CN107411655B

CN107411655B - Sweeping robot

Info

Publication number: CN107411655B
Application number: CN201610374671.3A
Authority: CN
Inventors: 何永
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-05-23
Filing date: 2016-05-23
Publication date: 2022-10-04
Anticipated expiration: 2036-05-23
Also published as: CN107411655A

Abstract

Description

Sweeping robot

Technical Field

Background

At present, although the robot cleans the garbage, the robot only cleans limited garbage such as small garbage including paper scraps, cigarette ends and the like in a limited range in rooms and offices, and the robot cannot replace cleaners to clean various garbage like squares and large public places.

Disclosure of Invention

The sweeping robot has a timing comprehensive sweeping mode, a timing local sweeping mode, a person avoiding mode, an object avoiding mode and a timing fixed-point server mode under the control of a single-board computer program, and is self-adaptive to various cleaning places such as squares, large public places, families and clean environments of offices.

The technical scheme for solving the technical problem is as follows; the sweeping robot consists of a body part and an electric appliance control part, wherein the body part consists of an upper garbage tray, an arm, a rack, an L plate, a pressure spring, a core rod, a worm wheel, a cleaning roller inner cylinder, a ball, a lower garbage tray, a universal wheel, a ball seat, an adjusting ring, a worm, a triangular belt, a travelling wheel, a pin, an adjustable bearing, a splicing cap, a key, a bottom plate, a cleaning roller and a lip plate, and the electric appliance part consists of a photoelectric sensor, a single board machine, a relay, a motor, a storage battery, an electromagnet, a limit switch, a charger and an infrared sensor. Four groups of robot sweeping mechanisms which are composed of a worm gear, an arm, a core rod, a cleaning roller inner cylinder, a cleaning roller, a traveling wheel, a triangular belt, a ball seat, a lip plate and a ball and surround a worm and a lower garbage tray are arranged in a machine frame in a central symmetry and square mode, adjustable bearings are fixed in screw holes of the machine frame through splicing caps, two ends of a worm gear shaft are respectively arranged in the adjustable bearings and holes of the machine frame, the adjustable bearings are propped against the adjusting rings, the adjusting ring moves on the shaft of the worm gear through a key, the lower garbage tray is arranged below the frame, the ball seat fixes the lip plate and the ball on the lower garbage tray, the upper garbage tray is arranged above the frame, the pressure spring and the electromagnet are fixed on the frame below the adjustable bearing and behind the arm lug, the pressure spring is propped against the arm lug, after the arm rotates upwards, the L plate is hooked on the lug of the arm, the core rod is sleeved with walking wheel, cleaning roller, arm, cleaning roller, walking wheel and split cap, the split cap is fixed on the core rod by pin, the cleaning roller formed from soft strip-shaped wiper and elastic strip-shaped brush hair is sleeved on the cleaning roller, one end of arm and triangular belt is between worm wheel and regulating ring, and another end is between two cleaning roller, the single-board machine, relay, accumulator and charger of electric appliance portion are fixed on the bottom plate above the motor, four infrared sensors are fixed on four sides of bottom plate, four corners of machine frame are respectively equipped with a universal wheel, two limit switches and a photoelectric sensor aligned with ground, and four lugs on L-board connected with machine frame by means of hinge are aligned with limit switches on the machine frame.

By adopting the scheme, when the pressure spring is propped against the lug on the arm, the travelling wheel leaves the ground by 10 mm, the brush strip is against the ground, the sweeping robot is in a power-off servo state, the motor is started, the power rotates the cleaning roller through the worm, the worm wheel and the triangular belt, the garbage is swept into the lower garbage tray through the lip plate, the sweeping robot is in a power-on servo state, when the single board computer program conducts the electromagnet in the advancing direction, the electromagnet sucks the lower arm, the pressure spring is compressed, the elastic cleaning roller and the travelling wheel cling to the ground, the friction force between the cleaning roller and the ground enables the sweeping robot to be in a state that the sweeping robot rubs while moving forwards, when the sweeping robot moves forwards to touch the wall, the lug on the L board triggers the limit switch, the single board computer program stops the originally conducted electromagnet, the arm is lifted under the tension of the pressure spring, the electromagnet is simultaneously conducted, the left arm is sucked down, after the sweeping robot moves left for 10 seconds, the single board computer program stops moving the electromagnet left, the electromagnet behind the sweeping robot is conducted, the arm behind the sweeping robot is sucked down, the sweeping robot walks backwards to sweep, and a timing comprehensive sweeping mode of advancing, wall collision, left movement for 10 seconds and backward walking is repeatedly executed, when the sweeping robot executes the timing local sweeping mode, the sweeping robot only needs one photoelectric sensor to have a signal, the sweeping robot performs brushing and walking simultaneously, once the photoelectric sensor has no signal, the sweeping robot performs retreating for 5 seconds, moves left for 10 seconds and moves forwards reversely, if the photoelectric sensor has no signal after moving left for 10 seconds, the sweeping robot performs moving right for 10 seconds, moves forwards reversely, when the sweeping robot sweeps the floor, the infrared sensor sends out a signal when meeting a person, the sweeping robot performs a person-avoiding sweeping mode, after 30 seconds of waiting for the original place, if the infrared sensor signal disappears, the sweeping robot continues to move forward, if the signal does not disappear after 30 seconds of waiting for the original place, the sweeping robot continues to move left for 20 seconds, after 20 seconds of left movement, if the signal does not disappear after 30 seconds of waiting for the original place, the sweeping robot continues to move left for 20 seconds until the infrared sensor signal disappears, when the sweeping robot moves forward, the infrared sensor at the right side has a signal, the sweeping robot continues to move forward until the infrared sensor signal disappears, the sweeping robot continues to move forward after returning to the original place to the right, when the sweeping robot does not reach the end point of the program, the limit switch sends out a signal, the sweeping robot executes the object avoiding mode, namely, the sweeping robot executes the left movement for 10 seconds, if the front limit switch and the left limit switch are not reset, the sweeping robot retreats for 10 seconds, moves left for 10 seconds, moves forward for 20 seconds, moves right to the original position and moves forward, if only the right limit switch is not reset, the sweeping robot leftwards moves for 5 seconds, moves forward for 20 seconds, moves right to the original position and moves forward, when the sweeping robot executes an object avoiding or person avoiding sweeping mode and moves forward to a program end point, the sweeping robot executes a full sweeping mode, when the sweeping robot sweeps the floor, the waiting time is up, and the four photoelectric sensors have signals, the sweeping robot waits in place, otherwise, the sweeping robot continues to sweep until the four photoelectric sensors have signals and then waits in place. When the robot is in standby, a cleaner lifts the L plate firstly to lift the arm if the cleaner wants to collect the garbage of the sweeping robot, the L plate falls to hook the arm bump, the lower garbage tray can be drawn out, the garbage of the upper garbage tray and the lower garbage tray can be poured out, the cleaning roller can be washed by water, the motor is started, the cleaning roller is rotated to spin-dry sewage, the pin in the splicing cap on the core rod is drawn out, the left side exits from the splicing cap and the adjustable bearing, the core rod and the worm wheel can be drawn out, the inner barrel of the cleaning roller, the cleaning roller and the travelling wheel are replaced, the worm wheel, the adjusting ring, the triangular belt and the arm are replaced, and the position of the adjusting ring on the worm wheel is adjusted to ensure that the triangular belt is proper in tightness.

The sweeping robot has simple structure, complete functions and convenient maintenance, under the control of a single board computer program, the sweeping robot has a timing comprehensive sweeping mode, a timing local sweeping mode, a person avoiding mode, an object avoiding mode and a timing fixed-point servo mode, is suitable for various cleaning places, removes various garbage and erases stains, and can conveniently replace, maintain, clean and adjust other parts of the sweeping robot by rotating an L board, splicing caps and an adjustable bearing so as to ensure that the sweeping robot is kept in a perfect state forever,

drawings

The invention is further illustrated by the following examples in conjunction with the drawings.

FIG. 1 is a view from the direction J-J-J-J-J-J of FIG. 3 of the present invention,

FIG. 3 is a view of the invention from direction G-G-G-G of FIG. 1,

in the figures 1, 2 and 3, 1 is an upper garbage tray, 2 is a motor, 3 is an arm, 4 is a frame, 5 is a storage battery, 6 is an electromagnet, 7.L plate, 8 is a pressure spring, 9 is a mandril, 10 is a worm gear, 11 is a cleaning rolling inner cylinder, 12 is a ball, 13 is a lower garbage tray, 14 is a universal wheel, 15 is a photoelectric sensor 16, a single board computer, 17, a relay, 18, a ball seat, 19, an adjusting ring, 20, a worm, 21, a limit switch, 22, a triangular belt, 23, a travelling wheel, 24, a pin, 25, an adjustable bearing, 26, a splicing cap, 27, a charger, 28, a key, 29, a bottom plate, 30, an infrared sensor, 31, a cleaning roller and 32, a lip plate.

Detailed Description

As shown in fig. 1, 2 and 3, the sweeping robot comprises a trunk part and an electric appliance control part, wherein the trunk part comprises an upper garbage tray 1, an arm 3, a frame 4, an L-shaped plate 7, a pressure spring 8, a core rod 9, a worm wheel 10, a cleaning roller inner cylinder 11, a ball 12, a lower garbage tray 13, a universal wheel 14, a ball seat 18, an adjusting ring 19, a worm 20, a triangular belt 22, a traveling wheel 23, a pin 24, an adjustable bearing 25, a splicing cap 26, a key 28, a bottom plate 29, a cleaning roller 31 and a lip plate 32, and the electric appliance part comprises a photoelectric sensor 15, a single board machine 16, a relay 17, a motor 2, a storage battery 5, an electromagnet 6, a limit switch 21, a charger 27 and an infrared sensor 30. Four groups of robot sweeping mechanisms which are provided with a worm wheel 10, an arm 3, a core rod 9, a cleaning roller inner cylinder 11, a cleaning roller 31, a travelling wheel 23, a triangular belt, a 22 ball seat, a lip 32 and a ball 12 and surround a worm 20 and a lower garbage tray 13 are arranged in a machine frame 4 in a central symmetry square manner, the adjustable bearing 25 is fixed in the screw hole of the frame 4 through the split cap 26, two ends of the worm wheel 10 are respectively arranged in the adjustable bearing 25 and the hole of the frame 4, the adjustable bearing 25 is propped against the adjusting ring 19, the adjusting ring 19 moves on the shaft of the worm wheel 10 through a key 28, the lower garbage tray 13 is arranged below the frame 4, the ball seat 18 fixes the lip plate 32 and the ball 12 on the lower garbage tray 13, the upper garbage tray 1 is arranged above the frame 4, the pressure spring 8 and the electromagnet 6 are fixed on the frame 4 below the adjustable bearing 25 and behind the lug of the arm 3, the pressure spring 8 is propped against the lug of the arm 3, after the arm 3 rotates upwards, the L-shaped plate 7 is hooked on a convex block of the arm 3, a traveling wheel 23, a cleaning roller inner cylinder 11, the arm 3, the cleaning roller inner cylinder 11, the traveling wheel 23 and a splicing cap 26 are sequentially sleeved on a core rod 9, the splicing cap 26 is fixed on the core rod 9 through a pin 24, a cleaning roller 31 composed of soft strip-shaped wiping cloth and elastic strip-shaped bristles is sleeved on the cleaning roller inner cylinder 11, one end of each of the arm 3 and a triangular belt 22 is arranged between a worm wheel 10 and an adjusting ring 19, the other end of each of the arm 3 and the triangular belt is arranged between the two cleaning roller inner cylinders 11, a single-board machine 16, a relay 17, a storage battery 5 and a charger 27 of an electric appliance part are fixed on a bottom plate 29 above the motor 2, four infrared sensors 30 are fixed on four sides of the bottom plate 29, a universal wheel 14, two limit switches 21 and a photoelectric sensor 15 aligned with the ground are respectively arranged at four corners of the rack 4, and the convex blocks on the L-shaped plate 7 connected with the rack 4 through hinges are aligned with the limit switches 21 on the rack 4.

By adopting the scheme, when the pressure spring 8 pushes against the convex block on the arm 3, the travelling wheel 23 leaves the ground for 10 mm, the brush strip is pressed against the ground, the sweeping robot is in a power-off servo state, the motor 2 is started, power rotates the cleaning roller 31 through the worm 20, the worm wheel 10 and the triangular belt 22, the garbage is swept into the garbage tray 13 through the lip 32, the sweeping robot is in an electric servo state, when the single board machine 16 is in a program conduction state, the electromagnet 6 sucks the arm 3, the pressure spring 8 is compressed, the elastic cleaning roller 31 and the travelling wheel 23 are in a ground contact state, the cleaning roller 31 and the travelling wheel 23 are in a friction force with the ground to enable the sweeping robot to be in a brushing and wiping and advancing state, when the sweeping robot moves forwards to touch the wall, the convex block on the L board 7 triggers the limit switch 21, the single board machine 16 is in a program stop of the originally conducted electromagnet 6, the sweeping robot is lifted under the tension of the pressure spring 8, meanwhile, the left electromagnet 6 is switched on, the left arm 3 is sucked down, the sweeping robot is driven to move left for 10 seconds, the single board computer 16 is switched off to drive the left electromagnet 6, the electromagnet 6 behind the sweeping robot is switched on, the rear arm 3 is sucked down, the sweeping robot is driven to move backwards to sweep the floor, and a timing comprehensive sweeping mode of advancing, wall collision, left movement for 10 seconds and backward walking is repeatedly executed, when the sweeping robot executes a timing local sweeping mode, the sweeping robot only needs one photoelectric sensor 15 to have a signal, the sweeping robot executes brushing and sweeping, but the photoelectric sensor 15 has no signal, the sweeping robot executes backward movement for 5 seconds, left movement for 10 seconds and backward movement, if the photoelectric sensor 15 has no signal after left movement for 10 seconds, the sweeping robot executes right movement for 10 seconds, and backward movement, when the sweeping robot is sweeping, when a person is involved, the infrared sensor 30 sends a signal, the sweeping robot executes a sweeping mode of the sweeping robot, namely, if the signal of the infrared sensor 30 disappears after being subjected to the sweeping for 30 seconds, the sweeping robot continues to move forward, if the signal does not disappear after being subjected to the sweeping for 30 seconds, the sweeping robot continues to move left for 20 seconds, after moving left for 20 seconds, if the signal does not disappear after being subjected to the sweeping for 30 seconds, the sweeping robot continues to move left for 20 seconds until the signal of the infrared sensor 30 disappears, when the sweeping robot moves forward, the right infrared sensor 30 has a signal, the sweeping robot continues to move forward until the signal of the infrared sensor 30 disappears, the sweeping robot continues to move forward after moving right back to the original position, when the sweeping robot does not reach the program end point, the limit switch 21 sends a signal, the sweeping robot executes a avoiding mode, namely, the sweeping robot executes the left moving mode for 10 seconds, and if both the front and the left limit switch 21 are not reset, the sweeping robot executes the left moving forward mode, otherwise, the sweeping robot executes the right moving photoelectric sensor performs the left moving forward for 10 seconds, the left photoelectric sensor performs the left moving forward for 15 seconds, and the photoelectric sensor performs the left moving forward, or the photoelectric sensor forward for 5 seconds, when both the sweeping robot does not reset. When the robot is standby, if a cleaner wants to collect the garbage swept by the robot, the L-shaped plate 7 is lifted, the arm 3 is lifted, the L-shaped plate 7 falls, the convex block of the arm 3 is hooked, the lower garbage tray 13 can be drawn out, the garbage in the garbage tray is poured out, the cleaning roller 31 can be washed by water, the motor 2 is started, the cleaning roller 31 is rotated, the sewage is dried, the pin 24 in the splicing cap 26 on the mandrel 9 is pulled out, the splicing cap 26 and the adjustable bearing 25 are withdrawn in a left-handed way, the mandrel 9 and the worm wheel 10 can be pulled out, the inner cylinder 11 of the cleaning roller, the cleaning roller 31 and the travelling wheel 23 are replaced, the worm wheel 10, the adjusting ring 19, the triangular belt 22 and the arm 3 are replaced, and the position of the adjusting ring 19 on the worm wheel 10 is adjusted to ensure that the triangular belt 22 is loosened and tightened properly.

Claims

1. A sweeping robot comprises a worm wheel, an arm, an L board, a cleaning roller inner cylinder, an adjustable bearing, a V belt, a traveling wheel, a cleaning roller, a photoelectric sensor, a single board machine, a motor, an electromagnet, a limit switch, an infrared sensor, a lip board, a ball, a worm and a lower garbage tray, wherein the four sweeping mechanisms are formed by the adjustable bearing, the adjustable bearing is fixed in a screw hole of a rack through a splicing cap, two ends of a worm wheel shaft are respectively fixed in the adjustable bearing and a rack hole, an adjusting ring moves on the worm wheel shaft through a key, a pressure spring and the electromagnet are fixed on the rack below the adjustable bearing and behind an arm lug, the lower garbage tray is arranged below the rack, the lip board and the ball are fixed on the lower garbage tray through a ball seat, an upper garbage tray is arranged above the rack, the walking wheel, the inner cylinder and the arm are fixed on the core rod by the split cap, the cleaning rollers are sleeved on the cleaning roller inner cylinder, one end of the arm and one end of the triangular belt are arranged between the worm wheel and the adjusting ring, the other end of the arm and the triangular belt are arranged between the two cleaning roller inner cylinders, the universal wheel, the limit switch and the photoelectric sensor are fixed at four corners of the frame, the photoelectric sensor, the single board machine, the motor, the electromagnet, the limit switch and the infrared sensor are fixed on the bottom plate, when the sweeping robot moves forwards and touches the wall, the limit switch is triggered by the convex block on the L plate, the single board machine of the sweeping robot stops the originally conducted electromagnet in the forward direction by a program, and the arm is lifted under the tension of the pressure spring.

2. The method of claim 1 the floor sweeping robot has the advantages that the floor sweeping robot, it is characterized in that the adjustable bearing is propped against the adjusting ring.

3. The sweeping robot of claim 1, it is characterized in that the four groups of sweeping mechanisms are arranged in a central symmetry square shape.

4. The sweeping robot of claim 1, wherein the cleaning roller is comprised of alternate wiping strips and bristle strips.

5. The sweeping robot of claim 1, wherein the sweeping robot is in maintenance, standby and sweeping states under the action of the L-shaped plate, the pressure spring and the electromagnet.