CN106264344A - A kind of household clean robot - Google Patents

A kind of household clean robot Download PDF

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Publication number
CN106264344A
CN106264344A CN201610718329.0A CN201610718329A CN106264344A CN 106264344 A CN106264344 A CN 106264344A CN 201610718329 A CN201610718329 A CN 201610718329A CN 106264344 A CN106264344 A CN 106264344A
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CN
China
Prior art keywords
cylinder
motor
connects
rod
rotating shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610718329.0A
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Chinese (zh)
Inventor
李翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HEFEI LINGXIANG INFORMATION TECHNOLOGY Co Ltd
Original Assignee
HEFEI LINGXIANG INFORMATION TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HEFEI LINGXIANG INFORMATION TECHNOLOGY Co Ltd filed Critical HEFEI LINGXIANG INFORMATION TECHNOLOGY Co Ltd
Priority to CN201610718329.0A priority Critical patent/CN106264344A/en
Publication of CN106264344A publication Critical patent/CN106264344A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present invention relates to a kind of robot, particularly relate to a kind of household clean robot.The technical problem to be solved in the present invention be to provide a kind of clean thoroughly, household clean robot that cleaning efficiency is high, simple to operate.In order to solve above-mentioned technical problem, the invention provides such a household clean robot, include head, left shaft holder, screw mandrel, nut, right bearing seat, reel, the first motor, fuselage, bracing wire, first connecting rod, swab, collecting box, flexible pipe, air pump, flexible member, slide rail, slide block and the first cylinder etc.;The crown center of fuselage connects head, and the top rear in fuselage is sequentially provided with left shaft holder, right bearing seat and the first motor from left to right.Invention achieves the effect that cleaning is thorough, cleaning efficiency is high, simple to operate, not only good looking appearance is lovely, and practical.

Description

A kind of household clean robot
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of household clean robot.
Background technology
Robot is typically made up of actuator, driving means, detection device and control system and complicated machinery etc..Machine People is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, it is possible to With according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the work of human work, example As produced the work of industry, building industry, or danger.
Cleaning refers to by removing dust and all filths to reduce the process of micro organism quantity.Cleaning have thoroughly arrangement, The meaning processed and administer.
Existing clean robot existence cleaning is thorough not, cleaning efficiency is low, the shortcoming of complex operation, therefore needs badly and grinds Send out a kind of and clean household clean robot thorough, that cleaning efficiency is high, simple to operate.
Summary of the invention
(1) to solve the technical problem that
Existing clean robot cleaning is thorough not, cleaning efficiency is low, the shortcoming of complex operation in order to overcome for the present invention, The technical problem to be solved in the present invention be to provide a kind of clean thoroughly, household cleaning machine that cleaning efficiency is high, simple to operate People.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides such a household clean robot, include head, Left shaft holder, screw mandrel, nut, right bearing seat, reel, the first motor, fuselage, bracing wire, first connecting rod, swab, collection Case, flexible pipe, air pump, flexible member, slide rail, slide block, the first cylinder, second connecting rod, rotary apparatus, support, fixed pulley, second Motor, pole, clutch shaft bearing seat, the first rotating shaft, revolver, air-suction cover, hard tube, right wheel, the first bevel gear, the second bevel gear and Two rotating shafts;The crown center of fuselage connects head, and the top rear in fuselage is sequentially provided with left shaft holder, right axle from left to right Bearing and the first motor, the first motor is provided with the second rotating shaft, and the second rotating shaft is provided with reel, and reel is wound with bracing wire, Being provided with screw mandrel between left shaft holder and right bearing seat, right-hand member and second rotating shaft of screw mandrel are connected, and screw mandrel is provided with nut, spiral shell Mother coordinates with screw mandrel, and the bottom of nut connects first connecting rod, and the bottom of first connecting rod connects swab, swab bag Having included the second cylinder and rag, the bottom of first connecting rod connects the second cylinder, and the second cylinder is through the bottom of fuselage, the second gas The bottom of cylinder connects rag, and the bottom left in fuselage is provided with collecting box, and the bottom in collecting box is provided with air pump, air pump Right side connects flexible pipe, and flexible pipe passes the bottom bottom collecting box with fuselage, and the bottom of flexible pipe connects hard tube, the bottom of hard tube Connect and have air-suction cover, fuselage bottom to be provided with the first cylinder and second connecting rod, and the first cylinder is positioned at the front of second connecting rod, first The bottom of cylinder connects support, and the top in support is provided with slide rail and the second motor, and slide rail is positioned at the left of the second motor, Slide rail is provided with slide block, is provided with flexible member between the left wall in the left side of slide block and slide rail, and the bottom of slide block connects pole, The right-hand member of pole is connected with hard tube, and connecting on front side of the right in slide rail has fixed pulley, bracing wire to walk around fixed pulley to be connected with slide block Connecing, the bottom of the second motor connects the second bevel gear, and the left wall in support is provided with clutch shaft bearing seat, and clutch shaft bearing seat sets Having the first rotating shaft, the first rotating shaft to be provided with revolver and right wheel, and revolver is positioned at the left of right wheel, the right-hand member of the first rotating shaft connects to be had First bevel gear, the first bevel gear engages with the second bevel gear, and the bottom of second connecting rod connects rotary apparatus, rotary apparatus bag Having included the 3rd motor, the 3rd cylinder and briquetting, the bottom of second connecting rod connects the 3rd motor, and the bottom of the 3rd motor connects to be had 3rd cylinder, the bottom of the 3rd cylinder connects briquetting.
Preferably, also include controller and range sensor, be provided with range sensor at head eyes, at head face It is provided with controller, the first motor, air pump, the first cylinder, the second motor, the second cylinder, the 3rd motor, the 3rd cylinder and distance Sensor is connected with controller respectively.
Preferably, also including guide ring, the right-hand member of pole connects guide ring, and hard tube passes guide ring.
Preferably, also including filter screen, the bottom of air-suction cover is provided with filter screen.
Preferably, bracing wire is steel wire rope.
Preferably, flexible member is spring.
Preferably, briquetting be shaped as round platform.
Operation principle: when room is swept by needs, starts the second cylinder elongation, and the second cylinder drives rag downward Mobile, when rag contacts with ground, the second cylinder stops elongation.Starting air pump work, air pump is by ground rubbish And chip is drawn in collecting box by air-suction cover, hard tube and flexible pipe, start that the first motor is the most clockwise and reversion simultaneously, the One driven by motor screw mandrel and the second rotating shaft is the most clockwise and reversion, second rotating shaft drive reel the most clockwise and reversion, Bracing wire is regained or releases by reel, and when bracing wire is regained by reel, bracing wire band movable slider moves right, and slide block drives hard tube Move right with air-suction cover;When bracing wire is released by reel, bracing wire is in relaxed state, in the elastic force effect of flexible member Under, slide block is moved to the left, and slide block drives air-suction cover to be moved to the left, and rubbish and chip are cleared up by air-suction cover in the horizontal direction. Screw mandrel drives nut to move left and right, and nut drives rag to move left and right, and uniformly cleans floor.Start the second motor simultaneously Reversion, second driven by motor the second bevel gear reversion, make the first bevel gear clockwise, drive the first rotating shaft clockwise, the first rotating shaft band Dynamic revolver and right wheel are the most clockwise, and robot moves forward, and chip is cleared up forward by rag and air-suction cover.When there is obstacle in front During thing, starting the 3rd cylinder elongation, the 3rd cylinder drives briquetting to move down, and when briquetting contacts with ground, the 3rd cylinder stops Only elongation.Then starting the first cylinder to shorten, the first cylinder drives support to move up, when revolver and right wheel all and surface separation After, the first cylinder stops shortening.Start the second cylinder to shorten, drive rag to move up, after rag leaves ground, the second gas Cylinder stops shortening.Then starting the 3rd electric machine rotation, the 3rd whole revolute of driven by motor, when revolute is to suitably Position after, the 3rd motor quits work.Then the first cylinder elongation, after revolver contacts with ground, first are started with right wheel Cylinder stops elongation;Then the 3rd cylinders retract is started;Start the second cylinder elongation, drive rag to move down, rag and ground After the contact of face, the second cylinder stops elongation.Repeating above operation, the rubbish in room and chip are carried out clearly by rag and air-suction cover Reason.After room is cleaned out, air pump quits work;After nut resets, the first motor quits work;First bevel gear resets After, the second motor quits work;Start the second cylinders retract, drive rag to reset.
Because also including controller and range sensor, being provided with range sensor at head eyes, setting at head face Having controller, the first motor, air pump, the first cylinder, the second motor, the second cylinder, the 3rd motor, the 3rd cylinder, distance pass Sensor is connected with controller respectively, so when room is swept by needs, controller controls the second cylinder elongation, the Two cylinders drive rag to move down, and when rag contacts with ground, the second cylinder stops elongation.Controller controls air pump work Making, ground rubbish and chip are drawn in collecting box by air pump by air-suction cover, hard tube and flexible pipe, controller control simultaneously Make the first motor the most clockwise and reversion, the first driven by motor screw mandrel and the second rotating shaft is the most clockwise and reversion, second turn Axle drives reel the most clockwise and reversion, and bracing wire is regained or releases by reel, when bracing wire is regained by reel, and bracing wire Band movable slider moves right, and slide block drives hard tube and air-suction cover to move right;When bracing wire is released by reel, bracing wire is in pine Relaxation state, under the elastic force effect of flexible member, slide block is moved to the left, and slide block drives air-suction cover to be moved to the left, and air-suction cover is at water Square clear up to rubbish and chip.Screw mandrel drives nut to move left and right, and nut drives rag to move left and right, and enters floor Row is uniformly cleaned.Controller controls the second motor reversal, second driven by motor the second bevel gear reversion simultaneously, makes the first bevel gear Clockwise, drive the first rotating shaft clockwise, the first rotating shaft drives revolver and right wheel the most clockwise, and robot moves forward, rag and air-breathing Chip is cleared up forward by cover.When range sensor detects that there is barrier in front, feedback signal to controller, controller Controlling the 3rd cylinder elongation, the 3rd cylinder drives briquetting to move down, and when briquetting contacts with ground, the 3rd cylinder stops stretching Long.Then controller controls the first cylinder and shortens, and the first cylinder drives support to move up, when revolver and right wheel all and ground distributor From rear, the first cylinder stops shortening.Controller controls the second cylinder and shortens, and drives rag to move up, when rag leaves ground After, the second cylinder stops shortening.Then controller control the 3rd electric machine rotation, the 3rd whole revolute of driven by motor, when Revolute is to behind suitable position, and the 3rd motor quits work.Then start the first cylinder elongation, when revolver and right wheel with After the contact of ground, the first cylinder stops elongation;Then controller controls the 3rd cylinders retract;Controller controls the second cylinder and stretches Long, drive rag to move down, after rag contacts with ground, the second cylinder stops elongation.Repeat above operation, rag and air-breathing Rubbish in room and chip are cleared up by cover.After room is cleaned out, air pump quits work;After nut resets, the One motor quits work;After first bevel gear resets, the second motor quits work;Controller controls the second cylinders retract, drives Rag resets.
Preferably, also including guide ring, the right-hand member of pole connects guide ring, and hard tube passes guide ring, so preventing Flexible pipe amplitude of fluctuation is excessive.
Preferably, also including filter screen, the bottom of air-suction cover is provided with filter screen, so preventing from sucking Bulk plastic band bleeding In pump, air pump is damaged.
Preferably, bracing wire is steel wire rope, so bracing wire is the most easily broken, service life is long.
Preferably, flexible member is spring, so flexible member is unlikely to deform, service life is long.
The sea that controller selects sea, Xiamen to be Science and Technology Ltd.'s production is S24S0T type PLC, outside main frame 24VDC powers, 16 tunnel inputs, 8 tunnel outputs.The definition of input/output port is: X0 is for starting, and X1 is for stopping, and X2 is that distance passes Sensor;Y0 is the first motor, and Y1 is air pump, and Y2 is the first cylinder, and Y3 is the second motor, and Y4 is the second cylinder, and Y5 is the 3rd Motor, Y6 is the 3rd cylinder.According to the novel electric control theory figure shown in Fig. 7, those skilled in the art need not Performing creative labour, can realize the controller each parts of control by programming and carry out action by above-mentioned operation principle, the phase of programming Closing instruction is all prior art, does not repeats them here.
(3) beneficial effect
Invention achieves the effect that cleaning is thorough, cleaning efficiency is high, simple to operate, not only good looking appearance is lovely, and Practical.
Accompanying drawing explanation
Fig. 1 is the first main TV structure schematic diagram of the present invention.
Fig. 2 is the main TV structure schematic diagram of swab of the present invention.
Fig. 3 is the main TV structure schematic diagram of rotary apparatus of the present invention.
Fig. 4 is the second main TV structure schematic diagram of the present invention.
Fig. 5 is the third main TV structure schematic diagram of the present invention.
Fig. 6 is the 4th kind of main TV structure schematic diagram of the present invention.
Fig. 7 is the electric control theory figure of the present invention.
Being labeled as in accompanying drawing: 1-head, 2-left shaft holder, 3-screw mandrel, 4-nut, 5-right bearing seat, 6-reel, 7- First motor, 8-fuselage, 9-bracing wire, 10-first connecting rod, 11-swab, 12-collecting box, 13-flexible pipe, 14-air pump, 15-flexible member, 16-slide rail, 17-slide block, 18-the first cylinder, 19-second connecting rod, 20-rotary apparatus, 21-support, 22-is fixed Pulley, 23-the second motor, 24-pole, 25-clutch shaft bearing seat, 26-the first rotating shaft, 27-revolver, 28-air-suction cover, 29-hard tube, 30-right wheel, 31-the first bevel gear, 32-the second bevel gear, 33-the second rotating shaft, 111-the second cylinder, 112-rag, 201- Three motors, 202-the 3rd cylinder, 203-briquetting, 34-controller, 35-range sensor, 36-guide ring, 37-filter screen.
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of household clean robot, as shown in figs. 1-7, includes head 1, left shaft holder 2, screw mandrel 3, nut 4, the right side Bearing block 5, reel the 6, first motor 7, fuselage 8, bracing wire 9, first connecting rod 10, swab 11, collecting box 12, flexible pipe 13, Air pump 14, flexible member 15, slide rail 16, slide block the 17, first cylinder 18, second connecting rod 19, rotary apparatus 20, support 21, fixed Pulley the 22, second motor 23, pole 24, the 25, first rotating shaft 26 of clutch shaft bearing seat, revolver 27, air-suction cover 28, hard tube 29, right wheel 30, the first bevel gear the 31, second bevel gear 32 and the second rotating shaft 33;The crown center of fuselage 8 connects has head 1, in fuselage 8 Top rear is sequentially provided with left shaft holder 2, right bearing seat 5 and the first motor 7 from left to right, and the first motor 7 is provided with second turn Axle 33, the second rotating shaft 33 is provided with reel 6, and reel 6 is wound with bracing wire 9, installs between left shaft holder 2 and right bearing seat 5 Having screw mandrel 3, right-hand member and second rotating shaft 33 of screw mandrel 3 are connected, and screw mandrel 3 is provided with nut 4, and nut 4 coordinates with screw mandrel 3, nut 4 Bottom connect and have first connecting rod 10, the bottom of first connecting rod 10 connects has swab 11, swab 11 to include second Cylinder 111 and rag 112, the bottom of first connecting rod 10 connects the second cylinder 111, and the second cylinder 111 is through the end of fuselage 8 Portion, the bottom of the second cylinder 111 connects has rag 112, the bottom left in fuselage 8 to be provided with collecting box 12, in collecting box 12 Bottom is provided with air pump 14, and connecting on the right side of air pump 14 has flexible pipe 13, and flexible pipe 13 passes the end bottom collecting box 12 with fuselage 8 Portion, the bottom of flexible pipe 13 connects hard tube 29, and the bottom of hard tube 29 connects air-suction cover 28, is provided with the first cylinder bottom fuselage 8 18 and second connecting rod 19, and the first cylinder 18 is positioned at the front of second connecting rod 19, the bottom of the first cylinder 18 connects support 21, Top in support 21 is provided with slide rail 16 and the second motor 23, and slide rail 16 is positioned at the left of the second motor 23, and slide rail 16 sets Having slide block 17, be provided with flexible member 15 between the left wall in the left side of slide block 17 and slide rail 16, the bottom of slide block 17 connects to have props up Bar 24, the right-hand member of pole 24 is connected with hard tube 29, connects and have fixed pulley 22, bracing wire 9 to walk around calmly on front side of the right in slide rail 16 Pulley 22 is connected with slide block 17, and the bottom of the second motor 23 connects the second bevel gear 32, and the left wall in support 21 is provided with Clutch shaft bearing seat 25, clutch shaft bearing seat 25 is provided with the first rotating shaft 26, and the first rotating shaft 26 is provided with revolver 27 and right wheel 30, and left Wheel 27 is positioned at the left of right wheel 30, and the right-hand member of the first rotating shaft 26 connects the first bevel gear 31, the first bevel gear 31 and the second cone Gear 32 engages, and the bottom of second connecting rod 19 connects has rotary apparatus 20, rotary apparatus 20 to include the 3rd motor the 201, the 3rd Cylinder 202 and briquetting 203, the bottom of second connecting rod 19 connects the 3rd motor 201, and the bottom of the 3rd motor 201 connects the Three cylinders 202, the bottom of the 3rd cylinder 202 connects briquetting 203.
Also include controller 34 and range sensor 35, at head 1 eyes, be provided with range sensor 35, head 1 face Place is provided with controller 34, the first motor 7, air pump the 14, first cylinder the 18, second motor the 23, second cylinder the 111, the 3rd motor 201, the 3rd cylinder 202 is connected with controller 34 respectively with range sensor 35.
Also including guide ring 36, the right-hand member of pole 24 connects guide ring 36, and hard tube 29 is through guide ring 36.
Also including filter screen 37, the bottom of air-suction cover 28 is provided with filter screen 37.
Bracing wire 9 is steel wire rope.
Flexible member 15 is spring.
Briquetting 203 be shaped as round platform.
Operation principle: when room is swept by needs, starts the second cylinder 111 and extends, and the second cylinder 111 drives and smears Cloth 112 moves down, and when rag 112 contacts with ground, the second cylinder 111 stops elongation.Start air pump 14 to work, bleed Ground rubbish and chip are drawn in collecting box 12 by pump 14 by air-suction cover 28, hard tube 29 and flexible pipe 13, start simultaneously First motor 7 is the most clockwise and inverts, and the first motor 7 drives screw mandrel 3 and the second rotating shaft 33 is the most clockwise and reversion, and second Rotating shaft 33 drives reel 6 the most clockwise and reversion, and bracing wire 9 is regained or released by reel 6, when bracing wire 9 is received by reel 6 Hui Shi, bracing wire 9 band movable slider 17 moves right, and slide block 17 drives hard tube 29 and air-suction cover 28 to move right;When reel 6 will draw When line 9 is released, bracing wire 9 is in relaxed state, and under the elastic force effect of flexible member 15, slide block 17 is moved to the left, and slide block 17 carries Dynamic air-suction cover 28 is moved to the left, and rubbish and chip are cleared up by air-suction cover 28 in the horizontal direction.Screw mandrel 3 drives nut about 4 Mobile, nut 4 drives rag 112 to move left and right, uniformly cleans floor.Start the second motor 23 to invert, second simultaneously Motor 23 drives the second bevel gear 32 to invert, and makes the first bevel gear 31 clockwise, drives the first rotating shaft 26 clockwise, and the first rotating shaft 26 carries Dynamic revolver 27 and right wheel 30 are the most clockwise, and robot moves forward, and chip is cleared up forward by rag 112 and air-suction cover 28.When When there is barrier in front, starting the 3rd cylinder 202 and extend, the 3rd cylinder 202 drives briquetting 203 to move down, when briquetting 203 with During the contact of ground, the 3rd cylinder 202 stops elongation.Then start the first cylinder 18 to shorten, the first cylinder 18 drive support 21 to Upper movement, when revolver 27 and right wheel 30 all with surface separation after, first cylinder 18 stop shorten.Start the second cylinder 111 to shorten, Driving rag 112 to move up, after rag 112 leaves ground, the second cylinder 111 stops shortening.Then the 3rd motor is started 201 rotate, and the 3rd motor 201 drives whole revolute, when after revolute to suitable position, and the 3rd motor 201 Quit work.Then starting the first cylinder 18 to extend, after revolver 27 contacts with ground with right wheel 30, the first cylinder 18 stops stretching Long;Then start the 3rd cylinder 202 to retract;Start the second cylinder 111 to extend, drive rag 112 to move down, rag 112 with After the contact of ground, the second cylinder 111 stops elongation.Repeat above operation, rag 112 and air-suction cover 28 to the rubbish in room and Chip is cleared up.After room is cleaned out, air pump 14 quits work;After nut 4 resets, the first motor 7 quits work; After first bevel gear 31 resets, the second motor 23 quits work;Start the second cylinder 111 to retract, drive rag 112 to reset.
Because also including controller 34 and range sensor 35, at head 1 eyes, it is provided with range sensor 35, head 1 Controller 34, the first motor 7, air pump the 14, first cylinder the 18, second motor the 23, second cylinder the 111, the 3rd it is provided with at face Motor the 201, the 3rd cylinder 202, range sensor 35 are connected with controller 34 respectively, need to carry out room beating so working as When sweeping, controller 34 controls the second cylinder 111 and extends, and the second cylinder 111 drives rag 112 to move down, when rag 112 and ground During the contact of face, the second cylinder 111 stops elongation.Controller 34 controls air pump 14 and works, and air pump 14 is by ground rubbish And chip is drawn in collecting box 12 by air-suction cover 28, hard tube 29 and flexible pipe 13, controller 34 controls the first motor 7 not simultaneously Disconnectedly clockwise and reversion, the first motor 7 drives screw mandrel 3 and the second rotating shaft 33 is the most clockwise and reversion, the second rotating shaft 33 drives Reel 6 is the most clockwise and inverts, and bracing wire 9 is regained or released by reel 6, when bracing wire 9 is regained by reel 6, and bracing wire 9 Band movable slider 17 moves right, and slide block 17 drives hard tube 29 and air-suction cover 28 to move right;When bracing wire 9 is released by reel 6, Bracing wire 9 is in relaxed state, and under the elastic force effect of flexible member 15, slide block 17 is moved to the left, and slide block 17 drives air-suction cover 28 Being moved to the left, rubbish and chip are cleared up by air-suction cover 28 in the horizontal direction.Screw mandrel 3 drives nut 4 to move left and right, nut 4 Drive rag 112 to move left and right, floor is uniformly cleaned.Controller 34 controls the second motor 23 and inverts simultaneously, the second electricity Machine 23 drives the second bevel gear 32 to invert, and makes the first bevel gear 31 clockwise, drives the first rotating shaft 26 clockwise, and the first rotating shaft 26 drives Revolver 27 and right wheel 30 are the most clockwise, and robot moves forward, and chip is cleared up forward by rag 112 and air-suction cover 28.When away from When sensor 35 detects that there is barrier in front, feedback signal to controller 34, controller 34 controls the 3rd cylinder 202 and stretches Long, the 3rd cylinder 202 drives briquetting 203 to move down, and when briquetting 203 contacts with ground, the 3rd cylinder 202 stops elongation. Then controller 34 controls the first cylinder 18 and shortens, and the first cylinder 18 drives support 21 to move up, when revolver 27 and right wheel 30 All with surface separation after, first cylinder 18 stop shorten.Controller 34 controls the second cylinder 111 and shortens, and drives rag 112 upwards Mobile, after rag 112 leaves ground, the second cylinder 111 stops shortening.Then controller 34 controls the 3rd motor 201 and rotates, 3rd motor 201 drives whole revolute, when, after revolute to suitable position, the 3rd motor 201 quits work. Then starting the first cylinder 18 to extend, after revolver 27 contacts with ground with right wheel 30, the first cylinder 18 stops elongation;Then control Device 34 processed controls the 3rd cylinder 202 and retracts;Controller 34 controls the second cylinder 111 and extends, and drives rag 112 to move down, smears After cloth 112 contacts with ground, the second cylinder 111 stops elongation.Repeating above operation, rag 112 and air-suction cover 28 are in room Rubbish and chip clear up.After room is cleaned out, air pump 14 quits work;After nut 4 resets, the first motor 7 Quit work;After first bevel gear 31 resets, the second motor 23 quits work;Controller 34 controls the second cylinder 111 and retracts, band Dynamic rag 112 resets.
Also including guide ring 36, the right-hand member of pole 24 connects guide ring 36, hard tube 29 through guide ring 36, institute in case Only flexible pipe 13 amplitude of fluctuation is excessive.
Also including filter screen 37, the bottom of air-suction cover 28 is provided with filter screen 37, so preventing from sucking Bulk plastic band bleeding In pump 14, air pump 14 is damaged.
Bracing wire 9 is steel wire rope, so bracing wire 9 is the most easily broken, service life is long.
Flexible member 15 is spring, so flexible member 15 is unlikely to deform, service life is long.
The sea that controller 34 selects sea, Xiamen to be Science and Technology Ltd.'s production is S24S0T type PLC 34, outside main frame Portion 24VDC powers, 16 tunnel inputs, 8 tunnel outputs.The definition of input/output port is: X0 is for starting, and X1 is for stopping, and X2 is distance Sensor 35;Y0 is the first motor 7, and Y1 is air pump 14, and Y2 is the first cylinder 18, and Y3 is the second motor 23, and Y4 is the second gas Cylinder 111, Y5 is the 3rd motor 201, and Y6 is the 3rd cylinder 202.According to the novel electric control theory figure shown in Fig. 7, affiliated The technical staff in field need not performing creative labour, can realize controller 34 by programming and control each parts by above-mentioned work Principle carries out action, and the dependent instruction of programming is all prior art, does not repeats them here.
Embodiment described above only have expressed the preferred embodiment of the present invention, and it describes more concrete and detailed, but also Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that, for those of ordinary skill in the art For, without departing from the inventive concept of the premise, it is also possible to making some deformation, improve and substitute, these broadly fall into this Bright protection domain.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (7)

1. a household clean robot, it is characterised in that include head (1), left shaft holder (2), screw mandrel (3), nut (4), right bearing seat (5), reel (6), the first motor (7), fuselage (8), bracing wire (9), first connecting rod (10), swab (11), collecting box (12), flexible pipe (13), air pump (14), flexible member (15), slide rail (16), slide block (17), the first cylinder (18), second connecting rod (19), rotary apparatus (20), support (21), fixed pulley (22), the second motor (23), pole (24), first Bearing block (25), the first rotating shaft (26), revolver (27), air-suction cover (28), hard tube (29), right wheel (30), the first bevel gear (31), Second bevel gear (32) and the second rotating shaft (33);The crown center of fuselage (8) connects has head (1), behind the top in fuselage (8) Side is sequentially provided with left shaft holder (2), right bearing seat (5) and the first motor (7) from left to right, and the first motor (7) is provided with second Rotating shaft (33), the second rotating shaft (33) is provided with reel (6), and reel (6) is wound with bracing wire (9), left shaft holder (2) and right axle Being provided with screw mandrel (3) between bearing (5), right-hand member and second rotating shaft (33) of screw mandrel (3) are connected, and screw mandrel (3) is provided with nut (4), nut (4) coordinates with screw mandrel (3), and the bottom of nut (4) connects first connecting rod (10), and the bottom of first connecting rod (10) is even Being connected to swab (11), swab (11) includes the second cylinder (111) and rag (112), the end of first connecting rod (10) End connection has the second cylinder (111), and the second cylinder (111) is through the bottom of fuselage (8), and the bottom of the second cylinder (111) connects Having rag (112), the bottom left in fuselage (8) to be provided with collecting box (12), the bottom in collecting box (12) is provided with air pump (14), air pump (14) right side connects flexible pipe (13), and flexible pipe (13) passes the bottom of collecting box (12) bottom and fuselage (8), The bottom of flexible pipe (13) connects hard tube (29), and the bottom of hard tube (29) connects air-suction cover (28), and fuselage (8) bottom is provided with the One cylinder (18) and second connecting rod (19), and the first cylinder (18) is positioned at the front of second connecting rod (19), the first cylinder (18) Bottom connects has support (21), the top in support (21) to be provided with slide rail (16) and the second motor (23), and slide rail (16) is positioned at The left of the second motor (23), slide rail (16) is provided with slide block (17), the left side of slide block (17) and the left wall in slide rail (16) it Between be provided with flexible member (15), the bottom of slide block (17) connects has pole (24), the right-hand member of pole (24) to be connected with hard tube (29) Connecing, connecting on front side of the right in slide rail (16) has fixed pulley (22), bracing wire (9) to walk around fixed pulley (22) to be connected with slide block (17) Connecing, the bottom of the second motor (23) connects has the second bevel gear (32), the left wall in support (21) to be provided with clutch shaft bearing seat (25), clutch shaft bearing seat (25) is provided with the first rotating shaft (26), and the first rotating shaft (26) is provided with revolver (27) and right wheel (30), and Revolver (27) is positioned at the left of right wheel (30), and the right-hand member of the first rotating shaft (26) connects the first bevel gear (31), the first bevel gear (31) engaging with the second bevel gear (32), the bottom of second connecting rod (19) connects rotary apparatus (20), and rotary apparatus (20) wraps Having included the 3rd motor (201), the 3rd cylinder (202) and briquetting (203), the bottom of second connecting rod (19) connects the 3rd motor (201), the bottom of the 3rd motor (201) connects the 3rd cylinder (202), and the bottom of the 3rd cylinder (202) connects briquetting (203)。
A kind of household clean robot the most according to claim 1, it is characterised in that also include controller (34) and Range sensor (35), is provided with range sensor (35), is provided with controller (34) at head (1) face at head (1) eyes, the One motor (7), air pump (14), the first cylinder (18), the second motor (23), the second cylinder (111), the 3rd motor (201), Three cylinders (202) are connected with controller (34) respectively with range sensor (35).
A kind of household clean robot the most according to claim 1, it is characterised in that also include guide ring (36), The right-hand member of pole (24) connects guide ring (36), and hard tube (29) passes guide ring (36).
A kind of household clean robot the most according to claim 1, it is characterised in that also include filter screen (37), inhale The bottom of gas hood (28) is provided with filter screen (37).
A kind of household clean robot the most according to claim 1, it is characterised in that bracing wire (9) is steel wire rope.
A kind of household clean robot the most according to claim 1, it is characterised in that flexible member (15) is spring.
A kind of household clean robot the most according to claim 1, it is characterised in that being shaped as of briquetting (203) is round Platform.
CN201610718329.0A 2016-08-24 2016-08-24 A kind of household clean robot Pending CN106264344A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108392144A (en) * 2018-03-05 2018-08-14 深圳市贝优通新能源技术开发有限公司 A kind of safe and reliable Multifunctional floor-sweeping machine people for smart home
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108714005A (en) * 2018-05-28 2018-10-30 芜湖威灵数码科技有限公司 A kind of smart home floor cleaning all-in-one machine
CN109217803A (en) * 2018-10-15 2019-01-15 深圳市安思科电子科技有限公司 A kind of environment protection solar power generation plate cleaning equipment
CN110507256A (en) * 2019-07-25 2019-11-29 合肥尘洁清洁技术服务有限公司 A kind of Household ceramic floor cleaning machine

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CN205043546U (en) * 2015-10-18 2016-02-24 龚文杨 Machine tool control device based on PLC
CN205106283U (en) * 2015-10-12 2016-03-30 冯炯培 Automatic sterilizing equipment of all -round fruit
CN105689319A (en) * 2016-01-24 2016-06-22 赵文林 Automatic cleaning device for gauze mask
CN205460441U (en) * 2016-03-01 2016-08-17 马宁 Hospital is with automatic alcohol device of smearing

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JPH0577044A (en) * 1991-09-19 1993-03-30 Shin Caterpillar Mitsubishi Ltd Welding torch, nozzle exchanging device for this welding torch, chip cleaning device, wire cutting device and automatic welding system
CN205106283U (en) * 2015-10-12 2016-03-30 冯炯培 Automatic sterilizing equipment of all -round fruit
CN205043546U (en) * 2015-10-18 2016-02-24 龚文杨 Machine tool control device based on PLC
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108392144A (en) * 2018-03-05 2018-08-14 深圳市贝优通新能源技术开发有限公司 A kind of safe and reliable Multifunctional floor-sweeping machine people for smart home
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108714005A (en) * 2018-05-28 2018-10-30 芜湖威灵数码科技有限公司 A kind of smart home floor cleaning all-in-one machine
CN109217803A (en) * 2018-10-15 2019-01-15 深圳市安思科电子科技有限公司 A kind of environment protection solar power generation plate cleaning equipment
CN110507256A (en) * 2019-07-25 2019-11-29 合肥尘洁清洁技术服务有限公司 A kind of Household ceramic floor cleaning machine

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