CN108420368A - A kind of full landform clean robot - Google Patents
A kind of full landform clean robot Download PDFInfo
- Publication number
- CN108420368A CN108420368A CN201810444263.XA CN201810444263A CN108420368A CN 108420368 A CN108420368 A CN 108420368A CN 201810444263 A CN201810444263 A CN 201810444263A CN 108420368 A CN108420368 A CN 108420368A
- Authority
- CN
- China
- Prior art keywords
- dust
- full landform
- machine box
- ash
- clean robot
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- 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.)
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Classifications
-
- 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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
-
- 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
-
- 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
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
Abstract
Organic frame is respectively set in a kind of full landform clean robot, including machine box, the upper surface of machine box and following both sides, and rack connects the full landform wheel of spiral shape, the output shaft of the full landform wheel connection stepper motor of spiral shape by bearing；Dust exhaust apparatus is arranged in the upper surface of machine box, and the import of dust exhaust apparatus connects the device that sweeps up dust by ash sucking tube road, and the device that sweeps up dust is arranged on the side of machine box；The outlet of dust exhaust apparatus connects dust holding vessel by ash discharge pipeline, and dust holding vessel is arranged in the upper surface of machine box；In use, the full landform wheel of spiral shape, the concave-convex metope of adaptive vertical wall and part is respectively set in the upper surface of machine box and following both sides；The outlet of dust exhaust apparatus connects dust holding vessel by ash discharge pipeline, and dust can be collected into dust holding vessel；The present invention has the advantages that the workload for reducing cleanup crew.
Description
Technical field
The invention belongs to clean robot technical field, more particularly to a kind of full landform clean robot.
Background technology
With the rapid development of economic life, family life cleaning mode is gradually replaced by robot and is increasingly becoming weight
One of household cleaning mode wanted.There are two ground, metope regions since family will clean mainly, ground is had existed respectively
The robot for cleaning floor of kind of various kinds and replacement innovation has been carried out, but for metope but without a kind of effective
Wall surface cleaner device people carries out that manpower is replaced to carry out entirely autonomous work, causes people are clean to family's metope to be unsatisfactory for,
The interests blank that family's metope cleans this block is caused, and the infliction of body such as soreness of waist also is brought to cleanup crew and is carried on the back
Bitterly, scapulohumeral periarthritis, it is undoubtedly offending in face of the huge amount of labour for the working clan of fatigue one day that What is more.So being directed to
The current application blank of family wall surface cleaner device people, people are clean to family's metope is unsatisfactory for, is brought to cleanup crew
The shortcomings of infliction of body, working clan are gone home in face of the unhappiness largely worked.
Clean robot is a kind of specialized robot for mankind's service, is mainly engaged in the cleaning of domestic hygiene, is had
There is the electro-mechanical system that pathfinding is navigated.The labour of cleanup crew is greatly reduced instead of manpower cleaning by clean robot
It measures, greatly improve family life quality, had a very important significance for filling up family's wall section cleaning.Full landform is clear
Clean robot in operation process the stationarity of the speed of service and avoidance ability, climb wall ability, cleaning dynamics etc. and all directly close
It is the effect to cleaning operation.In actual use, the concave-convex of wall decoration can generate shadow to the operation effectiveness of robot
It rings.
Invention content
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of home-use full landform cleaners
Device people is capable of the cleaning of adaptive vertical wall dust, is suitable for part bumps metope.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of full landform clean robot, including machine box 21, the upper surface of machine box 21 and following both sides are respectively set organic
Frame 15, rack 15 connect the full landform wheel 27 of spiral shape by bearing, and the full landform wheel 27 of spiral shape connects the output of stepper motor 11
Axis；Dust exhaust apparatus is arranged in the upper surface of machine box 21, and the import of dust exhaust apparatus connects the device that sweeps up dust by ash sucking tube road 12, and sweep up dust device
On the side of setting machine box 21；The outlet of dust exhaust apparatus connects dust holding vessel 5 by ash discharge pipeline 4, and dust holding vessel 5 is arranged
In the upper surface of machine box 21.
The dust exhaust apparatus includes hollow-cup motor 2, and one end of hollow-cup motor 2 is inhaled by being connected into grey integration box 3
The other end of grey pipeline 12, hollow-cup motor 2 connects ash discharge pipeline 4 by ash discharge integration box 1.
The device that sweeps up dust includes four steering engines 20 being arranged on machine box 21, the connection of 20 underside of each steering engine
Shaft coupling 23, shaft coupling 23 connect column type steering engine 25 by connecting rod 24, and column type steering engine 25 connects ash inlet 9, and 9 both sides of ash inlet are set
It is equipped with the hairbrush 7 of relative rotation.
It is provided with PVC bristles polymer composite 14 and stickiness sucker 26 on the full landform wheel of the spiral shape 27.
The ash inlet 9 uses convex wide-mouth structure.
5 lower section of dust holding vessel is provided with the ash discharging hole 8 with insertion slot type baffle 28.
Polymer battery 17 is provided with below the machine box 21, the power output end of polymer battery 17 passes through switch
16 connection control circuits 18, the signal input part of the first signal output end connection stepper motor 11 of control circuit 18；Described
9 bottom of ash inlet connects one end of L types connecting rod 19, and the other end of L-type connecting rod 19 is provided with avoiding obstacles by supersonic wave sensor 6, ultrasound
First signal input part of the signal output end connection control circuit 18 of wave avoidance sensor 6, the second signal of control circuit 18
Output end connects the signal output end of steering engine 20；It is provided with infrared distance sensor on the shell of the stepper motor 11
The signal output end of 10 pedestal 22, infrared distance sensor 10 is bi-directionally connected the second signal input terminal of control circuit 18.
Beneficial effects of the present invention：
The full landform wheel 27 of spiral shape is respectively set using the upper surface of machine box 21 and following both sides in the present invention, adaptive vertical
The concave-convex metope of metope and part；The import of dust exhaust apparatus connects the device that sweeps up dust by ash sucking tube road 12, and machine box is arranged in the device that sweeps up dust
On 21 side；The outlet of dust exhaust apparatus connects dust holding vessel 5 by ash discharge pipeline 4, and dust can be collected into dust storage
Tank 5 is deposited, the workload of cleanup crew is reduced.
Description of the drawings
Fig. 1 is the structural front view of the present invention.
Fig. 2 is the structure back view of the present invention.
Fig. 3 be the present invention structure before upward view.
Fig. 4 is the structural schematic diagram of the device that sweeps up dust of the present invention.
Specific implementation mode
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
Shown in referring to FIG. 1, FIG. 2 and FIG. 3, a kind of full landform clean robot, including machine box 21, the upper surface of machine box 21 is under
The both sides in face are respectively set organic frame 15, and rack 15 connects the full landform wheel 27 of spiral shape by bearing, the full landform wheel of spiral shape 27
Connect the output shaft of stepper motor 11；Dust exhaust apparatus is arranged in the upper surface of machine box 21, and the import of dust exhaust apparatus passes through ash sucking tube road 12
The device that sweeps up dust is connected, the device that sweeps up dust is arranged on the side of machine box 21；The outlet of dust exhaust apparatus connects dust storage by ash discharge pipeline 4
Tank 5 is deposited, dust holding vessel 5 is arranged in the upper surface of machine box 21.
Shown in referring to Fig.1, the dust exhaust apparatus includes hollow-cup motor 2, and one end of hollow-cup motor 2 passes through into grey whole
It closes box 3 and connects ash sucking tube road 12, the other end of hollow-cup motor 2 connects ash discharge pipeline 4 by ash discharge integration box 1.
With reference to shown in Fig. 4, the device that sweeps up dust includes four steering engines 20 being arranged on machine box 21, under each steering engine 20
Side's flexible connection shaft coupling 23, shaft coupling 23 connect column type steering engine 25 by connecting rod 24, and column type steering engine 25 connects ash inlet 9, into
9 both sides of grey mouth are provided with the hairbrush 7 of relative rotation.
Shown in referring to Fig.1, be provided on the full landform wheel of the spiral shape 27 PVC bristles polymer composite 14 with it is glutinous
Property sucker 26.
With reference to shown in Fig. 4, the ash inlet 9 uses convex wide-mouth structure.
With reference to shown in Fig. 3,5 lower section of dust holding vessel is provided with the ash discharging hole 8 with insertion slot type baffle 28.
Referring to Fig.1, shown in Fig. 4, polymer battery 17 is provided with below the machine box 21, polymer battery 17
Power output end connects control circuit 18 by switch 16, the first signal output end connection stepper motor 11 of control circuit 18
Signal input part；One end of 9 bottom of the ash inlet connection L-type connecting rod 19, the other end of L-type connecting rod 19 are provided with ultrasonic wave
Avoidance sensor 6, the signal input part of the signal output end connection control circuit 18 of avoiding obstacles by supersonic wave sensor 6, control circuit
It is provided with red on the shell of stepper motor 11 described in the signal output end of 18 second signal output end connection steering engine 20
The pedestal 22 of outer range sensor 10, the signal output end of infrared distance sensor 10 are bi-directionally connected the second of control circuit 18
Signal input part.
The operation principle of the present invention:
In use, complete 27 two-wheel of landform wheel of spiral shape, which is parallel to metope, compresses placement, stickiness sucker 26 and PVC bristle high scores
The cooperation of sub- composite material 14 makes robot vertical be adsorbed in metope, turns on the switch 16, coordinates in the corresponding steering engine 20 of direction of advance
24 kickoff mechanism box 21 of connecting rod, infrared distance sensor 10 are coordinated column type steering engine 25 to adjust the hairbrush 7 relatively rotated by shaft coupling 23
With the angle of metope, reach suitable position, the hairbrush 7 of relative rotation cleans metope dust to ash inlet 9, hollow-cup motor 2
Dust is discharged by ash discharge pipeline 4 in dust holding vessel 5 by work again by the sucking of ash inlet tube road 12, when direction of advance meets with obstacle
When object avoiding obstacles by supersonic wave sensor 6 coordinate control circuit 18 by signal feed back to stepper motor 11 carry out avoidance operation, it is infrared away from
Position mark is carried out to which Optimization Work route realizes the complete autonomous Optimization Work of landform from sensor 10, is held in dust holding vessel 5
Robot can select shortest distance route to be back to just when measuring saturation state or when self electric quantity deficiency cannot carry out cleaning
Beginning operating position mark point pulls open the insertion slot type baffle 28 above ash discharging hole 8 and empties holding vessel dust.
Claims (7)
1. a kind of full landform clean robot, which is characterized in that including machine box (21), the upper surface of machine box (21) and following both sides
Organic frame (15) is respectively set, rack (15) connects the full landform wheel (27) of spiral shape, the full landform wheel (27) of spiral shape by bearing
Connect the output shaft of stepper motor (11)；Dust exhaust apparatus is arranged in the upper surface of machine box (21), and the import of dust exhaust apparatus passes through ash sucking tube
Road (12) connects the device that sweeps up dust, and the device that sweeps up dust is arranged on the side of machine box (21)；The outlet of dust exhaust apparatus passes through ash discharge pipeline (4)
Dust holding vessel (5) is connected, dust holding vessel (5) is arranged in the upper surface of machine box (21).
2. a kind of full landform clean robot according to claim 1, which is characterized in that the dust exhaust apparatus includes sky
Heart cup motor (2), one end of hollow-cup motor (2) into grey integration box (3) by connecting ash sucking tube road (12), hollow-cup motor
(2) the other end connects ash discharge pipeline (4) by ash discharge integration box (1).
3. a kind of full landform clean robot according to claim 1, which is characterized in that the device that sweeps up dust includes setting
Four steering engines (20) on machine box (21), each steering engine (20) underside connection shaft coupling (23) are set, shaft coupling (23) leads to
Connecting rod (24) connection column type steering engine (25) is crossed, column type steering engine (25) connects ash inlet (9), and ash inlet (9) both sides are provided with relatively
The hairbrush (7) of rotation.
4. a kind of full landform clean robot according to claim 3, which is characterized in that the ash inlet (9) uses
Convex wide-mouth structure.
5. a kind of full landform clean robot according to claim 1, which is characterized in that the full landform wheel of the spiral shape
(27) PVC bristles polymer composite (14) and stickiness sucker (26) are provided on.
6. a kind of full landform clean robot according to claim 1, which is characterized in that the dust holding vessel (5)
Lower section is provided with the ash discharging hole (8) with insertion slot type baffle (28).
7. a kind of full landform clean robot according to claim 1, which is characterized in that below the machine box (21)
It is provided with polymer battery (17), the power output end of polymer battery (17) connects control circuit (18) by switch (16),
The signal input part of the first signal output end connection stepper motor (11) of control circuit (18)；Described ash inlet (9) bottom
One end of L-type connecting rod (19) is connected, the other end of L-type connecting rod (19) is provided with avoiding obstacles by supersonic wave sensor (6), avoiding obstacles by supersonic wave
First signal input part of the signal output end connection control circuit (18) of sensor (6), the second signal of control circuit (18)
Output end connects the signal output end of steering engine (20)；It is provided on the shell of the stepper motor (11) and is passed with infrared distance
The signal output end of the pedestal (22) of sensor (10), infrared distance sensor (10) is bi-directionally connected the second letter of control circuit (18)
Number input terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444263.XA CN108420368B (en) | 2018-05-10 | 2018-05-10 | All-terrain cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444263.XA CN108420368B (en) | 2018-05-10 | 2018-05-10 | All-terrain cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108420368A true CN108420368A (en) | 2018-08-21 |
| CN108420368B CN108420368B (en) | 2021-03-30 |
Family
ID=63162623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810444263.XA Active CN108420368B (en) | 2018-05-10 | 2018-05-10 | All-terrain cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108420368B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113374220A (en) * | 2020-03-09 | 2021-09-10 | 广东博智林机器人有限公司 | Wall surface processing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113374220A (en) * | 2020-03-09 | 2021-09-10 | 广东博智林机器人有限公司 | Wall surface processing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108420368B (en) | 2021-03-30 |
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