CN108420368B - All-terrain cleaning robot - Google Patents
All-terrain cleaning robot Download PDFInfo
- Publication number
- CN108420368B CN108420368B CN201810444263.XA CN201810444263A CN108420368B CN 108420368 B CN108420368 B CN 108420368B CN 201810444263 A CN201810444263 A CN 201810444263A CN 108420368 B CN108420368 B CN 108420368B
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- China
- Prior art keywords
- dust
- machine box
- ash
- terrain
- storage tank
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Classifications
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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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, 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
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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
-
- 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
An all-terrain cleaning robot comprises a machine box, wherein two sides of the upper surface and the lower surface of the machine box are respectively provided with a machine frame, the machine frames are connected with a spiral all-terrain wheel through bearings, and the spiral all-terrain wheel is connected with an output shaft of a stepping motor; the upper surface of the machine box is provided with a dust suction device, the inlet of the dust suction device is connected with an ash sweeping device through an ash suction pipeline, and the ash sweeping device is arranged on the strip edge of the machine box; an outlet of the dust suction device is connected with a dust storage tank through a dust outlet pipeline, and the dust storage tank is arranged on the machine box; when the machine box is used, the two sides of the upper surface and the lower surface of the machine box are respectively provided with the spiral all-terrain wheels, so that the machine box is adaptive to a vertical wall surface and a partial concave-convex wall surface; an outlet of the dust suction device is connected with a dust storage tank through a dust outlet pipeline, so that dust can be collected in the dust storage tank; the invention has the advantage of reducing the workload of cleaning personnel.
Description
Technical Field
The invention belongs to the technical field of cleaning robots, and particularly relates to an all-terrain cleaning robot.
Background
With the rapid development of economic life, the household cleaning mode is gradually replaced by a robot and becomes one of important household cleaning modes. Because the family will clean mainly there are two areas on ground, the wall, there have been various ground cleaning robot and have carried out the innovation to ground, but do not have an effective wall cleaning robot to the wall to replace the manpower to carry out complete autonomous working, cause people to the clear unsatisfied of family's wall, also caused the clear interests blank of this piece of family's wall to also bring injury on the health such as waist soreness backache, scapulohumeral periarthritis to the cleanup crew, even more the person is to the huge amount of labour that fatigues on a day clearly be unpleasant. Therefore, the household wall cleaning robot aims at the defects that the household wall cleaning robot is blank in application at present, people cannot meet the requirement of household wall cleaning, physical injury is brought to cleaning personnel, and workers go home to work in a large amount.
The cleaning robot is a special robot for human service, mainly used for cleaning in family hygiene, and has a mechatronic system for path finding and navigation. The cleaning robot replaces manpower to clean, greatly reduces the labor amount of cleaning personnel, greatly improves the quality of life of a family, and has very important significance for filling the wall surface area cleaning of the family. The stability of the running speed of the all-terrain cleaning robot in the operation process, the obstacle avoidance capacity, the wall climbing capacity, the cleaning force and the like are directly related to the cleaning operation effect. In the actual use process, the concave-convex surface of the wall decoration can influence the operation effect of the robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a household all-terrain cleaning robot which can be adaptive to the cleaning work of dust on a vertical wall surface and can be adaptive to a part of concave-convex wall surfaces.
In order to achieve the purpose, the invention adopts the technical scheme that:
an all-terrain cleaning robot comprises a machine box 21, wherein two sides of the upper surface and the lower surface of the machine box 21 are respectively provided with a machine frame 15, the machine frame 15 is connected with a spiral all-terrain wheel 27 through a bearing, and the spiral all-terrain wheel 27 is connected with an output shaft of a stepping motor 11; a dust suction device is arranged on the machine box 21, the inlet of the dust suction device is connected with an ash sweeping device through an ash suction pipeline 12, and the ash sweeping device is arranged on the edge of the machine box 21; the outlet of the dust suction device is connected with a dust storage tank 5 through an ash outlet pipeline 4, and the dust storage tank 5 is arranged on the machine box 21.
The dust collection device comprises a hollow cup motor 2, one end of the hollow cup motor 2 is connected with a dust suction pipeline 12 through a dust inlet integration box 3, and the other end of the hollow cup motor 2 is connected with a dust outlet pipeline 4 through a dust outlet integration box 1.
The ash sweeping device comprises four steering engines 20 arranged on a machine box 21, a coupler 23 is movably connected below each steering engine 20, the coupler 23 is connected with a column-shaped steering engine 25 through a connecting rod 24, the column-shaped steering engine 25 is connected with an ash inlet 9, and brushes 7 which rotate relatively are arranged on two sides of the ash inlet 9.
The spiral all-terrain wheel 27 is provided with a PVC bristle polymer composite material 14 and an adhesive suction cup 26.
The ash inlet 9 adopts a convex wide-mouth structure.
The dust discharging port 8 with a slot type baffle 28 is arranged below the dust storage tank 5.
A polymer battery 17 is arranged below the case 21, an electric power output end of the polymer battery 17 is connected with the control circuit 18 through the switch 16, and a first signal output end of the control circuit 18 is connected with a signal input end of the stepping motor 11; the bottom of the ash inlet 9 is connected with one end of an L-shaped connecting rod 19, the other end of the L-shaped connecting rod 19 is provided with an ultrasonic obstacle avoidance sensor 6, the signal output end of the ultrasonic obstacle avoidance sensor 6 is connected with the first signal input end of a control circuit 18, and the second signal output end of the control circuit 18 is connected with the signal output end of a steering engine 20; the shell of the stepping motor 11 is provided with a base 22 with an infrared distance sensor 10, and a signal output end of the infrared distance sensor 10 is connected with a second signal input end of the control circuit 18 in a bidirectional mode.
The invention has the beneficial effects that:
the invention adopts the structure that the two sides of the upper surface and the lower surface of the machine box 21 are respectively provided with the spiral all-terrain wheels 27, so as to be self-adaptive to the vertical wall surface and the partial concave-convex wall surface; the inlet of the dust suction device is connected with an ash sweeping device through an ash suction pipeline 12, and the ash sweeping device is arranged on the edge of the machine box 21; the outlet of the dust suction device is connected with the dust storage tank 5 through the dust outlet pipeline 4, so that the dust storage tank 5 can be collected with dust, and the workload of cleaning personnel is reduced.
Drawings
Fig. 1 is a front view of the structure of the present invention.
Fig. 2 is a rear view of the structure of the present invention.
Fig. 3 is a front bottom view of the structure of the present invention.
Fig. 4 is a schematic structural diagram of the ash sweeping device of the invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
Referring to fig. 1, 2 and 3, the all-terrain cleaning robot comprises a machine box 21, wherein two sides of the upper surface and the lower surface of the machine box 21 are respectively provided with a machine frame 15, the machine frame 15 is connected with a spiral all-terrain wheel 27 through a bearing, and the spiral all-terrain wheel 27 is connected with an output shaft of a stepping motor 11; a dust suction device is arranged on the machine box 21, the inlet of the dust suction device is connected with an ash sweeping device through an ash suction pipeline 12, and the ash sweeping device is arranged on the edge of the machine box 21; the outlet of the dust suction device is connected with a dust storage tank 5 through an ash outlet pipeline 4, and the dust storage tank 5 is arranged on the machine box 21.
Referring to fig. 1, the dust suction apparatus includes a coreless motor 2, one end of the coreless motor 2 is connected to an ash suction pipe 12 through an ash inlet integration box 3, and the other end of the coreless motor 2 is connected to an ash discharge pipe 4 through an ash discharge integration box 1.
Referring to fig. 4, the dust sweeping device comprises four steering engines 20 arranged on a machine box 21, a coupler 23 is movably connected below each steering engine 20, the coupler 23 is connected with a column-shaped steering engine 25 through a connecting rod 24, the column-shaped steering engine 25 is connected with a dust inlet 9, and brushes 7 which rotate relatively are arranged on two sides of the dust inlet 9.
Referring to fig. 1, the spiral all-terrain wheel 27 is provided with a PVC bristle polymer composite 14 and an adhesive suction cup 26.
Referring to fig. 4, the ash inlet 9 adopts a convex wide-mouth structure.
Referring to fig. 3, a dust discharge port 8 having a slot type baffle 28 is provided below the dust storage tank 5.
Referring to fig. 1 and 4, a polymer battery 17 is disposed below the case 21, an electric power output end of the polymer battery 17 is connected to the control circuit 18 through the switch 16, and a first signal output end of the control circuit 18 is connected to a signal input end of the stepping motor 11; the bottom of the ash inlet 9 is connected with one end of an L-shaped connecting rod 19, the other end of the L-shaped connecting rod 19 is provided with an ultrasonic obstacle avoidance sensor 6, a signal output end of the ultrasonic obstacle avoidance sensor 6 is connected with a signal input end of a control circuit 18, a second signal output end of the control circuit 18 is connected with a signal output end of a steering engine 20, a base 22 with an infrared distance sensor 10 is arranged on a shell of the stepping motor 11, and the signal output end of the infrared distance sensor 10 is connected with a second signal input end of the control circuit 18 in a two-way mode.
The working principle of the invention is as follows:
when the robot is used, the spiral all-terrain wheels 27 are placed in a manner of being parallel to the wall surface in a pressing mode, the sticky sucker 26 is matched with the PVC seta polymer composite material 14 to enable the robot to be vertically adsorbed on the wall surface, the switch 16 is opened, the steering engine 20 corresponding to the advancing direction is matched with the coupler 23 to push the connecting rod 24 out of the machine box 21, the infrared distance sensor 10 is matched with the column-shaped steering engine 25 to adjust the angle between the brush 7 rotating relatively and the wall surface to reach a proper position, the brush 7 rotating relatively cleans dust on the wall surface to the dust inlet 9, the hollow cup motor 2 sucks the dust from the dust inlet pipeline 12 and discharges the dust into the dust storage tank 5 from the dust outlet pipeline 4 when working, the ultrasonic obstacle avoidance sensor 6 is matched with the control circuit 18 to feed back signals to the stepping motor 11 to avoid obstacles in the advancing direction, the infrared distance sensor 10 carries out position marking so as to optimize, when the dust storage tank 5 is in a saturated capacity state or the robot cannot perform cleaning work due to insufficient self electricity, the robot can select the shortest distance route to return to the initial working position mark point, and the slot type baffle 28 above the dust discharging port 8 is pulled open to empty the dust in the storage tank.
Claims (2)
1. The all-terrain cleaning robot is characterized by comprising a machine box (21), wherein two sides of the upper surface and the lower surface of the machine box (21) are respectively provided with a rack (15), the racks (15) are connected with a spiral all-terrain wheel (27) through bearings, and the spiral all-terrain wheel (27) is connected with an output shaft of a stepping motor (11); a dust suction device is arranged on the machine box (21), an inlet of the dust suction device is connected with an ash sweeping device through an ash suction pipeline (12), and the ash sweeping device is arranged on one side of the machine box (21); the outlet of the dust suction device is connected with a dust storage tank (5) through a dust outlet pipeline (4), and the dust storage tank (5) is arranged on the machine box (21);
the dust collection device comprises a hollow cup motor (2), one end of the hollow cup motor (2) is connected with a dust collection pipeline (12) through a dust inlet integration box (3), and the other end of the hollow cup motor (2) is connected with a dust outlet pipeline (4) through a dust outlet integration box (1);
the spiral all-terrain wheel (27) is provided with a PVC bristle polymer composite material (14) and a viscous sucker (26);
the ash sweeping device comprises four steering engines (20) arranged on a machine box (21), a coupler (23) is movably connected below each steering engine (20), the coupler (23) is connected with a column-shaped steering engine (25) through a connecting rod (24), the column-shaped steering engine (25) is connected with an ash inlet (9), and brushes (7) which rotate relatively are arranged on two sides of the ash inlet (9);
the ash inlet (9) adopts a convex wide-mouth structure;
and an ash discharge port (8) with a slot type baffle (28) is arranged below the dust storage tank (5).
2. The all-terrain cleaning robot as claimed in claim 1, characterized in that a polymer battery (17) is arranged below the case (21), an electric output end of the polymer battery (17) is connected with the control circuit (18) through a switch (16), and a first signal output end of the control circuit (18) is connected with a signal input end of the stepping motor (11); the bottom of the ash inlet (9) is connected with one end of an L-shaped connecting rod (19), the other end of the L-shaped connecting rod (19) is provided with an ultrasonic obstacle avoidance sensor (6), the signal output end of the ultrasonic obstacle avoidance sensor (6) is connected with the first signal input end of a control circuit (18), and the second signal output end of the control circuit (18) is connected with the signal output end of a steering engine (20); a base (22) with an infrared distance sensor (10) is arranged on a shell of the stepping motor (11), and a signal output end of the infrared distance sensor (10) is connected with a second signal input end of the control circuit (18) in a two-way mode.
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 CN108420368A (en) | 2018-08-21 |
| CN108420368B true CN108420368B (en) | 2021-03-30 |
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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 |
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| CN (1) | CN108420368B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113374220B (en) * | 2020-03-09 | 2022-05-17 | 广东博智林机器人有限公司 | Wall surface processing equipment |
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| CN205094341U (en) * | 2015-11-10 | 2016-03-23 | 南京理工大学泰州科技学院 | Wall clean robot is climbed to vacuum adsorption formula track |
| CN205338822U (en) * | 2016-01-04 | 2016-06-29 | 金陵科技学院 | Robot is used in window clearance |
| CN206171598U (en) * | 2016-07-05 | 2017-05-17 | 朱平鑫 | Sucking disc subassembly and use it climb wall robot |
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| KR100922860B1 (en) * | 2007-11-15 | 2009-10-20 | 재단법인서울대학교산학협력재단 | Climbing robot |
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|---|---|---|---|---|
| CN104108431A (en) * | 2013-04-16 | 2014-10-22 | 北京理工大学 | Tracked intelligent traveling-on-wall platform |
| CN205094341U (en) * | 2015-11-10 | 2016-03-23 | 南京理工大学泰州科技学院 | Wall clean robot is climbed to vacuum adsorption formula track |
| CN205338822U (en) * | 2016-01-04 | 2016-06-29 | 金陵科技学院 | Robot is used in window clearance |
| CN206171598U (en) * | 2016-07-05 | 2017-05-17 | 朱平鑫 | Sucking disc subassembly and use it climb wall robot |
Non-Patent Citations (1)
| Title |
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| CN108420368A (en) | 2018-08-21 |
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