CN107149441A - A kind of sweeping robot - Google Patents
A kind of sweeping robot Download PDFInfo
- Publication number
- CN107149441A CN107149441A CN201710402703.0A CN201710402703A CN107149441A CN 107149441 A CN107149441 A CN 107149441A CN 201710402703 A CN201710402703 A CN 201710402703A CN 107149441 A CN107149441 A CN 107149441A
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- China
- Prior art keywords
- underbody
- head
- car body
- wheel
- motor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4077—Skirts or splash guards
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of sweeping robot, including car body, head is prismatoid, underbody is cuboid, four corner angle of cuboid are circular arc, there is head shrouding on head, head top surface has warning horn, warning light and monitoring head, underbody has 4 Crashworthy plates, there is vacuum waste case behind head, bottom is vacuum cleaning head, vacuum waste case two sides are equipped with display screen, underbody long side surface is equipped with long shrouding, the each long side surface of underbody is equipped with two inductors and two illuminating lamps, each short sides are equipped with two inductors and an illuminating lamp, each long side surface bottom is equipped with three cleaning heads, one Universal castor and two ball wheels are arranged at bottom.Of the invention unmanned to clean, remote monitoring and scheduling pass through right-angled corner motor, Universal castor, Universal castor motor, ball wheel solves the problem of angle of turn big fill dead angle is more, is connected by vacuum waste case with refuse depot vavuum pump, energy empty litter, passes through display screen, can multimedia.
Description
Technical field
The present invention relates to robot field, specially a kind of sweeping robot.
Background technology
The public facility constructions such as current square, railway station, airport are increasingly modernized, and area is also increasing, therewith
The health cleaning work come is also increasingly heavy, it is necessary to employ many cleaners to sweep, and greatly, funds of keeping a public place clean are consumed labor intensity
Many, existing sweeper needs manual operation, it is necessary to employ cleaner, and cleaner fatigue still easily occurs in operation,
Before operation on duty, in addition it is also necessary to which cleaner is giveed training, existing sweeper radius of turn is big, and cleaning dead angle is more, particularly room
At inside lock, it is difficult to clean, existing sweeper also only possesses cleaning function, does not possess publicity and publicizes multimedia function, existing
Some sweepers also need to manually pour out rubbish when handling rubbish, the ability for not possessing automatic garbage disintegrating, existing cleaning
Car does not possess yet links up with backstage, assists background acquisition public place video information, receives the ability of background commands.
The content of the invention
It is an object of the invention to provide a kind of sweeping robot, solve existing sweeper can not unmanned Mobile cleaning and
Can not empty litter automatically, radius of turn is big, and it is more to clean dead angle, does not possess multimedia function, does not possess help background monitoring public
The problem of place is with background commands are received altogether.
To achieve the above object, the present invention provides following technical scheme：A kind of sweeping robot, including car body, the car
The head of body is the prismatoid for protruding underbody, and underbody is cuboid, and four corner angle of cuboid underbody are circular arc, the car body
Head is trapezoidal skeleton composition, and sheet metal thin plates are fixed in outside, and both sides are equipped with dismountable head shrouding, and the head of the car body is pushed up
Warning horn, warning light and monitoring head are housed, the warning light is behind warning horn, and the monitoring head is mounted in police in the middle of face
Report behind lamp, the arc-shaped edges of the cuboid underbody of the car body are fixed with Crashworthy plate, and the Crashworthy plate has 4, respectively car
Circular arc has been covered everywhere at bottom, and protrudes from underbody surrounding, is high strength industrial rubber, is fixed with behind the car body head true
There is inlet hole in empty dustbin, the vacuum waste bottom portion, and inlet hole is connected with vacuum cleaning head, and the vacuum cleaning head is located at
Below the underbody of car body, the vacuum waste case two sides are equipped with display screen, and one piece is each filled sideways, totally two pieces, and symmetrical cloth
Put, be respectively provided with dismountable long shrouding on the long side surface of cuboid underbody two of the car body, the cuboid underbody of the car body,
Each long side surface is equipped with two inductors and two illuminating lamps, and the inductor is symmetrical relative to middle face on each long side surface,
The inductor of underbody two sides long side surface is also arranged symmetrically, the illuminating lamp be arranged on each long side surface the centre of inductor and
Symmetrical relative to middle face, underbody two sides long side surface illuminating lamp is also arranged symmetrically, the cuboid underbody of the car body, each short sides
Equipped with two inductors and 1 illuminating lamp, the inductor is symmetrical relative to middle face in each short sides, underbody two sides short side
The inductor in face is also arranged symmetrically, and the illuminating lamp is arranged in the centre of each short sides, the illuminating lamp of underbody two sides short sides
Also it is arranged symmetrically, the bottom of the cuboid underbody long side surface of the car body is equipped with cleaning head, each long side surface bottom even arrangement
There are 3 cleaning heads, two long side surface bottoms have six cleaning heads, and are arranged symmetrically, the bottom of the cuboid underbody of the car body
There is a Universal castor in front of portion, the bottom rear of the cuboid underbody of the car body there are two ball wheels, and is arranged symmetrically.
It is preferred that, the inside on the prismatoid head of the car body is equipped with master controller, Universal castor motor and 120V,
150AH lithium batteries.
It is preferred that, the master controller contains wireless receiving transmitter, and industrial central processing unit, memory, hard disk dissipates
Hot-air fan, from tape operation system and software, with Universal castor motor, 120V, 150AH lithium batteries, right-angled corner motor, cleaning head
Motor, warning horn, warning light monitors head, and display screen, inductor, illuminating lamp, vacuum cleaning head is wired connected.
It is preferred that, cleaning head motor is housed, belt, belt pulley has one respectively per side inside the long side surface of the car body
Cleaning head motor, a root skin band and three belt pulleys, both sides are arranged symmetrically, and the underbody that each cleaning head motor is fixed on car body is long
Sideways, it is connected in the projecting shaft of the cleaning head of car body head one end with belt pulley and cleaning head motor, other cleaning head is stretched
Shaft is connected with belt pulley, and belt is wound on three belt pulleys.
It is preferred that, the spheroid wheel of the ball wheel is a spheroid, and the half of spheroid wheel loads the spherical of vehicle bottom
In groove, load onto chuck in the outside of spheroid wheel and hold spheroid wheel, chuck is connected with vehicle bottom, there is one in the middle of chuck
Globular arc hole.
It is preferred that, the wheel of the Universal castor is rubber tyre, and the projecting shaft of wheel is connected with right-angled corner motor, wheel
Son in the centre of wheel carrier, the bottom of wheel carrier is a dust-proof raw sheet, and there is individual rectangular slot centre, allows wheel to pass through, wheel carrier it is upper
Side is projecting shaft, and the projecting shaft of wheel carrier is connected with Universal castor motor, and Universal castor motor is fixed on the head of car body.
It is preferred that, vavuum pump is housed, the suction port of lower end is funnel-form inside the vacuum cleaning head, it is lower upper small greatly, greatly
End section is ellipse, and small end section is circular.
It is preferred that, the long shrouding is metal plate sheet metal, is a block length square plate.
Compared with prior art, beneficial effects of the present invention are as follows：
1st, by main controller controls, each is moved the present invention, and sensing cleans component, can independently clean, solve intelligence
The problem of unmanned cleaning.
2nd, the present invention monitors head by main controller controls, and transmits data by wireless network and backstage, and backstage can be with
Carry out remote monitoring, grasp the situation of purging zone and public place in good time, solution must not remote monitoring the problem of.
3rd, the present invention can receive the order on backstage by master controller and wireless network and backstage transmission data, can be with
Backstage remote control, solution must not remote control the problem of dispatch.
4th, the present invention rotates Universal castor by right-angled corner motor, and Universal castor motor turns 360 degree of Universal castor
It is curved, and coordinate ball wheel, need not can turn 360 degree of any angle advances, solve the problem of angle of turn is big, clean dead angle many
The problem of.
5th, the present invention is connected with refuse depot vavuum pump automatically by vacuum waste case upper flange plate, and the vavuum pump of refuse depot can
To suction out the rubbish in vacuum waste case, the problem of solving intelligent empty litter automatically.
6th, the present invention can enter the publicity of shape public good by the display screen on vacuum waste case, and advertisement is played, solves and do not have
The problem of standby multimedia.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the bottom schematic view of structure chart 1 of the present invention；
Fig. 3 is structure car body schematic diagram of the present invention；
Fig. 4 is structure Universal castor schematic diagram of the present invention；
Fig. 5 is structure ball wheel schematic diagram of the present invention；
In figure：1 car body, 2 head shroudings, 3 vacuum waste casees, 4 Crashworthy plates, 5 inductors, 6 illuminating lamps, 7 cleaning heads, 80,000
To runner, 9 ball wheels, 10 cleaner heads, 11 long shroudings, 12 warning horns, 13 warning lights, 14 monitoring heads, 15 display screens, 101 vehicle seats,
102 cleaning head motors, 103 belts, 104 belt pulleys, 105 lithium batteries, 106 master controllers, 801 wheels, 802 right-angled corners electricity
Machine, 803 Universal castor motors, 804 wheel carriers, 901 spheroid wheels, 802 chucks.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, a kind of sweeping robot, including car body 1, the head of car body 1 is the prismatoid for protruding underbody, underbody
For cuboid, four corner angle of cuboid underbody are circular arc, and the head of car body 1 is trapezoidal skeleton composition, and it is thin that metal plate is fixed in outside
Plate, both sides are equipped with dismountable head shrouding 2, make to facilitate during robot during Maintenance and Repair, are equipped with the middle of the head top surface of car body
Warning horn 12, warning light 13 and monitoring first 14, warning light 13 is behind warning horn 12, and monitoring first 14 is mounted in warning light 13
Below, when sweeping robot is run, warning light 13 flashes, and warning horn 12 sounds, and reminds the personnel of surrounding to note avoiding, prison
Control head 14 can shoot with video-corder the situations of public place in good time with 360 degree, and by master controller 106 in good time by field condition wireless network
Network is transmitted to background server, and stores the content shot with video-corder in the hard disk of master controller 106, preservation 7 days；The cuboid car of car body
The arc-shaped edges at bottom are fixed with Crashworthy plate 4, and Crashworthy plate 4 has 4, and underbody, circular arc has been covered everywhere, and protrude from underbody surrounding, are
High strength industrial rubber, plays a part of buffering when making to collide, robot four direction is protected from；Car body head
Behind be fixed with vacuum waste case 3, inlet hole arranged at its bottom, and inlet hole is connected with positioned at vacuum cleaning head 10 below underbody,
The inside of vacuum cleaning head 10 is equipped with vavuum pump, and the suction port of lower end is funnel-form, and lower upper small greatly, big end section is ellipse, small
End section is circular, vehicle bottom is produced negative pressure, cleaning head 7 is involved in into the rubbish of underbody and is drawn into inside vacuum waste case 3,
After rubbish is filled, robot arrives refuse depot automatically, and the vavuum pump of refuse depot is connected automatically with the flange on vacuum waste case 3, production
The rubbish of the inside of vacuum waste case 3 is suctioned out after raw negative pressure, display screen is housed in vacuum waste case two sides, one is each filled sideways
Block, can play outdoor advertising and public good publicity；Equipped with dismountable long shrouding on the long side surface of cuboid underbody two of car body
11, the cleaning head motor 102 that long shrouding 11 can be just maintained in inside long side surface, belt 103 and belt pulley 104 are removed, per side
There are a cleaning head motor 102, a root skin band 103 and three belt pulleys 104 respectively, both sides are arranged symmetrically, each cleaning head electricity
Machine 102 is fixed on the underbody long side surface of car body, in the projecting shaft and belt pulley 104 and cleaning head of the cleaning head of car body head one end
Motor 102 is connected, and the projecting shaft of cleaning head in addition is connected with belt pulley 104, belt 103 is wound on three belt pulleys 104, clearly
The belt pulley 104 of the lower section of hair washing motor 102 is as driving wheel, and it, as follower, drives respective respectively with two belt pulleys 104
Connected cleaning head 7 is rotated；Each long side surface is equipped with two inductors 5 and two illuminating lamps 6, and two long side surfaces are arranged symmetrically, often
Individual short sides are equipped with two inductors 5 and 1 illuminating lamp 6, and two short sides are also arranged symmetrically, and inductor 5 is used to perceive front
Barrier, makes master controller 106 make accurate judgement, selects best route, it is to avoid collide, and illuminating lamp illuminates front,
Under rather dark, it can play a part of warning and aiding in monitoring；The bottom of the cuboid underbody long side surface of car body is equipped with cleaning
First 7, each long side surface bottom even is disposed with 3 cleaning heads 7, and is arranged symmetrically, and cleaning head 7 is inside rotation when using, will
The rubbish of surrounding is swept into underbody, is easy to, and cleaner head 10 draws rubbish；There is one ten thousand in the bottom front of the cuboid underbody of car body
To runner 8, there are two ball being arranged symmetrically wheels 9 at rear, and the wheel 801 of Universal castor 8 is rubber tyre, the stretching of wheel 801
Axle is connected with right-angled corner motor 802, and right-angled corner motor 802 rotates, and wheel 801 just rotates, and wheel is in wheel carrier 804
Between, the bottom of wheel carrier is a dust-proof plectane, and there is individual rectangular slot centre, allows wheel 801 to pass through, when cleaning robot, rubbish
Rubbish can not be involved in wheel 801, and the top of wheel carrier 804 is projecting shaft, and it is connected with Universal castor motor 803, Universal castor motor
803 are fixed on the head of car body, and Universal castor motor 803 rotates, and rotates wheel carrier 804 so that Universal castor 8 can be with 360 degree
Rotation, the spheroid wheel 901 of ball wheel 9 is a spheroid, and its half loads in the ball recess of vehicle bottom, in spheroid wheel
Outside load onto chuck 902 and hold spheroid wheel 901, chuck 902 is connected with vehicle bottom, is one spherical in the middle of chuck 902
Arc hole, spheroid wheel 901 can allow machine with 360 degree of rotations, as long as Universal castor 8 above is determined after direction of advance
The forward-reverse of device people's any direction, when running into the dead angle of indoor corner, it is not necessary to allow robot to turn, it is only necessary to universal turn
Wheel 8 is turn 90 degrees, and robot can be allowed to move sidewards again.
In use, the operation of right-angled corner motor 802 of robot drives wheel 801 to rotate, coordinate ball wheel 9 below, make
Robot advances, while master controller 106 rotates cleaning head motor 102, drives the belt pulley 104 of active to rotate, belt 103
Drive other belt pulley passive rotation so that the cleaning head 7 being attached thereto all is rotated, and the cleaning head of both sides is difference
Inwardly rotation, the rubbish of surrounding is involved in the underbody of robot, and master controller 106 makes the operation of cleaner head 10 produce negative pressure, will rolled up
Enter in the rubbish inspiration vacuum waste case 3 of underbody, robot is when advancing, and master controller 106 receives the feedback letter of inductor 5
Number, sweep-out pattern is cooked up automatically, it is to avoid collision, meanwhile, master controller 106 opens illuminating lamp 6, operation warning horn 12 and police
Lamp 13 is reported, the personnel of surrounding is reminded, notes evading, operation monitoring first 14, the situation for shooting with video-corder surrounding closely, and by record
Image data is transmitted to master controller 106, in the hard disk that can be stored in master controller 106, is also transmitted to simultaneously by wireless network
The database at rear, when robot proceeds to the corner of interior, master controller 106 obtains corner automatically by inductor 5
Angle, and allow Universal castor motor 803 to run, wheel 801 is rotated after specified angle, and Universal castor motor 803 is out of service,
Robot is set to continue to advance along specified angle, it is not necessary to change the cephalad direction of vehicle seat 101；Robot operationally, Ke Yitong
Cross master controller 106 and outdoor advertising and public good publicity are played on display screen 15；When robotic vacuum dustbin 3 fills rubbish
Afterwards, the automatic sensing of master controller 106, robot and automatic exercise are to refuse depot, to refuse depot vavuum pump lower section, automatically open up true
The empty upper flange lid of dustbin 3, and be connected automatically with refuse depot vavuum pump, the rubbish inside extraction is completed after garbage-cleaning, master control
Zhi Qi106Shi robots are automatically moved to next cleaning point；Robot operationally, can receive the control of backstage remotely, after
Platform is sent after order, and master controller 106 is transmitted to by wireless network, robot is run by order.
In summary：A kind of sweeping robot, by main controller controls, each is moved, and sensing cleans component, can be certainly
It is main to clean, the problem of Intelligent unattended is cleaned is solved, head is monitored by main controller controls, and pass by wireless network and backstage
Delivery data, backstage can carry out remote monitoring, the situation of purging zone and public place be grasped in good time, solution must not remote monitoring
The problem of, data are transmitted with backstage by master controller and wireless network, the order on backstage can be received, can remotely be controlled with backstage
System, solution must not remote control the problem of dispatch, rotate Universal castor by right-angled corner motor, Universal castor motor makes ten thousand
To runner 360o curve, and coordinate ball wheel, the 360 degree of any angles of need not can turning advance solves angle of turn asking greatly
Topic, cleans the problem of dead angle is more, is connected automatically with refuse depot vavuum pump by vacuum waste case upper flange plate, the vacuum of refuse depot
Pump can suction out the rubbish in vacuum waste case, the problem of solving intelligent empty litter, by vacuum waste case automatically
Display screen, can enter the publicity of shape public good, and advertisement is played, and solves the problem of not possessing multimedia.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of sweeping robot, including car body (1), it is characterised in that：The head of the car body (1) is the trapezoidal of protrusion underbody
Body, underbody is cuboid, and four corner angle of cuboid underbody are circular arc, and the head of the car body (1) is trapezoidal skeleton composition, outside
Sheet metal thin plates are fixed in face, and both sides are equipped with the middle of dismountable head shrouding (2), the head top surface of the car body (1) equipped with warning
Loudspeaker (12), warning light (13) and monitoring head (14), the warning light (13) is behind warning horn (12), the monitoring head
(14) behind warning light (13), the arc-shaped edges of the cuboid underbody of the car body (1) are fixed with Crashworthy plate (4), described anti-
Hit plate (4) and have 4, circular arc has been covered everywhere underbody respectively, and protrude from underbody surrounding, be high strength industrial rubber, institute
State and vacuum waste case (3) be fixed with behind car body (1) head, inlet hole arranged at vacuum waste case (3) bottom, inlet hole with
Vacuum cleaning head (10) is connected, and the vacuum cleaning head (10) is located at below the underbody of car body (1), the vacuum waste case (3)
Two sides are equipped with display screen (15), one piece are each filled sideways, totally two pieces, and be arranged symmetrically, the cuboid underbody of the car body (1)
Dismountable long shrouding (11) is respectively provided with two long side surfaces, the cuboid underbody of the car body (1), each long side surface is equipped with two
Individual inductor (5) and two illuminating lamps (6), the inductor (5) are symmetrical relative to middle face on each long side surface, underbody two sides
The inductor (5) of long side surface is also arranged symmetrically, and the illuminating lamp (6) is arranged in the centre of inductor (5) on each long side surface
And it is symmetrical relative to middle face, underbody two sides long side surface illuminating lamp (6) is also arranged symmetrically, the cuboid underbody of the car body (1), often
Individual short sides are equipped with two inductors (5) and 1 illuminating lamp (6), and the inductor (5) is in each short sides relative to middle face
Symmetrically, the inductor (5) of underbody two sides short sides is also arranged symmetrically, and the illuminating lamp (6) is arranged in the centre of each short sides,
The illuminating lamp (6) of underbody two sides short sides is also arranged symmetrically, and the bottom of the cuboid underbody long side surface of the car body (1) is equipped with clear
Head (7) is swept, each long side surface bottom even is disposed with 3 cleaning heads (7), and two long side surface bottoms have six cleaning heads (7),
And be arranged symmetrically, the bottom front of the cuboid underbody of the car body (1) has a Universal castor (8), the length of the car body (1)
The bottom rear of cube underbody has two ball wheels (9), and is arranged symmetrically.
2. a kind of sweeping robot according to claim 1, it is characterised in that：The prismatoid head of the car body (1)
Inside is equipped with master controller (106), Universal castor motor (803) and 120V, 150AH lithium battery (105).
3. a kind of sweeping robot according to claim 2, it is characterised in that：The master controller (106) is containing wireless
Receive transmitter, industrial central processing unit, memory, hard disk, radiator fan, from tape operation system and software, with universal turn
Turbin generator (803), 120V, 150AH lithium batteries (105), right-angled corner motor (802), cleaning head motor (102), warning horn
(12), warning light (13), monitoring head (14), display screen (15), inductor (5), illuminating lamp (6), vacuum cleaning head (10) is wired
It is connected.
4. a kind of sweeping robot according to claim 1, it is characterised in that：Filled inside the long side surface of the car body (1)
There is cleaning head motor (102), belt (103), belt pulley (104) has a cleaning head motor (102), a root skin respectively per side
Band (103) and three belt pulleys (104), both sides are arranged symmetrically, and each cleaning head motor (102) is fixed on the underbody of car body (1)
Long side surface, in the projecting shaft and belt pulley (104) and cleaning head motor (102) phase of the cleaning head (7) of car body (1) head one end
Even, the projecting shaft of cleaning head (7) in addition is connected with belt pulley (104), and belt (103) is wound on three belt pulleys (104).
5. a kind of sweeping robot according to claim 1, it is characterised in that：The spheroid wheel (901) of the ball wheel (9)
It is a spheroid, the half of spheroid wheel (901) loads in the ball recess of car body (1) bottom, in the outer of spheroid wheel (901)
Portion loads onto chuck (902) and holds spheroid wheel (901), and chuck (902) is connected with car body (1) bottom, has one in the middle of chuck (902)
Individual globular arc hole.
6. a kind of sweeping robot according to claim 1, it is characterised in that：The wheel (801) of the Universal castor (8)
It is rubber tyre, the projecting shaft of wheel (801) is connected with right-angled corner motor (802), and wheel (801) is in wheel carrier (804)
Between, the bottom of wheel carrier (804) is a dust-proof raw sheet, and there is individual rectangular slot centre, allows wheel (801) to pass through, wheel carrier (804)
Top is projecting shaft, and the projecting shaft of wheel carrier (804) is connected with Universal castor motor (803), and Universal castor motor (803) is fixed on
The head of car body (1).
7. a kind of sweeping robot according to claim 1, it is characterised in that：It is equipped with inside the vacuum cleaning head (10)
Vavuum pump, the suction port of lower end is funnel-form, lower upper small greatly, and big end section is ellipse, and small end section is circular.
8. a kind of sweeping robot according to claim 1, it is characterised in that：The long shrouding (11) is the thin steel of metal plate
Plate, is a block length square plate.
9. a kind of application method of sweeping robot according to claim 1, it is characterised in that：In use, robot
The operation of right-angled corner motor 802 drives wheel 801 to rotate, and coordinates ball wheel 9 below, robot is advanced, while master controller
106 rotate cleaning head motor 102, drive the belt pulley 104 of active to rotate, belt 103 drives other belt pulley passively to turn
It is dynamic so that the cleaning head 7 being attached thereto all is rotated, and the cleaning head of both sides is to rotate respectively inwards, by the rubbish of surrounding
The underbody of robot is involved in, master controller 106 makes the operation of cleaner head 10 produce negative pressure, will be involved in the rubbish inspiration vacuum rubbish of underbody
In rubbish case 3, robot is when advancing, and master controller 106 receives the feedback signal of inductor 5, and sweep-out pattern is cooked up automatically, is kept away
Exempt from collision, meanwhile, master controller 106 opens illuminating lamp 6, operation warning horn 12 and warning light 13, reminds the personnel of surrounding, note
Meaning is evaded, operation monitoring first 14, the situation for shooting with video-corder surrounding closely, and the image data of record is transmitted into master controller 106,
In the hard disk that master controller 106 can be stored in, the database at rear is also transmitted to by wireless network simultaneously, when robot advances
To indoor corner, master controller 106 obtains the angle of corner by inductor 5 automatically, and allows Universal castor motor 803
Operation, wheel 801 is rotated after specified angle, and Universal castor motor 803 is out of service, robot is continued along before specified angle
Enter, it is not necessary to change the cephalad direction of vehicle seat 101；Robot operationally, can be by master controller 106 on display screen 15
Play outdoor advertising and public good publicity；After robotic vacuum dustbin 3 fills rubbish, the automatic sensing of master controller 106, machine
Simultaneously automatic exercise, to refuse depot, to refuse depot vavuum pump lower section, automatically opens up the upper flange lid of vacuum waste case 3, and and rubbish to people
Vavuum pump of standing is connected automatically, the rubbish inside extraction, is completed after garbage-cleaning, master controller 106 is automatically moved to robot
Next cleaning point；Robot operationally, can receive the control of backstage remotely, and backstage is sent after order, passes through wireless network
Master controller 106 is transmitted to, robot is run by order.
10. a kind of preparation method of sweeping robot according to claim 1, it is characterised in that：S1 passes through master controller
Control each to move, sense, clean component, it is autonomous to clean, the problem of Intelligent unattended is cleaned is solved, passes through main controller controls
Head is monitored, and data are transmitted by wireless network and backstage；S2 transmits data by master controller and wireless network with backstage, connects
Receive the order on backstage, backstage remote control, s3 solutions must not remote control the problem of dispatch, made by right-angled corner motor universal
Runner is rotated, and Universal castor motor makes Universal castor 360o curve, and coordinates ball wheel, before 360 degree of any angles of turning
Enter, s4 is connected with refuse depot vavuum pump automatically by vacuum waste case upper flange plate, the vavuum pump of refuse depot can be suctioned out automatically
Rubbish in vacuum waste case, the problem of solving intelligent empty litter, by the display screen on vacuum waste case, enters shape public good
Publicity, advertisement is played.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710402703.0A CN107149441A (en) | 2017-06-01 | 2017-06-01 | A kind of sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710402703.0A CN107149441A (en) | 2017-06-01 | 2017-06-01 | A kind of sweeping robot |
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| CN107149441A true CN107149441A (en) | 2017-09-12 |
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| CN201710402703.0A Pending CN107149441A (en) | 2017-06-01 | 2017-06-01 | A kind of sweeping robot |
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| CN108326821A (en) * | 2018-03-09 | 2018-07-27 | 合肥工业大学 | Airport Intelligent Service tow-armed robot |
| CN108760584A (en) * | 2018-06-01 | 2018-11-06 | 济南盛泰电子科技有限公司 | A kind of integrated mobile monitoring car |
| CN108888194A (en) * | 2018-07-05 | 2018-11-27 | 吴旌旗 | A kind of household sweeper |
| CN109700385A (en) * | 2019-01-28 | 2019-05-03 | 珠海格力电器股份有限公司 | The control method and device of cleaning equipment based on microwave radar |
| CN110182278A (en) * | 2019-06-04 | 2019-08-30 | 安徽凌坤智能科技有限公司 | A kind of moving body for intelligent mobile combined type cleaning operation robot |
| CN110664324A (en) * | 2018-07-02 | 2020-01-10 | 凌昕 | Robot for cleaning toilet |
| CN110732406A (en) * | 2018-07-18 | 2020-01-31 | 张一格 | road ash removal device for expressway |
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Application publication date: 20170912 |