CN109394094A - A kind of network video waste handling cleaning vehicle - Google Patents
A kind of network video waste handling cleaning vehicle Download PDFInfo
- Publication number
- CN109394094A CN109394094A CN201811586169.4A CN201811586169A CN109394094A CN 109394094 A CN109394094 A CN 109394094A CN 201811586169 A CN201811586169 A CN 201811586169A CN 109394094 A CN109394094 A CN 109394094A
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- CN
- China
- Prior art keywords
- vehicle
- vehicle body
- wheel
- cabin
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4044—Vacuuming or pick-up tools; Squeegees
-
- 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
- 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
-
- 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
- Manipulator (AREA)
Abstract
This application discloses a kind of network video waste handlings to clear up vehicle, including rectangle vehicle body, and five degree-of-freedom manipulator, there are two cabins for body bottom and rear portion setting, and the chassis of vehicle is made of Mecanum wheel.Vehicular body front is inclined-plane and rotary cleaning brush, and hull back is equipped with fixed cloth material；Cabin there are two dividing in body tail cabin: one is circuit cabin, and two be rubbish cabin；There are two small-sized searchlights, incline apex, and camera is housed for dress on inclined-plane.The application clear view small space internal image and can keep machine movement flexibly accurate, and it is quick and convenient that five degree-of-freedom manipulator clamps object.There is structure to be simply easily assembled to, dismantle and repair, convenient for operation, and the advantages of low-cost high-efficiency.
Description
Technical field
This application involves a kind of intelligent vehicle of waste handling cleaning, especially a kind of network video waste handling clears up vehicle.
Background technique
Currently, the increase of the accelerating rhythm of life and operating pressure influences with the progress and social development of science and technology,
It is desirable to more free from cumbersome family's daily cleaning affairs.Clean robot enters family into certainty
Trend.
Cleaning robot is chiefly used in domestic hygiene cleaning, and clean robot price is all high, and suitable environment is less, no
It can adapt to complex environment, encounter various dead angles and be difficult to make accurate action.General cleaning conveying robot can not be seen
The image for examining institute's cleaning area does not also cause cleaning handling efficiency low equipped with multivariant mechanical arm.
Summary of the invention
In order to overcome the shortcomings of existing carrying cleaning machine to object observation is carried in small space and cleaning, the application mention
Supplying a kind of network video waste handling cleaning vehicle, it is therefore intended that the machine can not only observe the object of blind area, and
The function of the carrying cleaning to object can be manipulated to reach to machine conveniently by the end PC.
To realize above-mentioned technical purpose and the technique effect, the application is achieved through the following technical solutions:
A kind of network video waste handling cleaning vehicle, including five degree-of-freedom manipulator, vehicle body, circuit cabin, rubbish cabin, vehicle hold,
Mecanum wheel.Five degree-of-freedom manipulator is equipped at the top of the vehicle body, rear side is equipped with circuit cabin and rubbish cabin, and tail portion, which is equipped with, to be fixed
Cloth material, front are equipped with inclined-plane；The incline apex is equipped with camera, is set on face there are two searchlight, front is equipped with rotation
Hairbrush；The body bottom is equipped with vehicle hold, and the vehicle hold is located between rotating brushes and fixed cloth material；The vehicle body
On Mecanum wheel, the Mecanum wheel is made of the near front wheel, off-front wheel, left rear wheel, off hind wheel.
Preferably, the five degree-of-freedom manipulator includes the first steering engine being sequentially connected in series, the second steering engine, third steering engine,
Four steering engines and the 5th steering engine, the 5th steering engine are located at top the first steering engine connection gripper of vehicle body.The steering engine 1 connects machine
Machinery claw, gripper are made of the two parts that can be opened and closed.
Preferably, the vehicle body is rectangle, and material is magnesium alloy.
Preferably, the Mecanum wheel assembly method is diamond shape, and the near front wheel and off hind wheel are 45 ° of directions, off-front wheel and
Left rear wheel is 135 ° of directions
Preferably, the rotating brushes is equipped with brushless motor, and horizontal parallel and vehicle foreside are placed.
Preferably, the searchlight horizontal direction irradiation, two searchlights are placed in parallel.
Preferably, the angle of camera and horizontal horizontal plane is 25 °.
The beneficial effect of the application is:
The application is reasonable in design, can easily operate machine to the object observation in small space in blind area
It carries and clears up.It is low in cost, it is easy to operate, it is convenient and reliable.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application below will describe embodiment required
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of the application；
Fig. 2 is the structural schematic diagram of the five degree-of-freedom manipulator of the application；
Fig. 3 is the structural schematic diagram of the chassis of the application；
In attached drawing, parts list represented by the reference numerals are as follows:
The first steering engine of 1-, the second steering engine of 2-, 3- third steering engine, the 4th steering engine of 4-, the 5th steering engine of 5-, 6- gripper, 7- mechanical arm,
8- camera, the inclined-plane 9-, 10- searchlight, 11- rubbish cabin, 12- circuit cabin, the fixed cloth material of 13-, 14- rotating brushes, 15-
Vehicle body, 16- vehicle hold, 17- Mecanum wheel, 18- off-front wheel, 19- the near front wheel, 20- left rear wheel.21- off hind wheel.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
It please refers to shown in Fig. 1-3, a kind of network video waste handling cleaning vehicle, including five degree-of-freedom manipulator 7, vehicle body
15, circuit cabin 12, rubbish cabin 11, vehicle hold 16, Mecanum wheel 17.Five degree-of-freedom manipulator 7, vehicle body are equipped at the top of vehicle body 15
15 rear sides are equipped with circuit cabin 12 and rubbish cabin 11, and 15 tail portion of vehicle body is equipped with fixed cloth material 13, and 15 front of vehicle body is equipped with inclined-plane
9；It is equipped with camera 8 at the top of inclined-plane 9, is set on 9 face of inclined-plane there are two searchlight 10,9 front of inclined-plane is equipped with rotating brushes 14；Vehicle body
15 bottoms are equipped with vehicle hold 16, and vehicle hold 16 is located between rotating brushes 14 and fixed cloth material 13；The vehicle body 15 is located at
On Mecanum wheel 17, Mecanum wheel 17 constitutes 21 by the near front wheel 19, off-front wheel 18, left rear wheel 20, off hind wheel.
Wherein, as shown in Fig. 2, five degree-of-freedom manipulator 7 includes the first steering engine 1, the second steering engine 2, third being sequentially connected in series
Steering engine 3, the 4th steering engine 4 and the 5th steering engine 5, first steering engine 1 connect gripper 6, and gripper 6 is by the two parts that can open and close
Composition.Second steering engine 2 controls gripper 6 and rotates, and third steering engine 3 and the 4th steering engine 4 cooperate and control five degree-of-freedom manipulator 7
Front and back and move up and down.Moving left and right for 5th steering engine 5 control five degree-of-freedom manipulator 7, completes high-precision crawl task.
Wherein, it includes two cabins that vehicle hold 16, which is located at 14 rear of rotating brushes for collecting the rubbish on ground, vehicle rear deck,
One is circuit cabin 12, another clamps the rubbish cabin 11 of object as mechanical arm, effectively raises machine and carries cleaning
Efficiency, while conveniently rubbish is toppled over.
Wherein, there are two searchlights 10 to the illumination in the environment of adapting to insufficient light, incline apex for dress in the middle part of inclined-plane 9
Equipped with the inclination angle camera 8 horizontal by 25 °, to observe the image on front ground.
As shown in figure 3,17 modes of emplacement of Mecanum wheel are as follows: the near front wheel 19 and off hind wheel 21 are 45 ° of directions, off-front wheel 18
It is 135 ° of directions with left rear wheel 20, machine may be implemented to advance, retreat, turns left, turning right, left, right translation.It can adapt to each
Kind complicated landform, so that the practicability of machine is more extensive.
The above is the preferred embodiments of the invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications should also regard
For protection scope of the present invention.
Claims (7)
1. a kind of network video waste handling clears up vehicle, including five degree-of-freedom manipulator (7), vehicle body (15), circuit cabin (12), rubbish
Rubbish cabin (11), vehicle hold (16), Mecanum wheel (17), it is characterised in that: five degree of freedom machine is equipped at the top of the vehicle body (15)
Tool arm (7), vehicle body (15) rear side are equipped with circuit cabin (12) and rubbish cabin (11), and vehicle body (15) tail portion is equipped with fixed cloth material
(13), vehicle body (15) front sets inclined-plane (9)；Camera (8) are equipped at the top of the inclined-plane (9), set that there are two visit on inclined-plane (9) face
Illuminator (10), inclined-plane (9) front are equipped with rotating brushes (14)；Vehicle body (15) bottom is equipped with vehicle hold (16), the vehicle bottom
Cabin (16) is located between rotating brushes (14) and fixed cloth material (13)；The vehicle body (16) is located on Mecanum wheel
(17), the Mecanum wheel is by the near front wheel (19), off-front wheel (18), left rear wheel (20), off hind wheel (21) composition.
2. network video waste handling according to claim 1 clears up vehicle, it is characterised in that: the five degree-of-freedom manipulator
It (7) include the first steering engine (1) being sequentially connected in series, the second steering engine (2), third steering engine (3), the 4th steering engine (4) and the 5th steering engine
(5), the first steering engine (1) connection gripper (6), the 5th steering engine (5) are located at the top of vehicle body (15).
3. network video waste handling according to claim 1 clears up vehicle, it is characterised in that: the vehicle body (15) is rectangular
Shape, material are magnesium alloy.
4. network video waste handling according to claim 1 clears up vehicle, it is characterised in that: the Mecanum wheel (17)
Assembly method is diamond shape, and the near front wheel (19) and off hind wheel (21) are 45 ° of directions, and off-front wheel (18) and left rear wheel (20) are 135 ° of sides
To.
5. network video rubbish according to claim 1 clears up carrier, it is characterised in that: the fixed cloth material
(13) it is located at vehicle body (15) tail portion, is placed with vehicle body (15) horizontal parallel.
6. network video rubbish according to claim 1 clears up carrier, it is characterised in that: the rotary hairbrush (14)
Equipped with brushless motor, horizontal parallel and vehicle body (15) front are placed.
7. network video rubbish according to claim 1 clears up carrier, it is characterised in that: the camera (8) and water
The angle of plane is 25 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586169.4A CN109394094A (en) | 2018-12-25 | 2018-12-25 | A kind of network video waste handling cleaning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586169.4A CN109394094A (en) | 2018-12-25 | 2018-12-25 | A kind of network video waste handling cleaning vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109394094A true CN109394094A (en) | 2019-03-01 |
Family
ID=65460808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586169.4A Pending CN109394094A (en) | 2018-12-25 | 2018-12-25 | A kind of network video waste handling cleaning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109394094A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110013196A (en) * | 2019-04-15 | 2019-07-16 | 昆明理工大学 | A kind of household cleaning transfer robot |
| CN110036398A (en) * | 2019-03-04 | 2019-07-19 | 成都赛果物联网技术有限公司 | A kind of excrement method for cleaning, device and system |
| CN114689899A (en) * | 2022-03-23 | 2022-07-01 | 南京工程学院 | Detection device for object moving state |
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| CN106113059A (en) * | 2016-08-12 | 2016-11-16 | 桂林电子科技大学 | A kind of waste recovery robot |
| CN107299626A (en) * | 2017-08-16 | 2017-10-27 | 潘灵灵 | A kind of Green Machine people for clearing up river garbage |
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| CN206982727U (en) * | 2017-05-08 | 2018-02-09 | 昆明理工大学 | A kind of wall-mounted five degree-of-freedom manipulator |
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| CN207739214U (en) * | 2018-01-05 | 2018-08-17 | 宋子诏 | A kind of round-the-clock in-orbit track Intelligent cleaning robot |
| CN209661531U (en) * | 2018-12-25 | 2019-11-22 | 南京工程学院 | A kind of network video waste handling cleaning vehicle |
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2018
- 2018-12-25 CN CN201811586169.4A patent/CN109394094A/en active Pending
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| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN106113059A (en) * | 2016-08-12 | 2016-11-16 | 桂林电子科技大学 | A kind of waste recovery robot |
| CN206982727U (en) * | 2017-05-08 | 2018-02-09 | 昆明理工大学 | A kind of wall-mounted five degree-of-freedom manipulator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110036398A (en) * | 2019-03-04 | 2019-07-19 | 成都赛果物联网技术有限公司 | A kind of excrement method for cleaning, device and system |
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| CN114689899A (en) * | 2022-03-23 | 2022-07-01 | 南京工程学院 | Detection device for object moving state |
| CN114689899B (en) * | 2022-03-23 | 2024-05-17 | 南京工程学院 | Detection device for object moving state |
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