining cleaning robot shown in FIG. 1;

FIG. 3 is an enlarged view of the structure enclosed in FIG. 2;

FIG. 4 is a schematic structural view of the mining cleaning robot shown in FIG. 1 with a part of the structure omitted;

FIG. 5 is a schematic diagram of a portion of the power supply apparatus shown in FIG. 4;

FIG. 6 is a schematic structural view of the mining cleaning robot shown in FIG. 4 with a part of the structure omitted;

fig. 7 is a schematic structural view of the mining cleaning robot shown in fig. 6 with a part of the structure omitted;

fig. 8 is a bottom structure view of the mining cleaning robot of fig. 7;

fig. 9 is a schematic structural view of the mining cleaning robot shown in fig. 7, with a part of the structure omitted;

FIG. 10 is a schematic illustration of the linkage of FIG. 9;

fig. 11 is a schematic view of an internal structure of a first water tank provided by the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. 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 this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The present application provides a robot, comprising a mobile device 100, wherein the mobile device 100 comprises a roller 110 and a mobile driving assembly 120, and the mobile driving assembly 120 is used for driving the roller 110 to rotate so that the roller 110 rolls on the ground.

The moving driving component 120 may adopt a motor, and the motor drives the roller 110 to rotate, so that the moving device 100 can drive the entire robot to move.

To ensure the stability of the entire robot movement, the moving device 100 includes at least two rollers 110. At this time, the mobile device 100 may include at least two sets of mobile driving components 120, and any roller 110 is driven by one set of mobile driving components 120. Alternatively, the number of the moving driving components 120 in the moving device 100 is less than the number of the rollers 110, so that at least one roller 110 is connected to the moving driving components 120 and can actively roll, and all the rollers 110 can be actuated by using mechanical inertia.

The additional arrangement of the rollers 110 can enhance the movement stability of the robot, and particularly, when the robot has a large shape, the rollers 110 are uniformly arranged, so that the robot can be better supported and moved.

In one embodiment, the mobile device 100 includes four rollers 110 and four mobile driving assemblies 120, and each roller 110 is driven to rotate by one mobile driving assembly 120.

For convenience of description, the front-back direction of the robot when moving is defined as a first direction, a direction perpendicular to the front-back direction in a horizontal plane is defined as a second direction, and the first direction, the second direction and the vertical direction are perpendicular to each other two by two.

Specifically, referring to fig. 1, 6 to 8 in combination, in the illustrated embodiment, two sets of rollers 110 are symmetrically arranged along the second direction, and any one set includes two rollers 110 arranged at intervals along the first direction, so that the robot can be stably supported and the motion of the robot can be realized by arranging four rollers 110.

Because the rollers 110 and the moving driving assemblies 120 are arranged in a one-to-one correspondence manner, each roller 110 is a driving wheel, so that the robot can move more sensitively and has a faster response speed. In addition, in practical use, even if one or even three of the movement driving assemblies 120 fails, the movement of the robot can be realized as long as one roller 110 is present to roll normally.

Optionally, the mobile device 100 further comprises a chassis frame 130, and the mobile driving assembly 120 is disposed on the chassis frame 130. The chassis frame 130 is used to mount the mobile drive assembly 120 and the roller 110, and also to support other structures disposed on the mobile device 100.

In one embodiment, the chassis frame 130 includes: the two layers of supporting frames 131 are arranged at intervals along the vertical direction; the supporting rods 132 are used for supporting the two layers of supporting frames 131.

Referring to fig. 7 and 9, the chassis frame 130 is hollow inside and can be used for accommodating the mobile driving assembly 120, because two layers of supporting frames 131 are arranged at intervals.

Wherein, the supporting frame 131 may be configured as a plate, or the supporting frame 131 may be configured as a frame-shaped structure. For example, in the embodiment shown in fig. 7 and 9, any one of the supporting frames 131 is formed by splicing four square pipes; therefore, materials can be saved, the chassis frame 130 is light in weight, and the driving assembly 120 can be moved conveniently to dissipate heat.

With continued reference to fig. 7 and 9, the chassis frame 130 includes four support rods 132, and the four support rods 132 are respectively used for connecting one corner of the two layers of support frames 131. So, can enough guarantee chassis frame 130's structural strength, the clearance between two adjacent bracing pieces 132 can also make things convenient for other structures to stretch out.

Optionally, when the supporting frame 131 is configured as a frame-type structure, the chassis frame 130 further includes a sealing plate 134, and the sealing plate 134 is disposed on one of the supporting frames 131 disposed thereon and is used for receiving other structures disposed on the mobile device 100.

Optionally, the chassis frame 130 further includes a wheel mounting block 133 fixedly disposed on the supporting frame 131 and/or the supporting rod 132, and the body of the mobile driving assembly 120 is fixedly disposed on the wheel mounting block 133; the roller 110 includes a wheel portion 111 and an axle 112, the axle 112 being rotatably provided on the wheel mounting block 133; one end of the axle 112 is disposed in the chassis frame 130 and connected to the output end of the mobile driving assembly 120, and the other end of the axle 112 protrudes from the chassis frame 130 and is connected to the wheel portion 111.

Referring to fig. 6 to 8 in combination, in the illustrated embodiment, one side of the wheel mounting block 133 is connected to the support frame 131 disposed at the lower layer, and the other side adjacent to the wheel mounting block is connected to a support rod 132; the wheel mounting block 133 is connected to the main body of the movement driving assembly 120 through a motor mounting plate at a side facing the inside of the chassis frame 130; the wheel mounting block 133 is provided with a bearing seat, and the axle 112 is rotatably connected with the bearing seat through a bearing; the axle 112 penetrates through the wheel mounting block 133 and is connected with the moving drive assembly 120 and the wheel part 111; the wheel part 111 is disposed outside the chassis frame 130, and can drive the chassis frame 130 to move.

The robot that this application provided still includes: a cleaning device 210 provided at the front end of the mobile device 100 for cleaning the ground; and the negative pressure device 220 is arranged at the rear end of the mobile device 100 and is used for pumping dirt on the ground.

It should be explained that "front" and "back" in this application mainly refer to the orientation state of the robot when the robot moves.

Because the cleaning device 210 is arranged in the front, and the negative pressure device 220 is arranged in the back, when the robot moves, the cleaning device 210 can clean the ground first, and the negative pressure device 220 follows behind the cleaning device 210 and is used for collecting dirt swept out by the cleaning device 210.

Since the first direction is the front-rear direction when the robot moves, the cleaning device 210 and the negative pressure device 220 are disposed along the first direction.

Specifically, the cleaning device 210 includes a brush plate 211, and the brush plate 211 is disposed at a front end of the mobile device 100 for cleaning the floor.

Wherein, the brush disk 211 can adopt the densely arranged brush hair structure, also can adopt the rag structure. The brush plate 211 may be formed in a long shape to facilitate cleaning of the entire floor surface at the same time. Alternatively, referring to fig. 8, the brush plate 211 is provided in a disk shape, and bristles or cloth at the bottom of the brush plate 211 are in a circular or ring shape.

Optionally, the cleaning device 210 further comprises a cleaning driving mechanism 212 for driving the brush disc 211 to rotate. Particularly, when the brush disk 211 is formed in a disk shape, the cleaning drive mechanism 212 rotates the brush disk 211, so that the brush disk 211 can more efficiently act on the floor surface to clean the floor surface. The cleaning drive mechanism 212 may employ a motor, or the like as a rotation drive member.

It is easy to understand that the larger the brush plate 211 is, the larger the range that the cleaning device 210 can cover when cleaning. However, when the brush disk 211 is disc-shaped, the closer the bristles or cloth at the bottom of the brush disk 211 is to the center of the circle, the smaller the movement degree during rotation, which is not only easy to hide dirt, but also unable to achieve better cleaning effect.

For this purpose, in one embodiment, the bristles or cloth at the bottom of the brush plate 211 are arranged in a circular ring shape. At this time, the circle center of the bottom of the brush disk 211 is not provided with bristles or cloth, so that the use of the brush disk 211 is not affected, and the effects of simplifying the structure and reducing the cost are achieved.

In another embodiment, the sweeping device 210 includes two brush discs 211. The two brush discs 211 are arranged, so that the two brush discs 211 are arranged along the second direction, the cleaning range of the cleaning device 210 can be enlarged, and the situation that the ground in the middle of the brush discs 211 is difficult to clean when only one large brush disc 211 is arranged can be avoided.

If desired, the sweeping device 210 may also include three or more brush discs 211.

To facilitate braking of the plurality of brush disks 211, the plurality of brush disks 211 are rotated. In one embodiment, the cleaning device 210 includes a plurality of cleaning driving mechanisms 212, each brush plate 211 is connected to one cleaning driving mechanism 212, and each brush plate 211 can rotate independently.

In another embodiment, the sweeping device 210 further comprises: a driving gear 213, one of the brush discs 211 being connected to the driving gear 213; a driven gear 214, wherein the other brush plate 211 is connected with the driven gear 214; the driving gear 213 is engaged with the driven gear 214, and the cleaning driving mechanism 212 is used to rotate the driving gear 213. The driving gear 213 transmits power to the engaged driven gear 214, so that one sweeping driving mechanism 212 can realize the synchronous rotation of the two brush disks 211.

When the cleaning device 210 includes three or more brush discs 211, the cleaning device 210 further includes two or more driven gears 214, and the synchronous rotation of the plurality of brush discs 211 can be realized through a plurality of gear transmissions.

Optionally, the sweeping device 210 further comprises a housing 216, and the brush disc 211 is rotatably disposed in the housing 216. The cover shell 216 can protect the brush disc 211 and can also play a role in collision prevention; the brush plate 211 is arranged in the housing 216, and can also prevent relatively high articles from being rolled into the brush plate 211, so that the reverse protection effect is achieved, and the damage of the brush plate 211 to external people or objects is avoided.

Referring specifically to fig. 7 and 8, in the illustrated embodiment, the sweeping drive mechanism 212 is fixedly disposed above the housing 216 by a motor mounting plate; a bearing seat is arranged on the housing 216, and an output shaft of the cleaning driving mechanism 212 is rotatably arranged in the bearing seat through a bearing and passes through the bearing seat to be connected with the driving gear 213; the driven gear 214 is rotatably disposed in the housing 216 through another set of rotating shaft, bearing seat and bearing, and engaged with the driving gear 213; the two sets of brush disks 211 are respectively fixed on the lower surfaces of the driving gear 213 and the driven gear 214.

It should be added that, in order to prevent the cover 216 from contacting and rubbing against the ground when the robot moves, at least a part of the brush plate 211 protrudes from the bottom surface of the cover 216.

Optionally, a water outlet is provided on the brush disc 211, and the liquid can wet the brush disc 211 or the ground through the water outlet.

The water outlet can be arranged at the center of the circle of the brush disc 211 and can also be arranged between the bristles or the cloth. The brush disk 211 can be provided with a plurality of water outlets, and the plurality of water outlets are respectively arranged on the brush disk 211. When the water outlet is far away from the bristles or the cloth, the clean water flowing out of the water outlet can directly act on the ground; when the water outlet is close to the bristles or the cloth, the clean water flowing out of the water outlet acts on the bristles or the cloth, and can wet the bristles or the cloth and further act on the ground.

If necessary, the cleaning liquid can flow out through the water outlet, so that the floor is better cleaned.

By providing the water outlet to supply the liquid, the brush plate 211 not only has a dry sweeping function, but also can wet sweep the floor as needed.

Specifically, the negative pressure device 220 comprises a water absorption scraper 221, the water absorption scraper 221 is arranged at the rear end of the mobile device 100, and can gather the dirt swept out by the brush disc 211 together; the suction rake 221 is provided with a suction hole through which the gathered dirt can be sucked out by negative pressure.

The bottom of the water absorption scratcher 221 contacting the ground can be provided with bristles or flexible brush strips, so that the water absorption scratcher is prevented from being worn when contacting the ground.

Optionally, the negative pressure device 220 further comprises a flexible strip 222, and the flexible strip 222 is disposed on the suction tower 221 and is used for contacting the ground.

The flexible strip 222 may be made of flexible materials such as rubber, plastic, etc. When the negative pressure device 220 works, the flexible strip 222 can be tightly attached to the ground through deformation, so that dirt on the ground is gathered, and the dirt is prevented from overflowing. In addition, during the moving process of the moving device 100, the flexible strip 222 can move along the ground to play a certain role in ending and cleaning.

Optionally, the pickups 221 are provided in an arcuate configuration.

For example, in the embodiment shown in fig. 7 to 9, the water absorbing rake 221 is generally crescent-shaped, and the water absorbing rake 221 protrudes in a direction away from the cleaning device 210. Due to the design, the dirt can be guided to gather to the middle of the water absorption rake 221, so that the gathering effect is better played, and the dirt can be conveniently pumped out from the water absorption hole.

Optionally, the suction rake 221 is provided with a plurality of water suction holes; the plurality of water suction holes 221a are formed at intervals along the extending direction of the water scooping rake 221, and the efficiency of removing dirt can be improved.

Optionally, the flexible strip 222 includes a first flexible strip 222a and a second flexible strip 222b, the first flexible strip 222a is disposed on the front side of the wiper 221, and the second flexible strip 222b is disposed on the rear side of the wiper 221.

Specifically, referring to fig. 8, in the illustrated embodiment, the first flexible strip 222a is disposed on a side of the water absorption scrabbling 221 close to the cleaning device 210, the second flexible strip 222b is disposed on a side of the water absorption scrabbling 221 away from the cleaning device 210, and both the first flexible strip 222a and the second flexible strip 222b are attached to a side edge of the water absorption scrabbling 221 and are arranged in an arc shape; the suction holes are between the first flexible strip 222a and the second flexible strip 222 b.

The first flexible strip 222a can gather and control flow of dirt at one time, and the situation that a large amount of dirt rushes to the water suction hole to cause the water suction hole to be incapable of being immediately pumped out is avoided; set up the flexible strip 222b of second and can play the secondary to dirty and gather together and avoid dirty excessive effect, first flexible strip 222a and the flexible strip 222b of second can control dirty in the hole effect within range that absorbs water to absorb water the hole and take out, can also avoid treating the dirty direct flow away of taking out.

Optionally, the robot provided by the present application further includes a first anti-collision wheel 223 disposed at an end of the scutcheon 221.

Optionally, the robot provided by the present application further includes a second anti-collision wheel 224, which is disposed on a side of the water absorption scrabbling 221 away from the cleaning device 210.

Referring to fig. 7 to 9, in the illustrated embodiment, two first anti-collision wheels 223 are disposed on the water absorption rake 221, and the two first anti-collision wheels 223 are respectively disposed at two ends of the water absorption rake 221 in the extending direction of the arc line; as described above, when the mobile device 100 passes through a narrow place or when the mobile device 100 moves close to a wall, if a foreign object contacts the robot, the foreign object will contact the first collision prevention wheel 223 first, thereby preventing damage to the robot main body. Further, the first anti-collision wheel 223 is rotatably disposed on the water absorption rake 221, so that after the first anti-collision wheel 223 abuts against the foreign object, the moving device 100 continues to move, and the first anti-collision wheel 223 can counteract the friction force between itself and the foreign object through rotation.

Similarly, with reference to fig. 7 to 9, in the illustrated embodiment, two second collision-prevention wheels 224 are disposed on the water absorption rake 221, and the two second collision-prevention wheels 224 are symmetrically disposed behind the water absorption rake 221. With combined reference to fig. 1, two second collision wheels 224 are at the rearmost of the robot; in this way, when the robot backs up or the rear side impacts an object, the second anti-collision wheel 224 will contact the object first, thereby avoiding damage to the robot main body. Further, the second collision wheel 224 is rotatably provided on the water absorption fork 221, so that the second collision wheel 224 can offset the friction force between itself and the object by rotating even if the robot moves against the object after the second collision wheel 224 contacts the object.

Optionally, the first and/or second impact wheels 223, 224 are coupled to sensors (e.g., distance sensors, pressure sensors, etc.). When the first collision-prevention wheel 223 or the second collision-prevention wheel 224 contacts the object, the corresponding sensor can transmit the contact information to the control system of the robot, so that the control system controls the mobile device 100 to transfer, thereby preventing the robot from being limited in movement or damaged in structure.

The number of the first and second collision prevention wheels 223 and 224 is not limited in the present application.

In order to realize the wet sweeping of the cleaning device 210, in an embodiment, the robot provided by the present application further includes a water tank, the water tank can store clean water and can supply the clean water to the brush tray 211, and meanwhile, the water tank can also store the dirt extracted by the water absorption rake 221.

To better collect and release clean water and sewage, optionally, the robot comprises: the first water tank 231, the first water tank 231 includes clear water cavity and sewage cavity, the clear water cavity connects the brush tray 211, there are discharge ports on the sewage cavity; the second water tank 232 is communicated with the water absorption rake 221; the negative pressure device 220 further comprises a suction mechanism, wherein the suction mechanism is used for sucking air from the second water tank 232 so as to facilitate the water sucking rake 221 to suck and remove dirt on the ground; the second tank 232 is also communicated with the sewage chamber, and the sewage drawn into the second tank 232 can enter the sewage chamber and finally be discharged through the discharge port.

The first water tank 231 is used for receiving and outputting clear water, and the second water tank 232 is used for temporarily storing sewage; after the second water tank 232 is fully loaded, or before the second water tank 232 is fully loaded and after the robot finishes one-time cleaning, or before the second water tank 232 is fully loaded and after the robot runs for a preset time period, the second water tank 232 can discharge sewage in the second water tank into a sewage cavity of the first water tank 231; finally, the sewage is discharged from the sewage chamber of the first water tank 231.

Specifically, the suction mechanism can adopt a vacuum pump, a compressor, a suction motor and other air extraction equipment. The second water tank 232 is communicated with the water suction holes of the water suction rake 221 through a pipeline, and the suction mechanism sucks air from the second water tank 232 and the pipeline, so that dirt on the ground is sucked by the water suction rake 221.

Since the suction wiper 221 sucks and removes dirt by negative pressure suction, it is necessary to ensure the suction force in the pipe. Two water tanks (a first water tank 231 and a second water tank 232) are arranged, so that on one hand, the influence on the storage amount of clear water and sewage when a single water tank is provided with a clear water cavity and a sewage cavity can be avoided; on the other hand, the air leakage risk caused by the complex structure of the single water tank can be reduced, so that the influence of air leakage on the adsorption force in the pipeline is avoided; in addition, the second water tank 232 is made small, and the adsorption force in the pipeline can be ensured without increasing the air exhaust power of the suction mechanism.

In order to facilitate the robot to clean a large space, the first water tank 231 may be provided with a large volume so as to store more clean water and dirt. Meanwhile, the volume of the second water tank 232 may be set smaller than that of the first water tank 231; on one hand, after the clean water acts on the ground, a part of the clean water is consumed, and the amount of the sewage pumped by the water sucking scraper 221 is generally smaller than the release amount of the clean water, so that the volume of the second water tank 232 for storing the sewage does not need to be equal to the volume of the clean water cavity; on the other hand, the second water tank 232 is mainly used for temporarily storing sewage, so that the pumped sewage in the cleaning process does not need to be completely retained in the second water tank 232, and in the cleaning process, when the sewage amount is large, the second water tank 232 can discharge the sewage into the sewage cavity in batches.

In one embodiment, referring to fig. 4 and 6, since the first water tank 231 has a large configuration, the first water tank 231 is disposed on the mobile device 100 to stabilize the chassis of the mobile device 100; and the second water tank 232 is provided on the first water tank 231.

Optionally, the robot that this application provided still includes basin 234, communicates the clear water chamber, and the clear water passes through basin 234 and adds in the clear water chamber.

Referring specifically to fig. 4 and 6, in the illustrated embodiment, a water feeding trough 234 is provided at the rear of the robot to facilitate docking of the water supply device. The open-top of the water feeding groove 234 and the side surface are also provided with grooves communicated with the open-top, so that the caliber of the water feeding groove 234 is larger, and the water feeding groove is more favorable for the inflow of clean water.

Optionally, the robot that this application provided still includes inlet tube 235, and the one end intercommunication water feeding groove 234 of inlet tube 235, the clear water cavity of other end intercommunication, clear water are through adding in water feeding groove 234 and inlet tube 235 add the clear water cavity.

With continued reference to fig. 4, in the illustrated embodiment, the inlet pipe 235 is a segment of a bent pipe, the inlet pipe 235 is connected directly to the water adding tank 234 and the first water tank 231, and the clean water added to the water adding tank 234 can flow into the clean water chamber through the inlet pipe 235.

The water adding groove 234 with a certain volume is arranged, so that the influence of gas overflowing from the clear water cavity on the addition of the clear water can be avoided in the process of adding the clear water into the clear water cavity; meanwhile, after the clean water chamber is filled, redundant clean water can be accumulated in the water adding groove 234, so that water adding personnel can be reminded to stop supplying water, redundant clean water can be temporarily stored, and waste is avoided.

Optionally, the robot provided by the present application further comprises a liquid level sensor for detecting a liquid level state in the clean water chamber, the sewage chamber and/or the second water tank 232.

When the clear water cavity is provided with the liquid level sensor, the liquid level sensor can be used for detecting the full-load state of the clear water cavity and can also be used for detecting the no-load state of the clear water cavity. For example, when the liquid level sensor detects that the clean water chamber is full, the information can be fed back to the control system, and the control system stops water supply or reminds an operator to stop water supply; when the liquid level sensor detects that the clear water cavity is empty, the information can be fed back to the control system, the robot is controlled by the control system to add water, or the control system reminds an operator to add water.

Similarly, when being provided with level sensor in the sewage chamber, level sensor can be used to detect the full load state in sewage chamber. When the liquid level sensor detects that the sewage chamber is full, the sewage can be discharged.

Similarly, when the second water tank 232 is provided with a liquid level sensor, the liquid level sensor may be used to detect the full load state of the second water tank 232. When the liquid level sensor detects that the second water tank 232 is full, the second water tank 232 may discharge the sewage into the sewage chamber.

Optionally, the second water tank 232 is communicated with the water suction rake 221 through a first pipeline 2, and a first electromagnetic valve 241 is arranged on the first pipeline 2.

Optionally, the second water tank 232 is communicated with the sewage chamber through a second pipe 3, and a second solenoid valve 242 is disposed on the second pipe 3.

Optionally, the discharge port is provided with a third solenoid valve 243.

Optionally, the clean water chamber and the brush tray 211 are communicated through a third pipe 4, and a fourth solenoid valve 244 is disposed on the third pipe 4.

Referring specifically to fig. 4 and 6, in the illustrated embodiment, the front side of the second tank 232 is connected to the first pipe 2 and the second pipe 3; the second pipe 3 extends forward and communicates with the sewage chamber of the first water tank 231; the first pipeline 2 extends backwards and is communicated with a water absorption rake 221; a first electromagnetic valve 241 is movably connected with the first pipeline 2 close to the second water tank 232 through an internal thread and an external thread; a second electromagnetic valve 242 is movably connected to the second pipe 3 near the second tank 232 through an inner thread and an outer thread.

Specifically, after the first electromagnetic valve 241 is opened, the suction mechanism works, the water absorption rake 221 can pump off dirt, and the dirt can enter the second water tank 232 through the first pipeline 2; after the second water tank 232 is fully loaded, or after the robot finishes one cleaning operation, or after the robot runs for a preset time, the second electromagnetic valve 242 is opened, and the dirt in the second water tank 232 enters the sewage cavity through the second pipeline 3.

With continued reference to fig. 4 and 6, in the illustrated embodiment, the first water tank 231 is provided at a side thereof with a sewage discharge pipe 245, and the sewage discharge pipe 245 communicates with a discharge port of the sewage chamber and extends to the rear of the robot; a third electromagnetic valve 243 is movably connected to the sewage discharge pipe 245 through an inner wire and an outer wire.

Specifically, after the sewage chamber is fully loaded, or after the robot completes one cleaning operation, the first electromagnetic valve 241 and the second electromagnetic valve 242 are closed; the robot moves to a preset sewage discharge point so that the outlet of the sewage discharge pipe 245 is aligned with the sewage discharge point, and opens the third solenoid valve 243 to discharge the sewage in the sewage chamber.

With continued reference to fig. 4 and 6, in the illustrated embodiment, the front side of the first water tank 231 is connected to the third pipe 4, and the third pipe 4 communicates with the water outlet of the brush tray 211; a fourth solenoid valve 244 is installed on the third pipeline 4 through a loose joint of the inner and outer threads.

Specifically, after the clean water chamber is filled with clean water and the robot is in operation, the fourth solenoid valve 244 is opened, and the clean water is supplied to the brush plate 211 through the third pipeline 4, so that the brush plate 211 can perform wet sweeping on the ground.

Optionally, the first water tank 231 and/or the second water tank 232 are provided with a water tank weldment 236, and the water tank weldment 236 is used for connecting external devices.

It is easily understood that, in order to fix the first water tank 231 or the second water tank 232 and other components, it is generally necessary to weld the water tank and other components together, and if necessary, it is necessary to provide a screw hole or the like on the water tank to facilitate detachable connection. If the first or second water tank 231 or 232 is directly welded or provided with a hole or other structure, the water tank may be damaged.

For this reason, the water tank weldment 236 is provided on the water tank in advance, and the water tank weldment 236 can be used for connecting with other components in the subsequent process of installing the water tank, so that additional treatment on the water tank body is not required.

Wherein the tank weldment 236 may be integrally formed with the tank or may be welded to the tank at a later date.

Referring specifically to fig. 4, in the illustrated embodiment, the first tank 231 has a relatively large volume, and a plurality of tank weldments 236 are disposed around the first tank 231. The water tank weldment 236 is provided with through holes or threaded holes, and when the first pipeline 2, the second pipeline 3 and the third pipeline 4 are installed, the pipelines are matched and fixed with the water tank weldment 236 through hoops.

In order to increase the fresh water storage capacity of the first water tank 231, optionally, a movable plate 231a is disposed in the first water tank 231, and the movable plate 231a divides the inner cavity of the first water tank 231 into a fresh water cavity and a sewage cavity; the movable plate 231a is slidably disposed in the first water tank 231, the movable plate 231a can be pushed when clean water is added into the clean water chamber, so that the movable plate 231a moves towards the sewage chamber, and the movable plate 231a can be pushed when dirt enters the sewage chamber, so that the movable plate 231a moves towards the clean water chamber.

Referring specifically to fig. 11, an internal chamber configuration of the first water tank 231 is illustrated; sliding grooves are formed in two sides of the first water tank 231, sliding blocks are arranged on two sides of the movable plate 231a, and the sliding blocks are clamped in the sliding grooves and can move along the sliding grooves; a spring is also arranged in the sliding groove, one end of the spring is fixedly arranged, and the other end of the spring is connected with the movable plate 231a; when clean water is added into the clean water cavity, the movable plate 231a can move towards the sewage cavity, so that the clean water cavity becomes larger and the sewage cavity becomes smaller; at the same time, the spring is stretched; along with the use of clear water, the clear water volume of clear water intracavity reduces, and the spring resumes gradually, pulls fly leaf 231a and removes to the clear water chamber for clear water chamber diminishes, sewage chamber grow.

For avoiding the spring to be stained with water and easily oxidize, can also set up organ cover on the spout, be used for sheltering from the spring to separate the clear water, avoid the clear water to contact the spring.

In order to avoid a gap between the movable plate 231a and the first water tank 231 and enable clear water or sewage to flow, water bags can be arranged in the clear water cavity and the sewage cavity, and the clear water or the sewage is loaded by the water bags; alternatively, the edge of the movable plate 231a contacting the inner wall of the first water tank 231 is provided with a sealing structure.

By providing the movable plate 231a, the volumes of the clean water chamber and the sewage chamber are not fixed. When the sewage cavity is empty, clear water is added into the clear water cavity, and the first water tank 231 can be filled with the clear water as much as possible; meanwhile, the first water tank 231 can be gradually filled with the sewage as the clean water is used; thus, the first water tank 231 can be used to load clean water to the maximum extent, and the situation that the clean water cannot be loaded due to too much sewage is avoided.

In the robot, the brush 211 of the cleaning device 210 and the suction wiper 221 of the negative pressure device 220 can always contact the ground, and when the robot is used, the brush 211 is rotated to clean or release clean water, and the suction wiper 221 is used to remove dirt as needed.

In some embodiments, the brush disc 211 and the water absorption rake 221 can be arranged to be folded and unfolded, so that the brush disc 211 and the water absorption rake 221 are far away from the ground when cleaning is not needed and are in contact with the ground when cleaning is needed.

Optionally, the robot further comprises two sets of driving devices for driving the brush disc 211 and the water absorption scratcher 221 to approach or depart from the ground. When the brush disc 211 or the water absorption rake 221 is far away from the ground, only cleaning or dust extraction can be performed, and the robot can move conveniently; when the brush disc 211 or the water absorption rake 221 acts on the ground, the ground can be cleaned and dust can be extracted at the same time.

In order to simplify the folding and unfolding driving structure of the brush plate 211 and the water absorption rake 221 and reduce the cost, optionally, the robot provided by the application further comprises a linkage device 300, wherein the linkage device 300 comprises: a first connection rod 331 connected to the brush plate 211; a second connecting rod 332 connected to the suction rake 221; and the linkage driving mechanism 310 is used for driving the first connecting rod 331 and the second connecting rod 332 to drive the brush disc 211 and the water absorption rake 221 to ascend and descend.

The linkage driving mechanism 310 may be a linear driving member such as an electric cylinder or a linear module. The linkage driving mechanism 310 is arranged along the vertical direction, the first connecting rod 331 and the second connecting rod 332 are arranged at the movable end of the linkage driving mechanism 310, and when the linkage driving mechanism 310 works, the first connecting rod 331 and the second connecting rod 332 can be driven to move along the vertical direction, so that the brush disc 211 and the water absorption rake 221 can be lifted.

In one embodiment, the linkage drive mechanism 310 includes: the output end of the linkage motor 311 is provided with a first bevel gear 312; a linkage screw 313, wherein a second bevel gear 314 is fixedly arranged on the linkage screw 313, and the first bevel gear 312 is meshed with the second bevel gear 314; and the movable block 315 is in threaded connection with the linkage screw rod 313, when the linkage screw rod 313 rotates, the movable block 315 can move along the linkage screw rod 313, and the first connecting rod 331 and the second connecting rod 332 are both connected with the movable block 315.

Referring to fig. 9 and 10 in particular, in the illustrated embodiment, the linkage motor 311 is horizontally disposed, the linkage screw 313 is vertically disposed, and the first bevel gear 312 is engaged with the second bevel gear 314, so that the power of the linkage motor 311 can be effectively transmitted to the linkage screw 313, and the linkage screw 313 rotates. Because the movable block 315 is in threaded connection with the linkage screw rod 313, the linkage screw rod 313 rotates, and the movable block 315 can convert the rotary motion into linear motion, the movable block 315 can perform lifting motion in the vertical direction along the linkage screw rod 313, and the lifting of the brush disc 211 and the water absorption rake 221 is realized by driving the first connecting rod 331 and the second connecting rod 332.

By providing the first bevel gear 312 and the second bevel gear 314, the linkage motor 311 and the linkage screw 313 can be indirectly connected, thereby better utilizing the limited space layout of the linkage motor 311 and the linkage screw 313.

With continued reference to fig. 9 and 10, in order to facilitate installation of the linkage driving mechanism 310, the chassis frame 130 is provided with an installation plate 141, and a main body of the linkage motor 311 is fixedly arranged on the installation plate 141; the mounting plate 141 is provided with a mounting bracket 142, and the linkage screw 313 is rotatably provided on the mounting plate 141 and the mounting bracket 142 in a vertical direction.

Specifically, in the illustrated embodiment, the mounting plate 141 is horizontally disposed on the bottom layer support bracket 131, and the mounting bracket 142 is configured as a door frame; the bottom end of the linkage screw rod 313 is rotatably connected with the mounting plate 141 through a bearing, and the top end of the linkage screw rod 313 is rotatably connected with the mounting bracket 142 through another bearing.

Further, in order to limit the movement of the movable block 315 in the vertical direction, the linkage driving mechanism 310 further includes a guide shaft 316, and the guide shaft 316 extends in the vertical direction and is fixedly disposed on one side of the linkage screw 313; the movable block 315 is slidably disposed on the guide shaft 316.

Further, to confirm the operation of the linkage motor 311, the linkage 300 further includes: a first contact member 321 and a second contact member 322 provided on the movable block 315; a first stroke switch 323 provided opposite to the first contact member 321; a second stroke switch 324 disposed opposite the second contact member 322; when the linkage motor 311 works, the linkage screw rod 313 can be driven to rotate through the first bevel gear 312 and the second bevel gear 314, so that the movable block 315 moves along the linkage screw rod 313; when the movable block 315 moves until the first contact element 321 contacts the first travel switch 323, the first connecting rod 331 and the second connecting rod 332 drive the brush disc 211 and the water absorption rake 221 to lift to a first preset position; when the movable block 315 moves until the second contact member 322 contacts the second travel switch 324, the first connecting rod 331 and the second connecting rod 332 drive the brush disc 211 and the water absorption fork 221 to be lowered to a second preset position.

Specifically, when the brush disc 211 and the water absorption rake 221 are lifted to the first preset position, the brush disc 211 and the water absorption rake are far away from the ground and do not work on the ground any more; when the brush disc 211 and the water absorption scratcher 221 are lowered to the second preset position, the brush disc 211 and the water absorption scratcher 221 contact the ground, and the ground can be worked.

By arranging the first contact member 321 to contact the first travel switch 323, the first travel switch 323 can feed back the contact information of the first contact member 321 to the control system, so that the control system can confirm that the linkage motor 311 works in place at one time, and the linkage motor 311 stops working, so that the brush disc 211 and the water absorption scraper 221 are located at the first preset position.

Similarly, by arranging the second contact member 322 to contact the second travel switch 324, the second travel switch 324 can feed back the contact information of the second contact member 322 to the control system, so that the control system can confirm that the linkage motor 311 works in place for the second time, and the linkage motor 311 stops working, so that the brush disc 211 and the water absorption scraper 221 are located at the second preset position.

If the brush disc 211 and the water absorption rake 221 are directly driven to move vertically by the linkage motor 311 and the linkage screw rod 313, the linkage motor 311 and the linkage screw rod 313 have large load and are easy to damage.

To this end, in one embodiment, the linkage 300 further includes: a first bracket 341 fixedly provided at a front side of the chassis frame 130, the first connection rod 331 swingably provided on the first bracket 341; a second bracket 342 fixedly provided at a rear side of the chassis frame 130, the second connecting rod 332 being swingably provided on the second bracket 342; wherein, one end of the first connecting rod 331 is connected with the movable block 315, the other end is connected with the brush disc 211, one end of the second connecting rod 332 is connected with the movable block 315, and the other end is connected with the water absorption rake 221.

Referring to fig. 9, in the illustrated embodiment, the first holder 341 and the second holder 342 are disposed on the bottom surfaces of the front and rear square tubes of the top layer supporting frame 131. The connection structure between the wiper 221 and the linkage 300 will be described as an example. The front end of the second connecting rod 332 is rotatably connected with the movable block 315 through a rotating shaft, the rear end of the second connecting rod 332 is rotatably connected with the water sucking scratcher 221 through another rotating shaft, and the middle part of the second connecting rod 332 is rotatably connected with the second bracket 342 through another rotating shaft. At this time, the movement of the second connecting rod 332 is similar to a seesaw. When the movable block 315 moves vertically upward, the second connecting rod 332 drives the water absorption scratcher 221 to swing downward, so that the water absorption scratcher 221 reaches a second preset position; when the movable block 315 moves vertically downward, the second connecting rod 332 drives the wiper 221 to swing upward, so that the wiper 221 reaches the first predetermined position.

Through the swing arrangement of the first connecting rod 331 and the second connecting rod 332, the brush disc 211 and the water absorption rake 221 can ascend and descend along an arc path in a swing mode, the stress of the movable block 315 can be reduced, the load of the linkage motor 311 and the linkage screw rod 313 can be reduced, and the service life of the linkage device 300 is prolonged.

Further, the cleaning device 210 further includes a first connection plate 215, and the brush tray 211 is connected to the first connection plate 215; the linkage 300 further includes: a third bracket 343 fixedly disposed on the first connection plate 215 and rotatably connected to the other end of the first connection rod 331; the two sets of first movable plates 351 are symmetrically disposed, the first connecting rod 331 is disposed between the two sets of first movable plates 351, one end of any one of the first movable plates 351 is rotatably connected to the chassis frame 130, and the other end of the any one of the first movable plates 351 is rotatably connected to the first connecting plate 215.

Similarly, the negative pressure device 220 further comprises a second connecting plate 225, and the water absorption scraper 221 is connected with the second connecting plate 225; the linkage 300 further includes: a fourth bracket 344 fixedly disposed on the second connecting plate 225 and rotatably connected to the other end of the second connecting rod 332; two sets of second movable plates 352, the two sets of second movable plates 352 are symmetrically disposed, the second connecting rod 332 is disposed between the two sets of second movable plates 352, one end of any one of the second movable plates 352 is rotatably connected to the chassis frame 130, and the other end is rotatably connected to the second connecting plate 225.

Specifically, referring to fig. 9, a connection structure between the water absorption claw 221 and the linkage 300 will be described as an example. The top of the water absorption rake 221 is in threaded connection with the second connecting plate 225, the second connecting plate 225 has a certain width along the first direction, and the mounting position of the water absorption rake 221 can be adjusted, so that the water absorption rake 221 is prevented from contacting the mobile device 100, and the water absorption rake 221 can act on the ground. The second connecting plate 225 is provided with a door frame type fourth bracket 344, and the fourth bracket 344 has a certain height, so that the installation height of the second connecting rod 332 can be adjusted, and the second connecting rod 332 can conveniently swing the water absorption scrabbling 221.

With continued reference to fig. 9, the two sets of second movable plates 352 are disposed opposite to each other along the second direction; two ends of the second connecting plate 225 in the second direction are respectively provided with a connecting lug which extends in the vertical direction and has a certain height; one end of any second movable plate 352 is rotatably connected to one support rod 132, and the other end is rotatably connected to one connecting lug of the second connecting plate 225. The two groups of second movable plates 352 are equivalent to two swing arms, which can increase the connection strength between the second connecting plate 225 and the chassis frame 130, ensure the installation stability of the water absorbing rake 221, and assist the second connecting rod 332 to swing the water absorbing rake 221, thereby facilitating the swing stability of the water absorbing rake 221.

As can be easily understood, by providing the cleaning device 210 and the negative pressure device 220, the robot can clean the floor.

In order to increase the action range of the robot, optionally, the robot provided by the present application further includes a movable device 400 disposed on the mobile device 100; the mobile device 400 includes: a movable arm 410 for mounting a function; a rotation driving assembly 420 for driving the movable arm 410 to rotate in a horizontal plane; a lifting driving assembly 430 for driving the movable arm 410 to move in a vertical direction; a telescopic driving assembly 440 for driving the movable arm 410 to move in a horizontal direction.

Wherein the functional element can act on the outside.

For example, the functional element may be used to perform a cleaning function. In this case, the functional member may be a brush tray, a wiping cloth, a dust removal pipe, a brush, or the like.

Also for example, the functional element may be used for taking and placing items. In this case, the functional component may be a manipulator, a gripper, a suction cup, an electromagnet, or the like.

Also for example, the functional element may be a camera, a microphone, a component analyzer, or other functional device, so that the robot can perform inspection, exploration, and other operations under the mine.

The movable arm 410 is used to mount a function. The functional components are detachably disposed on the movable arm 410, and suitable functional components can be selected to be mounted on the movable arm 410 according to the requirements of the working environment.

The rotation driving assembly 420 may be a motor, or other driving components, and can drive the movable arm 410 to rotate horizontally, so as to drive the functional element to act in various directions.

The lifting driving assembly 430 may be an electric cylinder, a linear module, or other driving members, and can drive the movable arm 410 to perform lifting movement, so as to drive the functional components to act on different heights.

The telescopic driving assembly 440 may be an electric cylinder, a linear module, or other driving members, and can drive the movable arm 410 to move up and down, so as to drive the functional components to act on different distances.

The rotation driving assembly 420, the lifting driving assembly 430 and the telescopic driving assembly 440 cooperate to drive the movable arm 410 and the functional element to move to a proper position, so that the functional element can accurately and efficiently act on the target object.

The specific configurations of rotary drive assembly 420, lift drive assembly 430, and telescoping drive assembly 440 are not limited by this application.

When the functional element is used to implement a cleaning function, optionally, the functional element is provided with an air hole, and the movable apparatus 400 further includes a dust pipe installed in the movable arm 410 and connected to the air hole; the mobile device 400 further comprises an air exhaust mechanism, the air exhaust mechanism is used for exhausting air to the dust pipe, and the functional part can remove dust through the dust pipe and the air hole.

Optionally, the functional element is provided with a water hole, and the movable device 400 further comprises a water pipe installed in the movable arm 410 and connected with the water hole; the movable device 400 further includes a water supply mechanism for supplying water to the water pipe, and the clean water can be released through the water pipe and the water hole.

Wherein the dust pipe and the water pipe can be arranged as hoses so as to move along with the functional part.

Through setting up dirt pipe or water pipe in the digging arm 410, can hide dirt pipe or water pipe, both guarantee the pleasing to the eye of robot, avoid the pipeline to expose again and externally impaired or influence the robot operation.

Optionally, the mobile device 400 further comprises a flipping drive assembly for driving the functional element to rotate.

The overturning driving component can adopt driving components such as a rotary cylinder, a motor and the like.

When the functional part is used for realizing the cleaning function, the turnover driving component drives the functional part to rotate, so that the functional part can better act on a target object.

When the functional part is used for taking and placing articles, the overturning driving assembly drives the functional part to rotate, and the angle of the functional part can be adjusted, so that the functional part can accurately act on a target article.

In one embodiment, the movable arm 410 may be a single arm, the lifting driving assembly 430 and the telescopic driving assembly 440 have a movement stroke, and one of the lifting driving assembly 430 and the telescopic driving assembly 440 is connected to the movable arm 410 and can directly drive the movable arm 410 to move; one of the lift drive assembly 430 and the telescoping drive assembly 440, which is connected to the moveable arm 410, is disposed on the moveable end of the other, which indirectly drives the moveable arm 410 in motion.

In another embodiment, the movable arm 410 includes: a first arm portion 411 provided in a vertical direction; a second arm portion 412 provided at the movable end of the first arm portion 411 and arranged in the horizontal direction; the rotation driving assembly 420 is used for driving the first arm 411 to rotate, the lifting driving assembly 430 is used for driving the first arm 411 to move in the vertical direction, and the telescopic driving assembly 440 is used for driving the second arm 412 to move in the horizontal direction.

At this time, the first arm portion 411 and the second arm portion 412 may be provided in the form of telescopic arms. Specifically, the first arm portion 411 or the second arm portion 412 includes one fixed arm and at least one movable arm; the movable arm of the first arm portion 411 can move in the vertical direction with respect to the fixed arm thereof, and the movable arm of the second arm portion 412 can move in the horizontal direction with respect to the fixed arm thereof; the movable arm of the first arm portion 411 is the movable end of the first arm portion 411.

By arranging the movable arm 410 as two arms, the arrangement of the rotary driving assembly 420, the lifting driving assembly 430 and the telescopic driving assembly 440 can be optimized, and the arms are exposed, but the non-driving structure is exposed, so that the robot appearance is beautified and the driving structure of the robot is protected.

In one embodiment, the first arm 411 and/or the second arm 412 includes: a fixed tube 411a; at least one movable tube 411b, the movable tube 411b is slidably disposed in the fixed tube 411a and can move along the fixed tube 411a.

The first arm 411 will be described as an example.

For example, the first arm 411 includes a fixed tube 411a and a movable tube 411b, the outer diameter of the movable tube 411b is slightly smaller than the inner diameter of the fixed tube 411a, and the movable tube 411b is disposed inside the fixed tube 411a. The rotation driving assembly 420 is connected to the fixed pipe 411a, and can drive the fixed pipe 411a and the movable pipe 411b to rotate horizontally. The elevating driving assembly 430 is connected to the movable tube 411b, and can drive the movable tube 411b to move along the fixed tube 411a. The movable tube 411b of the first arm 411 is connected to the fixed tube of the second arm 412, and can drive the second arm 412 to move up and down.

For another example, the first arm 411 includes a fixed tube 411a and two movable tubes 411b, and the two movable tubes 411b are divided into a first movable tube and a second movable tube, the outer diameter of the second movable tube is slightly smaller than the inner diameter of the first movable tube, the first movable tube is disposed in the fixed tube 411a, and the second movable tube is disposed in the first movable tube. At this time, the lifting driving assembly 430 may drive the second movable tube to move along the first movable tube, and after the second movable tube moves to the limit, the second movable tube drags the first movable tube to move along the fixed tube 411a; alternatively, the lifting driving assembly 430 may include two sets of driving mechanisms for driving the first movable tube and the second movable tube to perform lifting movement.

The number of movable tubes 411b in the first arm portion 411 or the second arm portion 412 is not limited in the present application.

In order to facilitate the fixed tube 411a to drive the movable tube 411b to make horizontal rotation movement and ensure that the movable tube 411b can make linear movement along the fixed tube 411a, optionally, a transmission key 400a is arranged on one of the fixed tube 411a or the movable tube 411b, a transmission groove 400b is arranged on the other of the fixed tube 411a or the movable tube 411b, the transmission groove 400b extends in the vertical direction or the horizontal direction, and the transmission key 400a is slidably arranged in the transmission groove 400 b.

Since the driving key 400a can move only along the driving groove 400b, the movable tube 411b can move linearly along the fixed tube 411a, and at this time, the driving key 400a and the driving groove 400b can also play a role of guiding each other.

Since the driving key 400a cannot be disengaged from the driving groove 400b, when the fixed tube 411a is driven by the rotation driving assembly 420 to rotate, the movable tube 411b can be driven to rotate together by the mutual constraint of the driving key 400a and the driving groove 400 b.

In one embodiment, the lift drive assembly 430 and/or the telescoping drive assembly 440 includes: the first screw rod 431 is connected with the movable pipe 411 b; a driving motor 432 for driving the first lead screw 431 to rotate; when the first screw 431 rotates, the movable tube 411b can move along the first screw 431 relative to the fixed tube 411a.

The lifting driving assembly 430 is taken as an example for explanation. The main body of the driving motor 432 is fixedly arranged; the first lead screw 431 extends along the vertical direction and is connected with the movable end of the driving motor 432; the first screw rod 431 is arranged in the movable tube 411b, an internal thread is arranged on the inner wall of the movable tube 411b, and the movable tube 411b is in threaded connection with the first screw rod 431 through the internal thread. Accordingly, the driving motor 432 is operated, the first screw rod 431 rotates, and the movable tube 411b can linearly move along the first screw rod 431.

It is easy to understand that, the movable tube 411b is sleeved outside the first lead screw 431, the movable tube 411b is moved by the rotation of the first lead screw 431, and the moving range of the movable tube 411b is limited by the length of the first lead screw 431. In this case, when the elevation driving assembly 430 or the telescopic driving assembly 440 includes two or more movable tubes 411b, it is difficult to satisfy the moving requirements of the plurality of movable tubes 411b by providing one set of the first lead screw 431.

For this, in another embodiment, the lifting driving assembly 430 and/or the telescopic driving assembly 440 further includes a transmission shaft 433, the driving motor 432 is configured to drive the transmission shaft 433 to rotate, and the transmission shaft 433 is disposed in the first lead screw 431; one of the transmission shaft 433 and the first screw rod 431 is provided with a transmission key 400a, the other one is provided with a transmission groove 400b, and the transmission key 400a is arranged in the transmission groove 400b in a sliding manner; the lifting driving assembly 430 and/or the telescopic driving assembly 440 further comprise a fixed shaft 434, inner threads are arranged on the inner wall of the fixed shaft 434, the first lead screw 431 is arranged in the fixed shaft 434, outer threads are arranged on the outer wall of the first lead screw 431, and the first lead screw 431 is in threaded connection with the fixed shaft 434; when the driving motor 432 drives the transmission shaft 433 to rotate, the transmission shaft 433 can drive the first lead screw 431 to rotate, and the first lead screw 431 can move relative to the fixed shaft 434.

The lifting driving assembly 430 is taken as an example for explanation.

Referring to fig. 1 to 3 in particular, in the illustrated embodiment, the main body of the driving motor 432 is fixedly disposed on the first water tank 231, and the transmission shaft 433 is disposed in a vertical direction and connected to the movable end of the driving motor 432; the transmission shaft 433 penetrates through the first screw rod 431; two sides of the transmission shaft 433 are provided with transmission keys 400a protruding outwards, and the transmission keys 400a extend in the vertical direction; two sides of the first screw rod 431 are provided with transmission grooves 400b, and the transmission grooves 400b also extend in the vertical direction; the transmission groove 400b can penetrate through the first screw rod 431 to form a through hole, and can also be concavely arranged on the inner wall of the first screw rod 431; the driving keys 400a are disposed in one-to-one correspondence to the driving grooves 400b, and the driving grooves 400b can limit the moving direction of the driving keys 400 a.

With continued reference to fig. 2 and 3, in the illustrated embodiment, the fixing shaft 434 is fixedly disposed in a vertical direction, and an inner upper wall of the fixing shaft 434 is provided with an inner thread, and the inner thread of the fixing shaft 434 is engaged with the outer thread of the first lead screw 431. Therefore, when the driving motor 432 works, the transmission shaft 433 rotates, and the transmission key 400a acts on the wall of the transmission groove 400b and can drive the first screw rod 431 to rotate; during the rotation of the first lead screw 431, the first lead screw moves vertically along the fixed shaft 434 under the influence of the internal and external threads.

In one embodiment, the first lead screw 431 is rotatably disposed on a movable tube 411b through a bearing, and the first lead screw 431 can drive the movable tube 411b to move up and down.

In another embodiment, the lifting driving assembly 430 and/or the telescopic driving assembly 440 further includes a second lead screw 435, the transmission shaft 433 is disposed in the second lead screw 435, and the second lead screw 435 is disposed in the first lead screw 431; an external thread is arranged on the outer wall of the second screw rod 435, an internal thread is arranged on the inner wall of the first screw rod 431, and the second screw rod 435 is in threaded connection with the first screw rod 431; when the transmission shaft 433 rotates, the first lead screw 431 can be driven to rotate, the first lead screw 431 can move relative to the fixed shaft 434, and the second lead screw 435 can move relative to the first lead screw 431.

The lifting driving assembly 430 is taken as an example for explanation.

With continued reference to fig. 2 and 3, in the illustrated embodiment, the upper interior wall of the first lead screw 431 is provided with internal threads that engage with the external threads of the second lead screw 435. The first lead screw 431 and the second lead screw 435 form reverse threads, and when the first lead screw 431 rotates, the second lead screw 435 can be driven to move in the vertical direction along the first lead screw 431.

With continued reference to fig. 2 and 3, in the illustrated embodiment, the top of the second lead screw 435 is coupled to the telescopic drive assembly 440 and the second arm 412. Therefore, when the driving motor 432 works, the driving shaft 433 can be driven to rotate, and the driving key 400a acts on the wall of the driving groove 400b and can drive the first screw rod 431 to rotate; in the process that the first screw rod 431 rotates, under the influence of the internal and external threads of the first screw rod 431 and the fixed shaft 434, the first screw rod 431 can simultaneously move in the vertical direction along the fixed shaft 434; the second lead screw 435 is affected by the rotation of the first lead screw 431 and can move in the vertical direction along the first lead screw 431.

In one embodiment, the first arm 411 and/or the second arm 412 includes a fixed tube 411a and two movable tubes 411b, the first movable tube 411b is slidably disposed in the fixed tube 411a, the second movable tube 411b is slidably disposed in the first movable tube 411b, and the second movable tube 411b can pull the first movable tube 411b to move relative to the fixed tube 411a; the second movable tube 411b is connected with a second screw rod 435; the telescopic driving assembly 440 is provided on the second movable tube 411b, or the functional member is provided on the second movable tube 411 b.

The first arm 411 will be described as an example.

With particular reference to fig. 2 and 3, in the illustrated embodiment, the first lead screw 431, the second lead screw 435, the transmission shaft 433 and the fixed shaft 434 are all disposed inside the second movable tube 411b, and the fixed tube 411a and the movable tube 411b can protect the lead screws and the shafts; the second lead screw 435 is connected with the top end of the second movable tube 411 b; when the first lead screw 431 and the second lead screw 435 move along the vertical direction, the second movable tube 411b can be driven to move up and down. The top of the first movable tube 411b is provided with an opening for the second movable tube 411b to pass through; the outer wall of the second movable pipe 411b is provided with a limiting block 411c; after the second movable tube 411b continuously rises until the stop block 411c abuts against the top of the first movable tube 411b, the second movable tube 411b can pull the first movable tube 411b to rise together.

With continued reference to fig. 2 and 3, in the illustrated embodiment, the fixed tube 411a is fixedly disposed relative to the first water tank 231 and is not liftable; the top of the fixed pipe 411a is provided with an opening for the first movable pipe 411b to pass through; the first movable tube 411b is also provided with a limit block 411c, the first movable tube 411b continuously rises to the top of the limit block 411c abutting against the fixed tube 411a, and the first movable tube 411b moves to the limit position. The stopper 411c is provided to prevent the two movable pipes 411b from coming off the fixed pipe 411a.

In one embodiment, the rotational drive assembly 420 includes: an internal gear 421 fixedly connected to the movable arm 410; a nested gear 422 meshed with the internal gear 421; and a rotary driving motor 423 for driving the nested gear 422 to rotate, thereby driving the nested gear 422 to rotate.

Referring specifically to fig. 1-3, in the illustrated embodiment, a rotation drive assembly 420 is used to rotate the first arm 411. The first water tank 231 is provided with a mounting frame 451, the main bodies of the driving motor 432 and the rotary driving motor 423 are fixedly arranged on the mounting frame 451, the output shaft of the driving motor 432 and the rotary driving motor 423 are rotatably arranged at the top of the mounting frame 451 through a bearing, the output shaft of the driving motor 432 is connected with a transmission shaft 433, and the output shaft of the rotary driving motor 423 is provided with a nested gear 422; when the rotation driving motor 423 operates, the nested gear 422 can be driven to rotate.

With continued reference to fig. 2, in the illustrated embodiment, the inner gear 421 is rotatably disposed above the mounting frame 451 via a bearing 452; the internal gear 421 is provided with a mounting plate, the fixed shaft 434 is fixed to the mounting plate by a bracket 454, and the fixed pipe 411a of the first arm 411 is fixed to an inner bearing of the bearing 452. Thus, after the nested gear 422 rotates, the inner gear 421 can rotate relative to the outer bearing of the bearing 452 through interaction between the teeth, so as to drive the fixed shaft 434 and the fixed tube 411a to rotate; the movable tube 411b of the first arm 411 and the second arm 412 are rotated by the driving slot 400b and the driving key 400 a.

The robot provided by the application is mainly used in a mine and is limited by the environment, so that the requirement on the safety performance of the robot is very high, and the external environment is prevented from being damaged when major faults (such as combustion, explosion and the like) occur in the internal structure of the robot; and the damage to the internal structure of the robot and the initiation of a cascading crisis caused when the external environment is unexpected are also avoided.

For this reason, important structures of the robot, such as electronic components and electric components such as a controller, a circuit board, and a battery, need to be designed to be protective.

In one embodiment, the robot further comprises an explosion-proof cavity 1, and electronic elements and electric elements such as a controller, a circuit board, a battery and the like are arranged in the explosion-proof cavity 1.

To facilitate charging the battery disposed in the explosion-proof chamber 1, optionally, the robot further includes a power supply device 500, the power supply device 500 includes a battery and a charging mechanism 510, and the charging mechanism 510 includes: a motor 511, wherein the motor 511 is connected with the first gear 512 and is used for driving the first gear 512 to rotate; a generator 513, wherein the generator 513 is connected with a second gear 514, and the first gear 512 and the second gear 514 are connected in a meshing manner; when the motor 511 is operated, the generator 513 can be driven to operate through the first gear 512 and the second gear 514, and the generator 513 can charge the battery.

The first gear 512 and the second gear 514 may be directly engaged with each other or may be indirectly engaged with each other through another gear structure.

When the battery is charged, the motor 511 operates to drive the first gear 512 to rotate, the first gear 512 drives the second gear 514 to rotate, the second gear 514 further drives the generator 513 to operate, and the generator 513 can convert mechanical energy input by the second gear 514 into electric energy to charge the battery.

Further, a through pipe 1a is provided on the explosion-proof chamber 1, and the cable is connected to the elements in the explosion-proof chamber 1 through the through pipe 1a.

For example, a cable for connecting the battery and the generator 513 connects both through the through pipe 1a. Set up power supply unit 500, can guarantee the safety of battery with battery fixed mounting in explosion-proof chamber 1, avoid the charging process in the battery to externally expose to improve the safety performance under the ore deposit of robot.

In one embodiment, the charging mechanism 510 further comprises: a third gear 515 meshed with the first gear 512; a fourth gear 516 engaged with the second gear 514; the third gear 515 and the fourth gear 516 are coaxially arranged, the diameter of the third gear 515 is smaller than that of the first gear 512, and the diameter of the second gear 514 is smaller than that of the fourth gear 516.

Since the diameter of the third gear 515 is smaller than that of the first gear 512, and the linear velocity of the third gear 515 is the same as that of the first gear 512 when the first gear 512 rotates, the angular velocity of the third gear 515 increases.

Since the third gear 515 and the fourth gear 516 are coaxially disposed, the angular velocity of the fourth gear 516 is the same as the angular velocity of the third gear 515.

Since the diameter of the second gear 514 is smaller than that of the fourth gear 516, and the fourth gear 516 rotates at the same linear velocity as the second gear 514, the angular velocity of the second gear 514 increases.

By providing the third gear 515 and the fourth gear 516, the angular velocity of the second gear 514 can be increased twice so that the generator 513 generates electric power. In this way, the space layout of the device can be optimized while avoiding the large second gear 514 from affecting the operation of the motor 511.

In one embodiment, the power supply device 500 further includes a mounting base 520, and the mounting base 520 includes: the linkage shaft 521, the third gear 515 and the fourth gear 516 are fixedly arranged on the linkage shaft 521; the linkage mechanism comprises a first mounting plate 522 and a second mounting plate 523, wherein the first mounting plate 522 and the second mounting plate 523 are arranged at intervals, and a linkage shaft 521 is rotatably arranged on the first mounting plate 522 and the second mounting plate 523; the third gear 515 is disposed between the first mounting plate 522 and the second mounting plate 523; one end of the linkage shaft 521 penetrates through the second mounting plate 523, and the fourth gear 516 is disposed on a side of the second mounting plate 523 away from the first mounting plate 522.

Referring specifically to fig. 4 and 5, in the illustrated embodiment, the mounting seat 520 is fixedly disposed on the first water tank 231; the first mounting plate 522 and the second mounting plate 523 are arranged at intervals in the second direction; the mounting seat 520 further comprises four support shafts 524, one end of any support shaft 524 is connected with the first mounting plate 522, the other end of the support shaft is connected with the second mounting plate 523, and the four support shafts 524 are arranged at four corners of the first mounting plate 522 and the second mounting plate 523 and can strengthen the structure of the mounting seat 520; two ends of the linkage shaft 521 are respectively connected with the first mounting plate 522 and the second mounting plate 523 in a rotating way through a bearing; the third gear 515 is located between the first mounting plate 522 and the second mounting plate 523, and also between the four support shafts 524; when the first gear 512 drives the third gear 515 to rotate, the mounting seat 520 is uniformly stressed and has a stable structure; a fourth gear 516 is provided on a side of the second mounting plate 523 remote from the first mounting plate 522 so as to engage the second gear 514.

Optionally, the charging mechanism 510 further comprises a regulator 517, and the generator 513 charges the battery through the regulator 517.

Regulator 517 may be used to regulate the voltage. When the rotation speed of the generator 513 changes, the regulator 517 can control the voltage of the generator 513 to keep constant, so as to prevent the battery from being damaged and overcharged due to overhigh voltage.

The structure of the regulator 517 is the prior art, and will not be described in detail.

Optionally, a welding bracket 1b is arranged on the explosion-proof chamber 1, and the welding bracket 1b is used for connecting an external device.

It is easy to understand that in order to fix the explosion-proof chamber 1 and other components, they are usually welded together, and if necessary, threaded holes and other structures are needed to facilitate detachable connection. If the surface of the explosion-proof cavity 1 is directly welded or provided with a hole or other structures, the explosion-proof cavity 1 is easy to damage.

Therefore, the welding support 1b is arranged on the explosion-proof cavity 1 in advance, and in the subsequent process of installing the explosion-proof cavity 1, the welding support 1b can be used for being connected with other components, so that the explosion-proof cavity 1 does not need to be additionally processed.

Wherein, the welding support 1b can be integrally formed with the explosion-proof cavity 1, and can also be welded on the explosion-proof cavity 1 at a later stage.

Optionally, the robot provided by the present application further includes a gas sensor 11 for detecting whether hazardous gas in the mine exceeds a standard.

In one embodiment, the gas sensor 11 is used to detect aniline toxicity under a mine.

The gas sensor 11 can transmit the detection signal to the control system, the control system records the detection signal, or further displays the detected gas data by using structures such as a display screen, and when some toxic gases exceed the standard, the control system can remind an operator through structures such as an alarm.

In the embodiment shown in fig. 4, the gas sensor 11 is arranged on one side of the explosion-proof chamber 1 through the welding bracket 1b and the hoop.

Optionally, the robot provided by the application further comprises an explosion-proof horn 12 for emitting a prompt sound.

In one embodiment, the control system is capable of storing preset voice information. For example, under the conditions that the robot starts to work, stops working, contacts obstacles, breaks down, meets special conditions and the like, the explosion-proof loudspeaker 12 can send out corresponding voice, and the running state of the robot is convenient to confirm.

In another embodiment, an operator can call the position of the robot through the explosion-proof horn 12.

Optionally, the robot provided by the present application further comprises an ultrasonic sensor for detecting objects in the mine.

The ultrasonic sensor can send and receive ultrasonic signals; refraction and reflection phenomena are also generated due to different propagation speeds of ultrasonic waves in gas, liquid and solid, and attenuation exists in the propagation process. Therefore, by utilizing the characteristics of the ultrasonic waves, whether obstacles exist on the proceeding route of the robot can be conveniently judged, and the functions of collision avoidance and the like are further achieved.

Optionally, the robot provided by the present application further includes a touch configuration screen 13, and the worker can adjust the robot by operating the touch configuration screen 13.

Specifically, when the robot works actually, daily active inspection, cleaning and other works can be carried out according to a preset program. If necessary, the on-site staff may also adjust the operation parameters of the robot by using the touch configuration screen 13, where the touch configuration screen 13 is equivalent to an interactive interface between the robot and the human.

The touch configuration screen 13 is arranged, so that an operation table of the robot can be simplified, operation switches can be reduced, electric wiring can be simplified, and the operation is humanized. An operator can directly control the operation of the system by touching the configuration screen 13, thereby simplifying the operation difficulty.

The touch configuration screen 13 can also display the parameter values, the display curves, the control, the alarm, the recording and the parameter setting functions of the controlled system in real time, and the visualization function of the control system is realized.

Optionally, the robot provided by the present application further includes an information acquisition device, where the information acquisition device is disposed on the mobile device 100 and is used to acquire environmental information in a mine.

For example, the information acquisition device may be used to acquire images. At this moment, information acquisition device can adopt the camera, and the camera can shoot or make a video recording to whether normal in the mine environment is confirmed in the purpose of patrolling and examining in the realization. If necessary, the camera can also perform object recognition and face recognition.

For another example, the information collecting device may be used for information such as sound, gas, temperature, humidity, and the like.

The application does not limit the specific configuration and function of the information acquisition device.

In one embodiment, the control system can control the movement driving assembly 120 to drive the roller 110 to rotate, so as to realize the walking of the robot.

In order to better define the travel route of the robot, in another embodiment, the robot provided by the present application further comprises: the magnetic guide rail is arranged on the ground; a first magnetic rail sensor 2, provided on the mobile device 100, for recognizing the magnetic rail so as to facilitate the advance of the mobile device 100; the second magnetic guide rail sensor 3 is arranged on the mobile device 100 and is used for identifying a magnetic guide rail so as to facilitate the backward movement of the mobile device 100; the card reader 4 is disposed on the mobile device 100 and is used for identifying magnetic points on the magnetic guide track so as to facilitate the mobile device 100 to select a moving path.

The magnetic guide rail can be laid to all positions where the robot needs to reach, and by arranging the magnetic guide rail, the movement route and the movement space of the robot can be made clear, and the robot can be ensured to carry out efficient work on all the spaces to be patrolled or cleaned.

Through the preset motion scene, the robot can automatically run. When the robot travels along the magnetic guide rail, the robot can quickly judge the movement direction through the first magnetic guide rail sensor 2, the second magnetic guide rail sensor 3 and the card reader 4, and the robot can accurately and efficiently move.

If necessary, in the actual operation process, an operator can also adjust the motion of the robot through the control panel.

Optionally, the robot provided by the application further comprises a housing 5, which can enclose four sides and the top of the robot, and has beautifying and protecting functions.

For example, in the embodiment shown in fig. 1, the mobile means 400 are provided on the top of the casing 5 to facilitate the action on the outside; at least the lower portion of the roller 110 protrudes from the bottom of the housing 5 for contacting the ground and preventing the housing 5 from rubbing against the ground; the brush disc 211 and the water absorption scratchers 221 can extend out of the bottom of the housing 5 to clean the ground; other structures are provided within the housing 5.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A mining cleaning robot, characterized by comprising:

a moving device (100), wherein the moving device (100) comprises a roller (110) and a moving driving component (120), and the moving driving component (120) is used for driving the roller (110) to rotate so that the roller (110) rolls on the ground;

the cleaning device (210) is arranged at the front end of the mobile device (100) and is used for cleaning the ground;

the negative pressure device (220) is arranged at the rear end of the mobile device (100) and is used for pumping dirt on the ground;

the magnetic guide rail is arranged on the ground;

a first magnetic guide sensor (2) provided on the mobile device (100) for identifying the magnetic guide to facilitate the advancement of the mobile device (100);

a second magnetic guide rail sensor (3) arranged on the mobile device (100) and used for identifying the magnetic guide rail so as to facilitate the mobile device (100) to retreat;

the card reader (4) is arranged on the mobile device (100) and used for identifying magnetic points on the magnetic guide rail so that the mobile device (100) can select a moving path.

2. The mining cleaning robot as recited in claim 1, characterized in that said cleaning device (210) comprises:

a brush plate (211) for cleaning the ground;

and the cleaning driving mechanism (212) is used for driving the brush disc (211) to rotate.

3. The mining cleaning robot as recited in claim 2, characterised in that the cleaning device (210) comprises two of said brush discs (211); the sweeping device (210) further comprises:

a drive gear (213), wherein one of said brush disks (211) is coupled to said drive gear (213);

a driven gear (214), wherein the other brush disc (211) is connected with the driven gear (214);

the driving gear (213) is meshed with the driven gear (214), and the cleaning driving mechanism (212) is used for driving the driving gear (213) to rotate.

4. The mining cleaning robot of claim 1, characterized in that the negative pressure device (220) comprises:

the water absorption rake (221), the water absorption rake (221) is provided with a water absorption hole;

and the flexible strip (222) is arranged on the water absorption rake (221) and is used for contacting the ground.

5. The mining cleaning robot as recited in claim 4, characterized in that the water scooping rakes (221) are arranged in an arc-shaped configuration;

and/or the flexible strip (222) comprises a first flexible strip (222 a) and a second flexible strip (222 b), the first flexible strip (222 a) is arranged on the front side of the water absorption rake (221), and the second flexible strip (222 b) is arranged on the rear side of the water absorption rake (221);

and/or the first anti-collision wheel (223) is arranged at the end part of the water absorption rake (221);

and/or a second anti-collision wheel (224) is arranged on one side of the water absorption rake (221) far away from the cleaning device (210).

6. The mining cleaning robot as claimed in claim 1, wherein the cleaning device (210) comprises a brush disc (211), the negative pressure device (220) comprises a suction rake (221), and the mining cleaning robot further comprises:

the first water tank (231) comprises a clean water cavity and a sewage cavity, the clean water cavity is communicated with the brush disc (211), and a discharge port is arranged on the sewage cavity;

the second water tank (232), the second water tank (232) is communicated with the water suction rake (221);

the negative pressure device (220) further comprises a suction mechanism, and the suction mechanism is used for sucking air from the second water tank (232) so as to facilitate the water sucking rake (221) to suck and remove dirt on the ground;

the second tank (232) is also communicated with the sewage chamber, and the sewage drawn into the second tank (232) can enter the sewage chamber and finally be discharged through the discharge port.

7. The mining cleaning robot according to any of claims 1-6, characterized in that the cleaning device (210) comprises a brush disc (211), the negative pressure device (220) comprises a suction wiper (221), the mining cleaning robot further comprises a linkage (300), the linkage (300) comprises:

a first connecting rod (331) for connecting the brush plate (211);

a second connecting rod (332) for connecting the water absorption rake (221);

and the linkage driving mechanism (310) is used for driving the first connecting rod (331) and the second connecting rod (332) to drive the brush disc (211) and the water absorption rake (221) to lift.

8. The mining cleaning robot of claim 7, characterized in that the linkage drive mechanism (310) comprises:

the output end of the linkage motor (311) is provided with a first bevel gear (312);

the linkage screw rod (313), a second bevel gear (314) is fixedly arranged on the linkage screw rod (313), and the first bevel gear (312) is meshed with the second bevel gear (314);

the movable block (315) is in threaded connection with the linkage screw rod (313), when the linkage screw rod (313) rotates, the movable block (315) can move along the linkage screw rod (313), and the first connecting rod (331) and the second connecting rod (332) are connected with the movable block (315).

9. The mining cleaning robot of claim 8, characterized in that the linkage (300) further comprises:

a first contact member (321) and a second contact member (322) provided on the movable block (315);

a first travel switch (323) provided opposite to the first contact member (321);

a second travel switch (324) disposed opposite the second contact member (322);

when the linkage motor (311) works, the linkage screw rod (313) can be driven to rotate through the first bevel gear (312) and the second bevel gear (314), so that the movable block (315) moves along the linkage screw rod (313);

when the movable block (315) moves to the state that the first contact piece (321) contacts the first travel switch (323), the first connecting rod (331) and the second connecting rod (332) drive the brush disc (211) and the water absorption rake (221) to lift to a first preset position;

when the movable block (315) moves to the second contact piece (322) to contact the second travel switch (324), the first connecting rod (331) and the second connecting rod (332) drive the brush disc (211) and the water absorption rake (221) to be lowered to a second preset position.

10. The mining cleaning robot according to claim 8, characterized in that the moving device (100) further comprises a chassis frame (130), the moving drive assembly (120) being fixedly arranged on the chassis frame (130); the linkage (300) further comprises:

a first bracket (341) fixedly arranged at the front side of the chassis frame (130), wherein the first connecting rod (331) is arranged on the first bracket (341) in a swinging way;

a second bracket (342) fixedly arranged at the rear side of the chassis frame (130), wherein the second connecting rod (332) is arranged on the second bracket (342) in a swinging way;

one end of the first connecting rod (331) is connected with the movable block (315), the other end of the first connecting rod is connected with the brush disc (211), one end of the second connecting rod (332) is connected with the movable block (315), and the other end of the second connecting rod is connected with the water absorption rake (221).

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