CN216810989U

CN216810989U - Template cleaning robot

Info

Publication number: CN216810989U
Application number: CN202123219893.3U
Authority: CN
Inventors: 李显双; 张晨阳; 樊留群; 董兴涛
Original assignee: Jikezhu Technology Taicang Co ltd
Current assignee: Jikezhu Technology Taicang Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-06-24
Anticipated expiration: 2031-12-21

Abstract

The utility model provides a template cleaning robot, which comprises a vehicle body, wherein magnetic driving tracks are arranged on two sides of the vehicle body; the automobile body is provided with a washing part, a polishing part and an oil spraying part, the washing part comprises a washing nozzle, the polishing part comprises a polishing frame and a polishing head, the polishing frame is fixed on the automobile body, the polishing head is rotatably connected to the polishing frame, and the oil spraying part comprises an oil nozzle. The template cleaning robot can be adsorbed on the obliquely placed template through the magnetic driving crawler belt and moves to adapt to the operation of the oblique template, can complete the functions of automatically cleaning and maintaining the template, and has the advantages of saving labor cost and improving working efficiency.

Description

Template cleaning robot

Technical Field

The utility model relates to the field of automatic template cleaning equipment, in particular to a template cleaning robot.

Background

Cement casting molds for the construction industry are generally constructed from a plurality of forms that require cleaning and maintenance after use. Wherein the cleaning operation comprises washing and polishing, and the maintenance operation comprises coating maintenance oil on the surface of the template. The above operations are usually completed manually, which has high working strength, high labor consumption and low efficiency. In addition, the template is often placed at an angle, so some typical semi-automatic sanding cleaning devices are not adaptable to sanding operations.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides a template cleaning robot which can complete the functions of automatically cleaning and maintaining templates and adapt to the operation of inclining the templates.

In order to achieve the purpose, the utility model is realized by the following technical scheme: a stencil cleaning robot, comprising: the magnetic driving crawler belt device comprises a vehicle body, wherein magnetic driving crawler belts are arranged on two sides of the vehicle body; the automobile body is provided with a washing part, a polishing part and an oil spraying part, the washing part comprises a washing nozzle, the polishing part comprises a polishing frame and a polishing head, the polishing frame is fixed on the automobile body, the polishing head is rotatably connected to the polishing frame, and the oil spraying part comprises an oil nozzle.

In the above device, the template cleaning robot according to the present invention may be attached to an obliquely placed template by magnetically driving the caterpillar and move, wherein the vehicle body is an integral part of the template cleaning robot according to the present invention, and is not particularly limited to a vehicle body chassis or a local vehicle frame. Preferably, the vehicle body is internally provided with a distance measuring sensor, a code disc, a gyroscope and a control chip, and the working method comprises the following steps:

s1: and manually controlling the robot to an initial position by an operator, and determining that the robot is in an initial posture. One edge of the robot is flush with one edge of the cleaning surface of the template, and when the robot identifies a right angle through the distance measuring sensor, the point is used as an original point for calibration;

s2: selecting a mold type, generating a theoretical working area model, generating a marking grid, and planning a path;

s3: the robot walks in a mode of visual positioning auxiliary wheel type mileage metering and a gyroscope to establish a two-dimensional map, and performs matching positioning and posture adjustment with the theoretical model in the step 2;

s4: the magnetic driving caterpillar is driven, the vehicle body moves, the washing part and the polishing part work simultaneously, and the cleaning and polishing are carried out simultaneously until all areas are cleaned;

s5: waiting for the template to be naturally air-dried, repeating the steps S1-S3, driving the magnetic driving track, enabling the vehicle body to move, enabling the oil injection part to work, and starting oil injection;

s6: and finishing the work and accommodating the robot.

The method comprises the following steps: the visual positioning is an operation of manually assisting the initial positioning in step S1. Therefore, the automatic template cleaning and maintaining device can complete the functions of automatically cleaning and maintaining the template, can adapt to the operation of inclining the template, and has the advantages of saving labor cost and improving working efficiency. Of course, operation may also be performed in the form of remote semi-automatic control.

Further, the template cleaning robot, the magnetic driving caterpillar band on each side comprises permanent magnets and cushion blocks, the cushion blocks are arranged on two sides of the permanent magnets, and the thickness of the side of each cushion block is larger than that of the permanent magnets. In a preferred embodiment of the present invention, the pad is 0.5 to 2mm thicker than the permanent magnet, that is, the permanent magnet is higher than the plane of the mold plate when the magnetic driving caterpillar is attracted to the mold plate. Therefore, the size of the magnetic force is controlled, and the influence on the normal movement of the template cleaning robot on the template due to the fact that the magnetic force is too large or too small is avoided.

Furthermore, the template cleaning robot further comprises a flushing pipe, the flushing pipe is fixed on the rotating seat, the rotating seat is rotationally fixed on the vehicle body, and the flushing nozzle is arranged at the front end of the flushing pipe. As a preferable scheme of the template cleaning robot, one end, far away from a washing nozzle, of the washing pipe is connected with an external water pipe, the washing pipe is fixed on the rotating seat, a rotation control device is convenient to arrange, and the template cleaning robot can spray water in a rotating mode while advancing. Thereby improving the cleaning range and the cleaning effect.

Further, the template cleaning robot further comprises a water pipe motor, the water pipe motor is fixed to the vehicle body, a rotating part is fixed to an output shaft of the water pipe motor, the rotating part is far away from the rotating shaft center of the output shaft of the water pipe motor, a transmission connecting rod is hinged to the rotating shaft center, one end of the transmission connecting rod is far away from the rotating part, and the rotating seat is far away from the rotating center and is hinged to the rotating center. As the preferred scheme of the utility model, the water pipe motor drives the rotating part, and the rotating seat and the flushing pipe are driven to do swinging motion through the transmission connecting rod, so that the coverage range of a water spraying area is ensured.

Further, the template cleaning robot, the polishing head includes the roller, the roller surface is equipped with the brush portion, the roller with the polishing frame rotates and is connected. Preferably, the brush part is a wire brush, and the roller shaft is driven by the driving device to rotate so as to drive the brush part to finish the grinding operation.

Further, the template cleaning robot, the portion of polishing still includes grinding motor, grinding motor fixes on the automobile body, grinding motor with the roller transmission is connected. As a preferable scheme of the utility model, when cleaning operation is carried out, the grinding motor is started to realize the grinding while cleaning. Preferably, the grinding motor drives the roller shaft through a chain.

Further, the template cleaning robot, the portion of polishing still includes and keeps off dirty cover, it fixes to keep off dirty cover on the polishing frame. As a preferable scheme of the utility model, stains are prevented from splashing to the template cleaning robot during polishing.

Further, the template cleaning robot, oil spout portion still includes the oil tank, be equipped with the oil pump on the oil tank, the oil pump with the fuel sprayer passes through the pipe connection. As a preferable scheme, the template cleaning robot is provided with an oil tank, and the oil tank is provided with a low liquid level alarm device.

Further, the template cleaning robot is provided with a group of distance measuring sensors on the vehicle body, and the distance measuring sensors are arranged on the outer side of the vehicle body. In a preferred embodiment of the present invention, the detection directions of the pair of distance measuring sensors are at least four forward directions of the front, rear, left and right of the vehicle body, and two corner directions of the front side. Arranging a distance measuring sensor to perform initial positioning in the step S1 of the working method on one hand; on the other hand, when the template cleaning robot works, the distance between the vehicle body and the edge of the template is measured through the group of distance measuring sensors, signals of the distance measuring sensors are sent to the trolley driving controller, and adjustment can be made in time when the robot meets obstacles or deviates from the template. Therefore, the intelligent performance of the template cleaning robot is improved.

Further, the template cleaning robot is further provided with a camera on the vehicle body, and the camera is aligned to the rear of the polishing part. As a preferred scheme of the utility model, the camera is arranged and used for recording the effect video of the cleaned and polished template, and the recorded video is uploaded in real time through the wireless transmission module for an operator to judge whether the cleaning effect meets the requirement so as to make an instruction whether to re-clean the cleaned marked area. The template cleaning robot combined with the camera further comprises the following working method: and simultaneously transmitting videos of cleaning and oil injection effects in the working method steps S4 and S5, manually marking unqualified grid areas after completing one cleaning or oil injection operation, and repeating the operations of S1-S4 or S5 until the effects are qualified. Thereby can guarantee the quality of polishing to the cleaning and the maintenance work in unqualified region of reasonable compensation.

The technical scheme shows that the utility model has the following beneficial effects:

1. the utility model provides a template cleaning robot which can complete the functions of automatically cleaning and maintaining templates, can adapt to the operation of inclining the templates, and has the advantages of saving labor cost and improving working efficiency.

2. The utility model provides a template cleaning robot, which is characterized in that a washing part also comprises a washing pipe fixed on a rotating seat, the rotating seat is rotationally fixed on a vehicle body, and a washing nozzle is arranged at the front end of the washing pipe. One end of the flushing pipe, which is far away from the flushing nozzle, is connected with an external water pipe, and the flushing pipe is fixed on the rotating seat, so that a rotation control device is convenient to arrange, and the template cleaning robot disclosed by the utility model can spray water in a rotating manner while advancing. Thereby improving the cleaning range and the cleaning effect.

3. The utility model provides a template cleaning robot, wherein a vehicle body is provided with a group of distance measuring sensors, and the distance measuring sensors are arranged on the outer side of the vehicle body. The detection directions of the group of distance measuring sensors are at least four forward directions of the front, the back, the left and the right of the vehicle body and two corner directions of the front side. Arranging a distance measuring sensor to perform initial positioning in the step S1 of the working method on one hand; on the other hand, when the template cleaning robot works, the distance between the vehicle body and the edge of the template is measured through the group of distance measuring sensors, signals of the distance measuring sensors are sent to the trolley driving controller, and adjustment can be made in time when the robot meets obstacles or deviates from the template. Therefore, the intelligent performance of the template cleaning robot is improved.

4. The utility model provides a template cleaning robot, wherein a camera is further arranged on a vehicle body and is aligned to the rear of a polishing part. The camera is arranged and used for shooting and recording effect videos of the template after being cleaned and polished, the recorded videos are uploaded in real time through the wireless transmission module, and operators can judge whether the cleaning effect meets requirements or not so as to make instructions whether to re-clean the cleaned marking area or not. Thereby can guarantee the quality of polishing to the cleaning and the maintenance work in unqualified region of reasonable compensation.

Drawings

FIG. 1 is a schematic three-dimensional structure of a stencil cleaning robot according to the present invention;

FIG. 2 is a front plan view of a stencil cleaning robot of the present invention;

fig. 3 is a plan view of a stencil cleaning robot and a schematic diagram of a location where a distance measuring sensor is installed according to the present invention.

In the figure: 1-a vehicle body; 2-magnetically driving the caterpillar; 21-a permanent magnet; 22-cushion block; 3-a washing part; 31-a washing spray head; 32-a flush tube; 33-a rotating seat; 34-a water pipe motor; 35-a rotating member; 36-a drive link; 4-grinding part; 41-grinding frame; 42-polishing head; 421-a roll shaft; 422-brush part; 43-grinding the motor; 44-a dirt blocking cover; 5-an oil injection part; 51-an oil jet; 52-oil tank; 53-an oil pump; 6-a distance measuring sensor; 7-camera.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, 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", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

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 one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The stencil cleaning robot shown in fig. 1, 2 and 3 comprises a vehicle body 1, wherein a code disc (not shown), a gyroscope (not shown) and a control chip (not shown) are arranged in the vehicle body, magnetic driving tracks 2 are arranged on two sides of the vehicle body 1, the magnetic driving tracks 2 on each side comprise permanent magnets 21 and spacers 22, the spacers 22 are arranged on two sides of the permanent magnets 21, and the thickness of the spacers 22 is greater than that of the permanent magnets 21 by 1 mm.

The vehicle body 1 is also provided with a flushing part 3. The flushing part 3 comprises a flushing pipe 32, the flushing pipe 32 is fixed on a rotating seat 33, the rotating seat 33 is rotatably fixed on the vehicle body 1, and a flushing nozzle 31 is arranged at the front end of the flushing pipe 32. And, still include water pipe motor 34, water pipe motor 34 is fixed on automobile body 1, water pipe motor 34 output shaft is fixed with rotating member 35, rotating member 35 keeps away from that water pipe motor 34 output shaft rotates the axle center and articulates there is transmission connecting rod 36, transmission connecting rod 36 keep away from rotating member 35 one end with it is articulated to rotate seat 33 and keep away from the center of rotation department.

And, the car body 1 is also provided with a grinding part 4. Wherein the grinding part 4 comprises a grinding frame 41 and a grinding head 42. The grinding frame 41 is fixed on the vehicle body 1, the grinding head 42 comprises a roller shaft 421, a brush part 422 is arranged on the surface of the roller shaft 421, and the roller shaft 421 is rotatably connected to the grinding frame 41. And, the grinding part 4 further comprises a grinding motor 43, the grinding motor 43 is fixed on the vehicle body 1, and the grinding motor 43 is in transmission connection with the roller 421. In addition, the grinding part 4 further comprises a dirt blocking cover 44, and the dirt blocking cover 44 is fixed on the grinding frame 41.

The vehicle body 1 is also provided with an oil ejecting portion 5. The oil injection part 5 comprises 2 oil injection nozzles 51 and an oil tank 52, an oil pump 53 is arranged on the oil tank 52, and the oil pump 53 is connected with the oil injection nozzles 51 through a pipeline. And the tank 52 carries a low level alarm device (not shown).

And, be equipped with a set of range sensor 6 on the automobile body 1, range sensor 6 sets up the outside at automobile body 1. The detection directions of the one group of distance measuring sensors 6 are four forward directions of the front, the rear, the left and the right of the vehicle body 1, and two corner directions of the front side.

Further, still be equipped with camera 7 on the automobile body 1, camera 7 aims at the portion of polishing 4 rear.

Based on the structure, the template cleaning robot can be adsorbed on an obliquely placed template through the magnetic driving crawler 2 and moves, wherein the vehicle body 1 is the whole template cleaning robot and is not particularly a vehicle body chassis or a local vehicle frame.

The working method comprises the following steps:

s1: and manually controlling the robot to an initial position by an operator, and determining that the robot is in an initial posture. One side of the robot is flush with one side of the cleaning surface of the template, and when the robot recognizes a right angle through the ranging sensor 6, the point is used as an origin point to be calibrated;

s4: the magnetic driving caterpillar band 2 is driven, the vehicle body 1 moves, the washing part 3 and the polishing part 4 work simultaneously, and polishing is carried out while cleaning is carried out until all areas are cleaned;

s5: waiting for the template to be naturally air-dried, repeating the steps S1-S3, driving the magnetic driving track 2, enabling the vehicle body 1 to move, enabling the oil spraying part 5 to work, and starting oil spraying;

s6: and finishing the work and accommodating the robot.

Wherein the pad 22 is thicker than the permanent magnet 21 by 1mm, namely, when the magnetic driving track 2 is adsorbed on the template, the permanent magnet 21 is higher than the plane of the template. Therefore, the size of the magnetic force is controlled, and the influence on the normal movement of the template cleaning robot on the template due to the fact that the magnetic force is too large or too small is avoided. One end of the flushing pipe 32, which is far away from the flushing nozzle 31, is connected with an external water pipe, the flushing pipe 32 is fixed on the rotating seat 33, a rotation control device is convenient to arrange, and the template cleaning robot disclosed by the utility model can rotate to spray water while advancing. Thereby improving the cleaning range and the cleaning effect. And, the water pipe motor 34 drives the rotating member 35, and the rotating seat 33 and the flushing pipe 32 are driven to swing by the transmission connecting rod 36, so that the coverage of the water spraying area is ensured. In this embodiment, the brush part 422 is a wire brush, and the roller 421 is driven by a driving device to rotate, so as to drive the brush part 422 to complete a grinding operation. When cleaning operation is performed, the polishing motor 43 is started to realize cleaning and polishing. In this embodiment, the grinding motor 43 drives the roller shaft 421 via a chain.

Furthermore, the distance measuring sensor 6 is provided to enable the initial positioning in step S1 of the above-described operating method; on the other hand, when the template cleaning robot works, the distance between the vehicle body 1 and the edge of the template is measured through the group of distance measuring sensors 6, signals of the distance measuring sensors 6 are sent to the trolley driving controller, and when a fault or a deviation from the template occurs, the template cleaning robot can be adjusted in time. Therefore, the intelligent performance of the template cleaning robot is improved.

Furthermore, a camera 7 is arranged and used for shooting and recording effect videos of the template after being cleaned and polished, and the recorded videos are uploaded in real time through a wireless transmission module, so that an operator can judge whether the cleaning effect meets requirements or not, and an instruction of whether the cleaned marking area is cleaned again or not is made. The template cleaning robot in this embodiment, which is described in conjunction with the camera 7, further includes the following working methods: and simultaneously transmitting videos of cleaning and oil injection effects in the working method steps S4 and S5, manually marking unqualified grid areas after completing one cleaning or oil injection operation, and repeating the operations of S1-S4 or S5 until the effects are qualified. Thereby can guarantee the quality of polishing to the cleaning and the maintenance work in unqualified region of reasonable compensation.

The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A template cleaning robot is characterized in that: the magnetic driving crawler belt type vehicle comprises a vehicle body (1), wherein magnetic driving crawler belts (2) are arranged on two sides of the vehicle body (1); the automobile polishing device is characterized in that a washing portion (3), a polishing portion (4) and an oil spraying portion (5) are further arranged on the automobile body (1), the washing portion (3) comprises a washing nozzle (31), the polishing portion (4) comprises a polishing frame (41) and a polishing head (42), the polishing frame (41) is fixed on the automobile body (1), the polishing head (42) is rotatably connected to the polishing frame (41), and the oil spraying portion (5) comprises an oil spraying nozzle (51).

2. The stencil cleaning robot of claim 1, wherein: the magnetic driving crawler (2) on each side comprises a permanent magnet (21) and cushion blocks (22), the cushion blocks (22) are arranged on two sides of the permanent magnet (21), and the thickness of the side of each cushion block (22) is larger than that of the position of the permanent magnet (21).

3. The stencil cleaning robot of claim 1, wherein: the washing part (3) further comprises a washing pipe (32) and a rotating seat (33), the washing pipe (32) is fixed on the rotating seat (33), the rotating seat (33) is rotationally fixed on the vehicle body (1), and the washing nozzle (31) is arranged at the front end of the washing pipe (32).

4. A stencil cleaning robot as recited in claim 3, wherein: still include water pipe motor (34), water pipe motor (34) are fixed on automobile body (1), water pipe motor (34) output shaft is fixed with rotating member (35), rotating member (35) are kept away from that water pipe motor (34) output shaft rotates the axle center and is articulated to have drive link (36), drive link (36) keep away from rotating member (35) one end with it is articulated to keep away from rotation center department in rotation seat (33).

5. The stencil cleaning robot of claim 1, wherein: the polishing head (42) comprises a roll shaft (421), a brush part (422) is arranged on the surface of the roll shaft (421), and the roll shaft (421) is rotatably connected with the polishing frame (41).

6. The stencil cleaning robot of claim 5, wherein: the polishing part (4) further comprises a polishing motor (43), the polishing motor (43) is fixed on the vehicle body (1), and the polishing motor (43) is in transmission connection with the roll shaft (421).

7. The stencil cleaning robot of claim 6, wherein: the polishing part (4) further comprises a dirt blocking cover (44), and the dirt blocking cover (44) is fixed on the polishing frame (41).

8. The stencil cleaning robot of claim 1, wherein: the oil injection part (5) further comprises an oil tank (52), an oil pump (53) is arranged on the oil tank (52), and the oil pump (53) is connected with the oil injection nozzle (51) through a pipeline.

9. The stencil cleaning robot of claim 1, wherein: a group of distance measuring sensors (6) are arranged on the vehicle body (1), and the distance measuring sensors (6) are arranged on the outer side of the vehicle body (1).

10. The stencil cleaning robot of claim 1, wherein: still be equipped with camera (7) on automobile body (1), camera (7) aim at the portion of polishing (4) rear.