CN108125627B - Smart sweeper - Google Patents

Abstract

The invention relates to an intelligent sweeper. It solves technical problems such as unreasonable design of the prior art. The intelligent sweeper includes a casing, two driving wheels and at least one steering wheel are arranged on the casing, a garbage bin with a garbage inlet is arranged in the central area of the casing, and a garbage bin is also connected to enable external dust to enter from the garbage inlet. To the negative pressure dust collecting mechanism in the garbage bin, two symmetrically arranged cantilever swing arms are arranged in the shell, one end of each cantilever swing arm is hinged on the shell, and the other end is suspended in the air. A driving wheel is respectively provided at the suspended end of the cantilever type, and a second driving mechanism capable of driving the driving wheel to rotate is respectively provided on each cantilever type swing arm. The suspended end of the swing arm has a downward movement tendency to adjust the elastic mechanism of the height between the casing and the ground. The advantages of the present invention are: strong practicability.

Description

Smart sweeper

technical field

The invention belongs to the technical field of dust removal and cleaning equipment, and in particular relates to an intelligent sweeper.

Background technique

With the continuous improvement of domestic living standards, the sweeping robots that have been sold in the European and American markets have entered the homes of ordinary people and have been accepted by more and more people. The sweeping robots will become like white goods in every family in the near future. Essential cleaning helper. Products will also develop from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning.

For example, the Chinese patent document discloses a multifunctional vacuum cleaner, [application number: 200920189802.6], which includes a handle, a vacuum cleaner and a suction head at the front end of the vacuum cleaner, and is characterized in that it also includes a lighting device and a music playing device and a camera device, the camera device includes a visual probe and a display device, the visual probe is arranged on the suction head, the display device is arranged on the handle, the visual probe and the display device are connected through a circuit, and the lighting device includes a power supply, a switch and the light emitting diode, the power supply is arranged in the handle and is connected with the switch, the light emitting diode is arranged on the suction head and is connected with the switch; the music playing device is also connected with a speaker, and the speaker is arranged at the end of the handle. By installing a camera device, a lighting device and a music playback device, the solution not only enables users to work easily while listening to music, but also removes dust in dark corners through the lighting device and the camera device. It has the advantages of simple structure and convenient use, and is worthy of promotion. use.

Although the above solution has the above advantages, this solution has at least the following defects: unreasonable design and low cleaning efficiency, in addition, the height of the vacuum cleaner cannot be automatically adjusted between the casing and the ground according to the actual use environment. The height adjustment is poor, and the practicality is poor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above problems, and provide an intelligent sweeper with a more user-friendly design, high cleaning efficiency and strong practicability.

In order to achieve the above purpose, the present invention adopts the following technical solutions: the intelligent sweeper comprises a casing, two driving wheels and at least one steering wheel are arranged on the casing, a number of anti-collision sensors are arranged in the circumferential direction of the casing, and a central area of the casing is provided. There is a garbage bin with a garbage inlet, and a cleaning roller brush that can contact the ground and enable the ground garbage to enter the garbage bin is arranged at the garbage inlet. The cleaning roller brush and the first driving mechanism that can drive the cleaning roller brush to rotate Connected, the garbage bin is also connected with a negative pressure dust suction mechanism that enables external dust to enter the garbage bin from the garbage inlet. One end is hinged on the shell, the other end is suspended, a driving wheel is respectively provided on the suspended end of each cantilevered swing arm, and a second driving wheel capable of driving the rotation of the driving wheel is respectively provided on each cantilevered swing arm A mechanism, between the casing and the cantilever swing arm, is provided with an elastic mechanism that can force the suspended end of the cantilever swing arm to have a downward movement tendency to adjust the height between the casing and the ground.

In the above-mentioned intelligent sweeper, two protective covers that are symmetrically arranged and fixedly connected to the outer casing are arranged in the casing, the cantilevered swing arms are respectively arranged in the protective casings, and the driving wheels are arranged one by one in the cantilevered type. The suspended end of the swing arm and the driving wheel are partially located in the protective cover, and one end of each cantilevered swing arm away from the driving wheel is respectively rotated and arranged on the protective cover through a hinge shaft.

In the above-mentioned intelligent sweeper, the elastic mechanism includes at least one tension spring, one end of the tension spring is connected to the protective cover, and the other end is connected to the end of the cantilever swing arm away from the driving wheel, and the tension spring is described in a horizontal plane. The height of the end of the tension spring connected to the protective cover is lower than the height of the end of the tension spring connected to the cantilever swing arm away from the driving wheel.

In the above-mentioned intelligent sweeper, the protective cover is provided with a first draw hook, the end of the cantilevered swing arm away from the driving wheel is provided with a second draw hook, and the protective cover is provided with a passage for the tension spring to pass through, The channel is inclined downward, one end of the tension spring is hooked on the first hook, the other end is hooked on the second hook through the channel, and the height of the first hook is lower than the height of the second hook in a horizontal plane.

In the above-mentioned intelligent sweeper, the second drive mechanism includes a mounting sleeve disposed at one end of the cantilevered swing arm away from the drive wheel, the mounting sleeve is provided with a second driver, the second driver and the drive wheel connected by a transmission structure.

In the above-mentioned intelligent sweeper, the cantilever swing arm is provided with a bar-shaped chamber inside, the transmission structure is arranged in the bar-shaped chamber, and the outer wall of the installation sleeve is provided with a hinge sleeve arranged along the axial direction of the installation sleeve, The hinge shaft is inserted into the hinge shaft sleeve, and the two ends are respectively penetrated on the protective cover.

In the above-mentioned smart sweeping machine, a removable garbage collection box with the garbage bin is arranged in the central area of the casing, and a lid hingedly connected to the removable garbage collection box is provided on the top of the removable garbage collection box. The detachable garbage collection box is sealed and connected with the box cover, the garbage inlet is arranged on one side of the detachable garbage collection box, and a protective frame is provided at the garbage inlet.

In the above-mentioned intelligent sweeper, the negative pressure dust suction mechanism includes a plurality of ventilation holes arranged on a side wall of the detachable garbage collection box and communicated with the garbage bin, and a casing is provided with a ventilation hole in communication with the ventilation holes. Negative pressure generating device.

In the above-mentioned intelligent sweeping machine, the negative pressure generating device is provided with a plurality of connecting buckles on one side, and the removable garbage collection box has a plurality of bayonet openings that can be inserted into the connecting buckles one by one. The other side of the negative pressure generating device is provided with a movable clamping block, and the other side of the detachable garbage collection box is provided with a clamping slot for the movable clamping block to be clamped.

In the above-mentioned intelligent sweeper, the front side of the casing is provided with a horizontally arranged rotating disk, the rotating disk is connected with a rotating drive mechanism capable of driving the rotating disk to rotate, and the rotating disk is provided with a circumferentially fixed rotating disk on the rotating disk. The camera base is connected and vertically arranged, and the camera base is provided with a flip seat that can rotate relative to the camera base and is used to install the camera, the camera is fixed on the flip seat, and is located between the camera base and the flip seat. There is a flipping drive mechanism that can drive the flipping seat to flip between 0° and 90°; the casing is located in front of the cleaning roller brush. Two symmetrically arranged side brushes are provided on each side. The brushes are respectively connected with the side brush driving mechanisms. Due to the setting of the rotating disk combined with the rotation driving mechanism, the camera head can be rotated 360°, and the structure of the camera head body combined with the flipping seat is provided, which is not only simple in structure, but also easy to process and manufacture. The camera on the seat can be flipped between 0° and 90°, that is, the camera angle can be adjusted, and the design is more user-friendly.

Compared with the existing technology, the advantages of the intelligent sweeper are: 1. The design is more reasonable, and the cleaning roller brush and the dust suction mechanism are provided, which can further improve the cleaning efficiency and improve the indoor air quality during cleaning. 2. Due to the structure of the cantilevered swing arm combined with the elastic mechanism, the scope of use can be further expanded, that is, the relative height of the casing and the ground can be adjusted in real time according to different heights, which is highly practical. 3. Due to the combination of the camera body and the flip seat, the structure is not only simple, but also easy to manufacture. Due to the drive mechanism, it can drive the camera set on the flip seat to flip between 0° and 90°, that is, The camera angle can be adjusted, and the design is more user-friendly. 4. The lifting and lowering of the camera is realized by the lifting and lowering drive mechanism.

Description of drawings

FIG. 1 is a schematic structural diagram provided by the present invention.

FIG. 2 is a schematic structural diagram of another viewing angle provided by the present invention.

Figure 3 is a schematic diagram of an explosion structure provided by the present invention.

4 is a schematic structural diagram of the side brush provided by the present invention.

FIG. 5 is a schematic diagram of the explosion structure of the side brush provided by the present invention.

FIG. 6 is a schematic diagram of an exploded structure provided by the present invention.

FIG. 7 is an enlarged schematic view of the structure at A in FIG. 6 .

FIG. 8 is a schematic structural diagram of a camera provided by the present invention.

FIG. 9 is a schematic diagram of the explosion structure of the camera provided by the present invention.

FIG. 10 is a schematic diagram of an exploded structure from another viewing angle of the camera provided by the present invention.

FIG. 11 is a schematic diagram of the lift drive structure provided by the present invention.

In the figure, the housing 1, the driving wheel 11, the steering wheel 12, the anti-collision sensor 13, the protective cover 14, the first hook 14a, the hinge shaft 15, the rotating disk 16, the teeth 16a, the rotating driving mechanism 17, the rotating gear 17a, the rotating Motor 17b, camera base 18, U-shaped groove 18a, rotation insertion hole 18b, rotation shaft 18c, bearing 18d, positioning shaft 18e, flip seat 19, flip drive mechanism 20, driven gear 20a, driving gear 20b, driver 20c, Positioning hole 20d, camera 1a, side brush 1b, side brush drive mechanism 1c, chassis 1d, upper cover 1e, lift driver 1h, telescopic guide rod 1k, built-in power supply 1g, heat dissipation hole 1q, rotary connector 11b, brush bundle 12b , connecting block 12c, connecting portion 13b, annular housing 111b, drive shaft connecting seat 111c, arc-shaped fitting block 1111, outer arc-shaped positioning block 1112, annular tensioning fitting surface 1113, annular blocking portion 1114, detachable garbage collection box 2 , garbage bin 21, garbage inlet 22, box cover 23, protective frame 24, ventilation hole 2a, cleaning roller brush 3, first drive mechanism 31, first drive motor 31a, negative pressure dust collector 4, negative pressure generating device 41 , movable block 41a, cantilever swing arm 5, second hook 51, strip chamber 5a, second drive mechanism 6, mounting sleeve 61, second drive 62, hinge sleeve 63, elastic mechanism 7, tension spring 71 , Circumferential positioning plane b, drive shaft e, guide groove c, snap connection groove d.

Detailed ways

The following are specific embodiments of the invention and combined with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

As shown in Figure 1-3, the intelligent sweeper includes a housing 1, which has a chamber inside, a built-in power supply 1g is arranged in the chamber, and a charging interface electrically connected to the built-in power supply 1g is arranged on the housing 1. Secondly, in order to To facilitate heat dissipation, there are several heat dissipation holes 1q on the circumferential side of the casing 1. The casing 1 includes a chassis 1d, an upper cover 1e is arranged on the chassis 1d, and an inwardly recessed groove is arranged on the upper cover 1e. 1e is provided with a removable cover 1f which can close the groove. Two driving wheels 11 and at least one steering wheel 12 are provided on the housing 1, and the steering wheel 12 can rotate freely relative to the housing. In the optimized solution, the two driving wheels 11 and the steering wheel 12 in this embodiment are distributed in a triangular shape, which is used to ensure the stability of walking. The driving wheel 11 is provided with anti-skid lines in the circumferential direction for increasing the frictional force. Also, the two driving wheels 11 and the steering wheel 12 are respectively arranged on the side of the casing opposite to the ground.

A number of anti-collision sensors 13 are arranged in the circumferential direction of the casing 1. There are three anti-collision sensors 13 and they are ultrasonic sensors. The three anti-collision sensors 13 are arranged in the circumferential direction of the front side of the casing. When the anti-collision sensor 13 detects an obstacle in the traveling direction When the speed of one of the two driving wheels 11 is slowed down, the purpose of turning is achieved. Of course, the two drive wheels 11 can rotate synchronously.

A garbage bin 21 with a garbage inlet 22 is provided in the central area of the housing 1, and a cleaning roller 3 is provided at the garbage inlet 22, which can contact the ground and enable the ground garbage to enter the garbage bin 21. The cleaning roller 3 is arranged horizontally And the cleaning roller brush 3 is connected with the first driving mechanism 31 which can drive the cleaning roller brush 3 to rotate. The first driving mechanism 31 includes a first driving motor 31a disposed in the casing, and the first driving motor 31a is connected with the cleaning roller brush 3 through a gear transmission structure. As shown in Figures 3-5, there are two symmetrically arranged side brushes 1b on both sides of the housing 1 located in front of the cleaning roller brush 3, and each side brush 1b is respectively connected with a side brush driving mechanism 1c. The side brush drive mechanism 1c is a side brush drive motor. When cleaning, the side brush 1b sweeps the floor in front, and the cleaning roller 3 in the rear is responsible for cleaning the garbage into the garbage bin 21 . Further, the side brush 1b of this embodiment includes a rotary connector 11b, a plurality of brush bundles 12b are arranged in the circumferential direction of the rotary connector 11b inclined downward and outward, and a connecting hole is provided in the axial center of the rotary connector 11b. a and the connecting hole has at least a circumferential positioning plane b, the casing is provided with a drive shaft that can be inserted into the connecting hole one by one, and the hole wall of the connecting hole is provided with a plurality of driving shafts arranged along the axial direction of the connecting hole The guide groove c of the connecting hole is also provided with at least two symmetrically arranged snap connection grooves d on the hole wall of the connecting hole, and the drive shaft is provided with a protrusion that can be clamped in the snap connection groove d, and The connection and mating plane that coincides with the circumferential positioning plane b. In the optimized solution, there are several connecting parts 13b inclined downward and outward in the circumferential direction of the rotating connecting head 11b. The brush bundles 12b correspond to the connecting parts 13b one-to-one and each connecting part 13b is far away from the rotating connecting head 11b. One end has a socket, and the inner end of the brush bundle 12b is inserted into the socket of the connecting portion 13b. The connecting portions 13b are evenly distributed around the circumference. Further, the rotary connector 11b here includes an annular housing 111b, and in the circumferential direction of the annular housing 111b, there are several connecting parts 13b integrally connected with the annular housing 111b, and the annular housing 111b is provided with the annular housing 111b. The drive shaft connecting seat 111c fixed in the circumferential direction of 111b is provided with the above-mentioned connecting hole on the drive shaft connecting seat 111c. Secondly, the connection hole in this embodiment is a blind hole, and the drive shaft connection seat 111c is provided with two arc-shaped fitting blocks 1111 located at the orifice of the connection hole. Symmetrical settings.

A plurality of outer arc-shaped positioning blocks 1112 evenly distributed around the circumference of the drive shaft connecting seat 111c are provided, and an annular tensioning surface 1113 is provided on the inner wall of the annular casing 111b. The drive shaft connecting seat 111c is inserted into the annular casing 111b and The outer arc-shaped positioning block 1112 and the annular tensioning surface 1113 are connected by interference fit, and the inner bottom end of the annular housing 111b is provided with an annular groove 1115 to facilitate the installation of the drive shaft connection seat 111c in place. A plurality of connecting blocks 12c corresponding to the outer arc-shaped positioning blocks 1112 one-to-one and connected to the middle of the outer arc-shaped positioning blocks 1112 are provided in the circumferential direction of the drive shaft connecting seat 111c. The drive shaft connecting seat 111c is inserted from one end of the annular casing 111b and has an annular blocking portion 1114 extending toward the center of the annular casing 111b at the other end of the annular casing 111b. against annular stop 1114. The socket is an oval socket, and one end of the brush bundle 12b has a plug with an oval cross section, and the plug is inserted into the socket. The plug is made of plastic and one end of the brush bundle is embedded.

Specifically, as shown in Figures 3 and 6-7, in order to facilitate dumping of garbage, the removable cover 1f is hinged on the upper cover 1e, and a locking structure is provided between the upper cover 1e and the removable cover 1f. The locking structure includes a control button 1n arranged on the upper cover 1e, a lock hook connected to the control button 1n is arranged on the detachable cover 1f, first open the detachable cover 1f, and a central area of the casing 1 is provided with all The detachable garbage collection box 2 of the garbage bin 21 has a lid 23 hingedly connected to the detachable garbage collection box 2 on the top of the detachable garbage collection box 2. The lid 23 is provided with a handle 23a, the detachable garbage collection box 2. The upper end is open, the detachable garbage collection box 2 is sealed with the cover 23, the open end of the detachable garbage collection box 2 is provided with an annular sealing ring, and the garbage inlet 22 is arranged on one side of the detachable garbage collection box 2 A protective frame 24 is provided at the entrance 22 . The protective frame 24 is rectangular, and a plurality of protective rods are arranged on the protective frame 24 at intervals and along the width direction of the protective frame 24 . The protective frame 24 can prevent large garbage from entering into the garbage bin 21 and avoid unnecessary cleaning accidents and mechanical failures.

Secondly, since the side brush 1b and the cleaning roller brush 3 will generate flying dust during the cleaning process, the garbage bin 21 is also connected with a negative pressure dust suction mechanism 4 that enables external dust to enter the garbage bin 21 from the garbage inlet 22 . Specifically, the negative pressure dust collecting mechanism 4 here includes a plurality of ventilation holes 2a which are arranged on a side wall of the detachable garbage collection box 2 and communicate with the garbage bin 21, and are provided in the casing 1 and communicate with the ventilation holes 2a. The negative pressure generating device 41. The dust flying on the ground is sucked into the garbage bin 21 by the negative pressure generating device 41, and the indoor air is further purified.

In order to facilitate the disassembly of the detachable garbage collection box 2, there are several connecting buckles on one side of the negative pressure generating device 41, that is, a number of protruding structures, and there are several connecting buckles on one side of the detachable garbage collection box 2 that can be snapped into one by one. The said connection buckle is clamped on the bayonet, the other side of the negative pressure generating device 41 is provided with a movable block 41a, and the other side of the detachable garbage collection box 2 is provided with the movable block 41a. 41a is the card slot that snaps into. The movable block 41 a is hinged on the other side of the negative pressure generating device 41 .

Specifically, as shown in FIGS. 6-7 , two symmetrically arranged cantilever swing arms 5 are arranged in the casing 1 of this embodiment, one end of each cantilever swing arm 5 is hinged on the casing 1 , and the other end is suspended in the air , a drive wheel 11 is respectively provided at the suspended end of each cantilever swing arm 5, and a second drive mechanism 6 capable of driving the rotation of the drive wheel 11 is respectively provided on each cantilever swing arm 5. The second drive mechanism 6 includes a mounting sleeve 61 disposed at one end of the cantilevered swing arm 5 away from the driving wheel 11 , and a second driver 62 is arranged in the mounting sleeve 61 , and the second driver 62 and the driving wheel 11 are driven by transmission Structural connection. The second driver 62 is a drive motor. In the optimized solution, a bar-shaped chamber 5a is arranged inside the cantilever swing arm 5, the transmission structure is arranged in the bar-shaped chamber 5a, and the outer wall of the mounting sleeve 61 is provided with a hinge sleeve 63 arranged along the axial direction of the mounting sleeve 61. , the hinge shaft 15 is inserted into the hinge shaft sleeve 63 and the two ends are respectively penetrated on the protective cover 14 . The transmission structure is a multi-stage gear transmission structure. The arrangement in the strip-shaped chamber 5a can prevent the multi-stage gear transmission structure from being polluted by external dust and moisture, which may cause rust or noise of the gears.

Between the casing 1 and the cantilevered swing arm 5 is provided an elastic mechanism 7 which can force the suspended end of the cantilevered swing arm 5 to have a downward movement tendency to adjust the height between the casing 1 and the ground. The elastic mechanism 7 plays the role of shock absorption and adjusting the height of the casing and the ground, which can expand the use range of the sweeper of the present application. That is, you can enter the low space of some interior parts. In order to further improve the structural strength, two protective covers 14 that are symmetrically arranged and fixedly connected to the casing 1 are provided in the housing 1 , the cantilevered swing arms 5 are respectively arranged in the protective covers 14 , and the driving wheels 11 are arranged one by one. At the suspended end of the cantilevered swing arm 5 and the driving wheel 11 is partially located in the protective cover 14 , one end of each cantilevered swing arm 5 away from the driving wheel 11 is rotated and arranged on the protective cover 14 through the hinge shaft 15 respectively.

Specifically, the above-mentioned elastic mechanism 7 includes at least one tension spring 71, one end of the tension spring 71 is connected to the protective cover 14, and the other end is connected to the end of the cantilever swing arm 5 away from the driving wheel 11, and is in a horizontal plane. The height of one end of the tension spring 71 connected to the protective cover 14 is lower than the height of the end of the tension spring 71 connected to the cantilever swing arm 5 away from the driving wheel 11 . In order to facilitate disassembly and assembly, a first draw hook 14a is provided on the protective cover 14, a second draw hook 51 is provided on the end of the cantilevered swing arm 5 away from the driving wheel 11, and the protective cover 14 is provided with a tension spring 71 to pass through. The channel is inclined downward, one end of the tension spring 71 is hooked on the first hook 14a, the other end passes through the channel and is hooked on the second hook 51, and the height of the first hook 14a in a horizontal plane is low at the height of the second hook 51 .

In addition, as shown in FIGS. 8-10 , a horizontally arranged rotating disk 16 is provided on the front side of the casing 1 . There is a camera seat body 18 that is fixedly connected to the rotating disk 16 in the circumferential direction and is vertically arranged. It is fixed on the flip base 19 , and a flip drive mechanism 20 is provided between the camera base 18 and the flip base 19 , which can drive the flip base 19 to flip between 0° and 90°.

In an optimized solution, a U-shaped groove 18a is formed on the upper part of the camera seat body 18, and the flip seat 19 is disc-shaped and is rotatably arranged in the U-shaped groove 18a. The upper end of the camera seat body 18 has an arc-shaped convex surface, and the circumferential surface of the flip seat is flush with the arc-shaped convex surface. Specifically, the rotary drive mechanism 17 of this embodiment includes a plurality of teeth 16a arranged in the circumferential direction of the rotary disk 16, and a rotary gear 17a that can be engaged with the teeth is provided on the housing 1. The rotary gear 17a Connected to the rotary motor 17b. Secondly, the overturning drive mechanism 20 includes a driven gear 20a arranged on the groove wall of the U-shaped groove 18a, the overturning seat 19 is connected with a driving gear 20b that is circumferentially fixedly connected with the overturning seat 19, and the driving gear 20b is The gear 20b is meshed with the driven gear 20a, and the driving gear is connected with the driver 20c. In an optimized solution, the driver in this embodiment is a miniature drive motor, and a cavity is provided in the flip seat 19 , and the driver is arranged in the cavity, thereby further utilizing the limited space and reducing the overall volume. The camera 1a is located above the steering wheel 12, which facilitates real-time photography during steering.

In order to ensure the smoothness of the inversion, a rotary insertion hole 18b is provided on the groove wall of the U-shaped groove 18a of the camera base body 18, and one end of the inversion seat 19 is inserted into the rotary insertion hole and is rotatably connected with the rotary insertion hole. A bearing 18d is provided between the rotation shaft 18c and the rotation insertion hole. Secondly, at least one notch is provided in the circumferential direction of the driven gear, and a circumferential positioning mechanism for preventing the circumferential rotation of the driven gear is provided between the camera base 18 and the driven gear. The circumferential positioning mechanism includes at least two positioning shafts 18e disposed on the camera head body 18, and two positioning holes 20d into which the positioning shafts are inserted one by one are provided on the driven gear. This structure can ensure the stability of the transmission.

Also, as shown in FIG. 11, a lift driver 1h connected to the rotary disk is provided in the casing, the lift driver is an air cylinder or an oil cylinder, a rotary bearing is provided between the lift driver and the rotary disk, and the inner ring of the rotary bearing is connected to the lift driver. The outer ring is connected with the rotating disk 1p, and a number of telescopic guide rods 1k are arranged between the inner ring and the outer casing of the rotating bearing. The lifting and lowering of the camera is realized by the lifting driver 1h, the 360° rotation of the camera is realized by the rotating drive mechanism, and the flipping of the camera between 0° and 90° is realized by the overturning drive mechanism. Secondly, the setting of the lifting driver can prolong the service life and further save the memory space, that is, when entering the dark area, the camera will drop to the set position to avoid the camera being damaged by bumping. more humane.

The driving element, the sensor and the camera in this embodiment are respectively connected to the built-in power supply. At the same time, a control circuit board is also arranged in the casing, which is used to control the acquisition of the signal output by the sensor, process the signal, and feed it back to the driving element and the camera.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Although the casing 1, the driving wheel 11, the steering wheel 12, the anti-collision sensor 13, the protective cover 14, the first hook 14a, the hinge shaft 15, the rotating disk 16, the teeth 16a, the rotating driving mechanism 17, the rotating Gear 17a, rotating motor 17b, camera base 18, U-shaped groove 18a, rotating insertion hole 18b, rotating shaft 18c, bearing 18d, positioning shaft 18e, reversing seat 19, reversing drive mechanism 20, driven gear 20a, driving gear 20b , driver 20c, positioning hole 20d, camera 1a, side brush 1b, side brush drive mechanism 1c, chassis 1d, upper cover 1e, lift driver 1h, telescopic guide rod 1k, built-in power supply 1g, heat dissipation hole 1q, rotary connector 11b, Brush bundle 12b, connecting block 12c, connecting portion 13b, annular housing 111b, drive shaft connecting seat 111c, arc-shaped fitting block 1111, outer arc-shaped positioning block 1112, annular tensioning fitting surface 1113, annular blocking portion 1114, detachable Garbage collection box 2, garbage bin 21, garbage inlet 22, box cover 23, protective frame 24, ventilation hole 2a, cleaning roller brush 3, first driving mechanism 31, first driving motor 31a, negative pressure vacuuming mechanism 4, negative Pressure generating device 41 , movable block 41 a , cantilever swing arm 5 , second hook 51 , bar-shaped chamber 5 a , second driving mechanism 6 , mounting sleeve 61 , second driver 62 , hinge sleeve 63 , elastic mechanism 7 , tension spring 71, circumferential positioning plane b, drive shaft e, guide groove c, snap connection groove d and other terms, but the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; it is contrary to the spirit of the present invention to interpret them as any kind of additional limitation.

Claims (7)

1. An intelligent sweeper, comprising a casing (1), two driving wheels (11) and at least one steering wheel (12) are arranged on the casing (1), and a plurality of anti-collision sensors are arranged in the circumferential direction of the casing (1) (13), characterized in that a garbage bin (21) with a garbage inlet (22) is provided in the central area of the outer casing (1), and a garbage inlet (22) is provided with a garbage inlet (22) that can contact the ground and enable the ground garbage The cleaning roller brush (3) entering into the garbage bin (21), the cleaning roller brush (3) is connected with the first driving mechanism (31) capable of driving the cleaning roller brush (3) to rotate, and the cleaning roller brush (3) is connected to the first driving mechanism (31) which can drive the cleaning roller brush (3) to rotate, and is located in the garbage bin (21) It is also connected with a negative pressure dust collecting mechanism (4) that can make external dust enter into the garbage bin (21) from the garbage inlet (22), and two symmetrically arranged cantilever swing arms ( 5), one end of each cantilever swing arm (5) is hinged on the casing (1), the other end is suspended, and a drive wheel (11) is respectively provided on the suspended end of each cantilever swing arm (5). Each cantilevered swing arm (5) is respectively provided with a second drive mechanism (6) capable of driving the driving wheel (11) to rotate, and between the housing (1) and the cantilevered swing arm (5) is provided An elastic mechanism (7) capable of forcing the suspended end of the cantilevered swing arm (5) to have a downward movement tendency to adjust the height between the casing (1) and the ground; The housing (1) is provided with two protective covers (14) symmetrically arranged and fixedly connected to the housing (1), the cantilevered swing arms (5) are respectively arranged in the protective covers (14), and the drive The wheels (11) are arranged one by one at the suspended end of the cantilevered swing arm (5) and the driving wheel (11) is partially located in the protective cover (14), and each cantilevered swing arm (5) is away from the driving wheel (11). One end is respectively pivoted on the protective cover (14) through the hinge shaft (15); The second drive mechanism (6) includes an installation sleeve (61) disposed at one end of the cantilevered swing arm (5) away from the drive wheel (11), and a second driver (62) is arranged in the installation sleeve (61), The second driver (62) is connected with the driving wheel (11) through a transmission structure; The cantilever type swing arm (5) is provided with a strip-shaped chamber (5a) inside, the transmission structure is arranged in the strip-shaped chamber (5a), and the outer wall of the mounting sleeve (61) is provided with a mounting sleeve (61). an axially arranged hinge shaft sleeve (63), the hinge shaft (15) is inserted into the hinge shaft sleeve (63) and both ends are respectively penetrated on the protective cover (14); Two symmetrically arranged side brushes (1b) are respectively provided on both sides of the casing (1) in front of the cleaning roller brush (3), and each side brush (1b) is respectively connected with a side brush driving mechanism (1c); The side brush (1b) includes a rotary joint (11b), and a plurality of brush bundles (12b) are arranged in the circumferential direction of the rotary joint (11b) obliquely downward and outward, and are arranged in the axial center of the rotary joint (11b). There is a connecting hole (a) and at least a circumferential positioning plane (b) on the connecting hole, the casing is provided with a drive shaft that can be inserted into the connecting hole one by one, and the hole wall of the connecting hole is provided with several A guide groove (c) is provided along the axial direction of the connection hole, and at least two symmetrically arranged snap connection grooves (d) are also provided on the hole wall of the connection hole. The projections in the snap connection groove (d), and the connection and mating plane that matches the circumferential positioning plane (b); in the circumferential direction of the rotary connector (11b), there are several connecting parts ( 13b), the brush bundles (12b) are in one-to-one correspondence with the connecting parts (13b) and have a socket at one end of each connecting part (13b) away from the rotary joint (11b), the brush bundles (12b) ) the inner end is inserted into the socket of the connecting portion (13b); The rotary connector (11b) includes an annular housing (111b), and in the circumferential direction of the annular housing (111b), there are a plurality of connecting parts (13b) integrally connected with the annular housing (111b), and in the annular housing (111b) ) is provided with a drive shaft connecting seat (111c) circumferentially fixed with the annular casing (111b), and the above-mentioned connecting hole is provided on the drive shaft connecting seat (111c); A plurality of outer arc-shaped positioning blocks (1112) uniformly distributed around the circumference of the drive shaft connecting seat (111c) are provided, and an annular tensioning surface (1113) is provided on the inner wall of the annular casing (111b). (111c) is inserted into the annular casing (111b) and the outer arc-shaped positioning block (1112) is connected with the annular tensioning mating surface (1113) by interference fit. The inner bottom end of the annular casing (111b) is provided with an annular groove (1115). ) to facilitate the installation of the drive shaft connection seat (111c) in place; a plurality of outer arc-shaped positioning blocks (1112) are arranged in the circumferential direction of the drive shaft connection seat (111c) in one-to-one correspondence and are connected to the middle of the outer arc-shaped positioning block (1112). The connection block (12c); A plurality of connecting blocks (12c) corresponding to the outer arc-shaped positioning blocks (1112) one-to-one and connected to the middle of the outer arc-shaped positioning blocks (1112) are arranged in the circumferential direction of the drive shaft connecting seat (111c); the drive shaft connecting seat (111c) ) is inserted from one end of the annular casing (111b) and has an annular blocking portion (1114) extending toward the center of the annular casing (111b) at the other end of the annular casing (111b), and the drive shaft connecting seat (111c) is inserted into the annular casing (111b). The inner end of the housing (111b) abuts against the annular blocking portion (1114). 2. The intelligent sweeper according to claim 1, wherein the elastic mechanism (7) comprises at least one tension spring (71), and one end of the tension spring (71) is connected to the protective cover (14), The other end is connected to the end of the cantilevered swing arm (5) away from the drive wheel (11), and the end of the tension spring (71) connected to the protective cover (14) in a horizontal plane is lower than the tension spring (71) Connected to the height of the end of the cantilevered swing arm (5) away from the drive wheel (11). 3 . The intelligent sweeper according to claim 2 , wherein a first pull hook ( 14 a ) is provided on the protective cover ( 14 ), and the cantilevered swing arm ( 5 ) is away from the driving wheel ( 11 ). 4 . One end is provided with a second draw hook (51), a passage for the tension spring (71) to pass through is provided on the protective cover (14), the passage is inclined downward, and one end of the tension spring (71) is hooked on the first draw hook (14a) ), the other end passes through the channel and is hooked on the second draw hook (51), and the height of the first draw hook (14a) is lower than the height of the second draw hook (51) in a horizontal plane. 4. The intelligent sweeper according to any one of claims 1-3, characterized in that, a detachable garbage collection box (2) with the garbage bin (21) is provided in the central area of the housing (1), There is a box cover (23) hingedly connected with the detachable refuse collection box (2) on the top of the detachable refuse collection box (2), and the detachable refuse collection box (2) is sealedly connected with the box cover (23), The garbage inlet (22) is arranged on one side of the detachable garbage collection box (2) and a protective frame (24) is provided at the garbage inlet (22). 5. The intelligent sweeping machine according to claim 4, characterized in that, the negative-pressure dust collecting mechanism (4) comprises a plurality of pieces arranged on a side wall of the detachable garbage collection box (2) and connected with the garbage bin (21). ) communicated with the ventilation hole (2a), and a negative pressure generating device (41) communicated with the ventilation hole (2a) is provided in the casing (1). 6. The intelligent sweeper according to claim 5, characterized in that, a plurality of connection buckles are provided on one side of the negative pressure generating device (41), and a number of energy sources are provided on one side of the detachable garbage collection box (2). The connection buckle is a bayonet that is inserted into the bayonet, the connection buckle is clamped on the bayonet, and a movable clamping block (41a) is provided on the other side of the negative pressure generating device (41), and the detachable garbage collection box (2). ) on the other side has a card slot into which the movable card block (41a) is inserted. 7. The intelligent sweeping machine according to any one of claims 1-3, characterized in that, a horizontally arranged rotating disk (16) is provided on the front side of the casing (1), and the rotating disk (16) is connected to A rotary drive mechanism (17) capable of driving the rotary disk (16) to rotate is connected, and a camera head body (18) fixedly connected to the rotary disk (16) in the circumferential direction and vertically arranged on the rotary disk (16) is provided on the rotary disk (16). The seat body (18) is provided with a flip seat (19) that can rotate relative to the camera seat body (18) and is used for installing the camera head (1a), the camera head (1a) is fixed on the flip seat (19), An inversion driving mechanism (20) capable of driving the inversion seat (19) to invert in an angle between 0° and 90° is arranged between the seat body (18) and the inversion seat (19).

Images