CN109770793B - Sweeping robot with garbage collecting mechanism - Google Patents

Abstract

The invention relates to the field of sweeping robots, in particular to a sweeping robot with a garbage collection mechanism. A sweeping robot with a garbage collection mechanism includes a sweeping robot body, a single-chip microcomputer is arranged in the sweeping robot body, a sweeping machine wheel and a universal wheel are fixed on the sweeping machine skeleton on the sweeping robot body, and a main brush is also fixed on the sweeping machine frame The motor bracket and the main brush bracket, the main brush motor bracket is fixed on the main brush motor, the main brush motor drives the main brush to rotate, and also includes the steering gear, the dust box, the dust box bracket and the dust box movable bracket. The present invention does not use a vacuum cleaner, and when the garbage needs to be collected, the dust collecting box in the sweeper is lifted and lowered to be close to the ground, and the garbage enters the dust collecting box through the rotation of the main brush. In theory, this method can reduce the power consumption of the robot, and can clean slightly larger garbage.

Description

Sweeping robot with garbage collection mechanism

technical field

The invention relates to the field of sweeping robots, in particular to a sweeping robot with a garbage collection mechanism.

Background technique

At present, the shape of the cleaning robot shell is mainly disc type, the driving device is a structure of two driving wheels and a swivel wheel, and the garbage collection device is a single vacuum cleaner or a vacuum cleaner with a shaft-shaped brush to collect garbage (such as Mijia sweeping robot). However, in the process of collecting garbage, the electric energy of the robot is continuously converted into wind energy and then into mechanical energy that makes the garbage rise to the dust box. It is inevitable that a lot of energy is lost, and the high noise generated by the vacuum cleaner is also a problem.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a sweeping robot with a garbage collection mechanism, which can complete the task of collecting garbage without using a vacuum cleaner, reduce energy loss, reduce noise to a certain extent, and can clean slightly larger garbage.

In order to achieve the above purpose, the present invention adopts the following technical solutions: a sweeping robot with a garbage collection mechanism, including a sweeping robot body, a single-chip microcomputer is arranged in the sweeping robot body, and a sweeping machine skeleton on the sweeping robot body is fixed with a sweeping machine wheel and a million. The main brush motor bracket and the main brush bracket are also fixed on the skeleton of the sweeper, the main brush motor bracket is fixed with the main brush motor, the main brush motor drives the main brush to rotate, one end of the main brush is fixed with the motor shaft, and the main brush shaft is The motor shaft is coaxial, and the other end is connected to the main brush bracket. It also includes the steering gear, the dust box, the dust box bracket and the dust box movable bracket. The dust box includes a dust box with an opening on the rear side. The dust collecting arm is fixed on the side, the left and right sides of the dust collecting frame are provided with connecting columns, the steering gear is fixed on the frame of the sweeper, the two dust collecting box brackets are fixed on the left and right sides of the frame of the sweeper respectively, and the dust collecting arms on the dust collecting frame are fixed on the left and right sides of the frame. It is hinged with the steering arm of the steering gear through bolts. The movable bracket of the dust collecting box is provided with an oblong hole and a connecting hole. The connecting columns on the left and right sides of the dust collecting box are respectively connected to the connecting holes on the movable bracket of the dust collecting box on the left and right sides. , the oblong hole on the left dust box movable bracket and the bolt on the left dust box bracket are hinged, the oblong hole on the right dust box movable bracket and the bolt on the right dust box bracket are hinged, the dust box After being fixed, it is located in front of the main brush, and the rear opening of the dust collecting frame faces the main brush, and the steering gear is connected with the single chip microcomputer in the cleaning robot body.

When the robot walks forward, the dust collecting box is suspended, the dust collecting box is located in front of the main brush, and the main brush rotates forward to sweep the garbage forward. At this time, only the main brush is in contact with the ground by the collecting mechanism (as shown in Fig. when the dust box is suspended). When the task of collecting garbage is triggered: the main brush continues to rotate, the single-chip microcomputer receives the trigger signal and sends a control signal to the steering gear, the steering gear drives the steering gear arm to rotate, and the other end of the steering gear arm is hinged on the dust collecting arm of the dust box, so that the collection The dust box moves obliquely downward until it is close to the ground (as shown in Figure 7, the dust box has dropped to the ground at this time), because the steering gear continues to rotate, the dust box is attached to the ground and faces the direction of the main brush. The brush is able to sweep debris into the dust box (as shown in Figure 8). After the garbage collection task is completed, the steering gear turns to drive the dust box back to its original position. When the single-chip microcomputer receives the garbage dumping signal: the servo arm drives the dust box to move to the main brush (as shown in Figure 8), and the sweeping brush is reversed, and the garbage can be swept out of the dust box at this time. After the garbage dumping task is completed, the steering gear rotates to drive the dust box back to its original position.

In the above-mentioned sweeping robot with a garbage collection mechanism, the sweeping robot body has the ability to plan a path and can sweep garbage according to a rectangular route. Because the sweeper only moves forward or turns at a right angle when cleaning garbage, the dust will always be swept forward by the main brush. When the robot moves forward and judges that there is no obstacle ahead, it can perform the task of collecting garbage at any time.

In the above-mentioned cleaning robot with a garbage collection mechanism, a plastic slope is provided at the opening on the rear side of the dust collecting frame.

In the above-mentioned sweeping robot with garbage collection mechanism, rubber strips are installed on the plastic slope.

The present invention does not use a vacuum cleaner, and when the garbage needs to be collected, the dust collecting box in the sweeper is lifted and lowered to be close to the ground, and the garbage enters the dust collecting box through the rotation of the main brush. In theory, this method can reduce the power consumption of the robot, and can clean slightly larger garbage.

Description of drawings

Figure 1 is a bottom view of the present invention.

Figure 2 is a side view of the present invention.

Figure 3 is a front view of the present invention.

FIG. 4 is a schematic diagram of a dust collecting box.

Fig. 5 is a front view of the dust box.

Figure 6 is a side view of the dust collecting box when it is suspended.

Fig. 7 is a view showing the state that the dust collecting box has been lowered to the ground and is close to the main brush.

Fig. 8 is a view showing the state in which the dust box is collecting garbage.

In the picture: 100-sweeper wheel, 101-sweeper frame, 102-universal wheel, 103-main brush motor bracket, 104-main brush motor, 105-main brush, 106-dust box bracket, 107-dust collector Box movable bracket, 108 - dust box, 109 - steering gear, 110 - connecting column, 111 - plastic slope, 112 - dust collecting arm.

Detailed ways

Figure 1-3 shows that the dust box and the main brush are installed at the position of the sweeping robot, wherein the sweeper wheel 100 is fixed on the sweeper frame 101, and the sweeper frame 101 is a plastic plate. The steering gear and motor are installed on it, the universal wheel 102 is fixed on the sweeper frame 101, the main brush motor bracket 103 and the main brush bracket are fixed on the sweeper frame 101, and the main brush motor 104 is installed on the main brush motor bracket 103 One end of the main brush 105 is fixed with the motor shaft, and the main brush shaft is coaxial with the motor shaft, and the other end is connected to the main brush bracket, the main brush 105 rotates to clean the dust, and the two dust box brackets 106 They are respectively fixed on the left and right sides of the sweeper frame 101 and cannot be moved. The two dust box movable brackets 107 are provided with oblong holes and connecting holes, which are hinged by the oblong holes and the bolts on the dust box bracket 106 on the same side, using the connecting holes. It is connected to the connecting column on the same side of the dust box and can be moved. The dust box 108 is installed in front of the main brush and can move up and down obliquely. At this time, the movable bracket 107 of the dust box can go around the When the bolt is rotated, the steering gear 109 is fixed on the frame 101 of the sweeper and cannot move.

Figure 4-5 is the engineering drawing of the dust collecting box 108. The dust collecting box includes a dust collecting frame with openings on the rear side and the upper side. The dust collecting arm 112 is fixed on the front side of the dust collecting frame, and the left and right sides of the dust collecting frame are provided with connecting columns 110. , the rear opening of the dust collecting frame faces the main brush, the rear opening of the dust collecting frame is also provided with a plastic slope 111 , and a rubber strip is installed on the plastic slope 111 . The dust collecting frame is connected to the movable bracket 107 of the dust collecting box through the connecting columns on the left and right sides, and the dust collecting arm 112 is hinged on the steering gear arm of the steering gear through bolts.

Fig. 6 is a side view of the dust collecting box when it is suspended, Fig. 7 is a state that the dust collecting box has been lowered to the ground and is approaching the main brush, and Fig. 8 is a state that the dust collecting box is collecting garbage. This solution is suitable for sweeping robots that have the ability to plan paths and can sweep garbage according to a rectangular route, such as the Mijia sweeping robot. Because the sweeper only moves forward or turns at a right angle when cleaning garbage, the dust will always be swept forward by the main brush. When the robot moves forward and judges that there is no obstacle ahead, it can perform the task of collecting garbage at any time.

Claims (4)

1. A sweeping robot with a garbage collection mechanism, including a sweeping robot body, a single-chip microcomputer is arranged in the sweeping robot body, and a sweeper wheel (100) and a universal wheel (102) are fixed on the sweeper skeleton (101) on the sweeping robot body. ), the main brush motor bracket (103) and the main brush bracket are also fixed on the sweeper frame (101), the main brush motor bracket (104) is fixed on the main brush motor bracket, and the main brush motor (104) drives the main brush (105) Rotating, one end of the main brush (105) is fixed with the motor shaft of the main brush motor (104), and the other end is mounted on the main brush bracket, which is characterized in that it also includes a steering gear (109), a dust collecting box (108), a dust collecting box A bracket (106) and a dust-collecting box movable bracket (107), the dust-collecting box (108) includes a dust-collecting frame with an opening on the rear side, a dust-collecting arm (112) is fixed on the front side of the dust-collecting frame, and the left and right sides of the dust-collecting frame are arranged There are connecting posts (110), the steering gear (109) is fixed on the sweeper frame (101), two dust box brackets (106) are respectively fixed on the left and right sides of the sweeper frame, and the dust collecting arms (112) on the dust collecting frame ) is hinged with the steering arm of the steering gear, the dust box movable bracket (107) is provided with an oblong hole and a connecting hole, and the connecting columns on the left and right sides of the dust box are respectively movably connected to the left and right dust box movable brackets. On the connecting hole, the oblong hole on the left dust box movable bracket is hinged with the bolt on the left dust box bracket, and the oblong hole on the right dust box movable bracket and the bolt on the right dust box bracket are hinged. After the dust collecting box is fixed, it is located in front of the main brush and the rear opening of the dust collecting frame faces the main brush. The steering gear (109) is connected to the single chip microcomputer in the robot body. The dust collecting box can move up and down obliquely. After the lower movement is close to the ground, it also moves closer to the direction of the main brush. 2 . The sweeping robot with a garbage collection mechanism according to claim 1 , wherein the sweeping robot body has the ability to plan a path and can clean garbage according to a rectangular route. 3 . 3. The sweeping robot with a garbage collection mechanism according to claim 2, characterized in that a plastic slope (111) is provided at the rear opening of the dust collecting frame. 4. The sweeping robot with a garbage collection mechanism according to claim 3, characterized in that a rubber strip is installed on the plastic slope (111).

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