CN110013200B

CN110013200B - Ceiling cleaning robot

Info

Publication number: CN110013200B
Application number: CN201910460086.9A
Authority: CN
Inventors: 王雷; 杨文聪
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2024-04-02
Anticipated expiration: 2039-05-30
Also published as: CN110013200A

Abstract

The invention relates to a ceiling cleaning robot, which comprises a cage-shaped shell (1), wherein a cylindrical main support frame (2) is sleeved on the upper part of the cage-shaped shell (1), a sleeve on the lower part of the main support frame (2) is in running fit with a main motor mounting seat (3), and the lower end of the main motor mounting seat (3) is connected with the cage-shaped shell (1); the lower bottom surface of the main support (2) is connected with a group of propeller transmission devices, the upper end of a propeller transmission shaft (12) is fixed in the middle of a planetary gear (14), the planetary gear (14) is meshed with a sun gear (15) and an inner gear ring (16), and the sun gear (15) is connected with a gear transmission motor (18) through the transmission shaft; a dust collection bin (22), a dust collection fan (24) and a brush (26) are arranged on the cleaning carrier mounting plate (20) above the main support frame (2), and the brush (26) is connected with a driving motor (33) through a transmission device. The invention has the advantages of automatically cleaning the ceilings, collecting dust, improving cleaning quality and efficiency and ensuring human health.

Description

Ceiling cleaning robot

Technical Field

The invention relates to the technical field of intelligent cleaning products, in particular to a ceiling cleaning robot.

Background

Along with the progress and development of science and technology, intelligent penetration is gradually carried out in every family, but at present, the ceiling is clean or the factory building top is still basically cleaned by the people, and manual operation wastes time and energy, is inefficiency, in addition, can inhale a large amount of dust when foremost manual operation to cause the injury to people's lung, probably can cause respiratory disease in the long term in the past. Under the condition of cleaning the household and sanitation, a feather duster is mostly used for cleaning the ceiling, so that the possibility that the dust is sucked into the lung when falling down still exists, and the falling dust is cleaned for the second time.

Disclosure of Invention

The invention aims to solve the problems that the existing ceiling cleaning device is time-consuming and labor-consuming and low in efficiency and can produce adverse effects on human bodies, and provides the ceiling cleaning robot which not only can automatically clean the ceilings, but also can collect cleaned dust, thereby improving cleaning quality and efficiency and guaranteeing the health of the human bodies.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

a ceiling cleaning robot, characterized by:

comprises a cage-shaped shell, wherein the upper part of the cage-shaped shell is sleeved with a cylindrical main support;

a sleeve is fixed on the lower bottom surface of the main support, the sleeve is connected with a main motor mounting seat through a bearing, the sleeve and the main motor mounting seat form running fit, a main motor is arranged in the main motor mounting seat, the upper part of the main motor is fixed on the lower bottom surface of the main support, an output shaft of the main motor is connected with a main transmission shaft below the main motor, the main transmission shaft is fixed in a central hole at the lower part of the main motor mounting seat, and the lower end of the main motor mounting seat is connected with the bottom of the cage-shaped shell through a bolt;

the lower bottom surface of the main support is also fixed with a group of propeller transmission shaft fixing seats, each propeller transmission shaft fixing seat is internally provided with a propeller transmission shaft, the lower end of each propeller transmission shaft is connected with a propeller, the upper end of each propeller transmission shaft is fixed at the middle part of a planetary gear in the main support, each planetary gear is meshed with a sun gear at the center and an inner gear ring around the sun gear, the middle part of the sun gear is connected with a gear transmission shaft, and the upper part of the gear transmission shaft is connected with a gear transmission motor so as to drive the planetary gear to rotate the propeller, thereby providing lifting force for the whole cleaning robot;

the periphery of the inner gear ring is connected with the inner wall of the main support frame through an anti-drop gear bearing so as to prevent the situation that the gear engagement of the whole sun planetary gear is loose in high-speed operation.

The upper part of the main support is provided with a cleaning carrier mounting plate, the cleaning carrier mounting plate comprises a horizontal circular plate, the circular plate is fixedly connected with the bottom plate of the main support through a group of connecting rods, the lower bottom surface of the circular plate is provided with a group of shaft mounting seats, the middle part of the cleaning carrier mounting plate is provided with a concave dust collection bin, and the gear drive motor is connected to the bottom of the dust collection bin;

the cleaning carrier mounting plate is also provided with a pair of circular grooves, the side walls of the circular grooves are communicated with the dust collection bin, a dust collection fan is arranged in each circular groove, and the lower end of the dust collection fan is connected with the hollow cup motor so as to drive the dust collection fan to suck and collect dust into the dust collection bin;

a group of brushes are arranged above the cleaning carrier mounting plate and are connected with the brush shafts, and the brush shafts are sleeved with stop rings to prevent the brushes from falling off in rotation;

each brush shaft penetrates through a circular plate of the cleaning carrier mounting plate, the lower end of each brush shaft is respectively connected with a first bevel gear, each first bevel gear is meshed with a corresponding second bevel gear, the second bevel gears are connected with a driving shaft, the driving shaft is connected in the shaft mounting seat and is connected with a driving motor through a transmission gear, and the driving motor is connected to the bottom of the circular plate to provide rotary power for the brush.

The first active carbon is arranged in the groove of the inner ring at the top of the main support, and the second active carbon is arranged in the middle of the dust collection bin, so that dust can be effectively adsorbed and cleaned.

The side wall lower part of cage shell is equipped with a set of trading gas pocket, and the lateral wall upper portion is equipped with a set of side brush fixed bayonet, and the bottom is a set of radial backup pad of being connected to the center to the air current input/output when making things convenient for the screw rotation.

The passage at the communicating part of the circular groove and the dust collection bin is obliquely arranged, so that dust collected in the groove can enter the dust collection bin conveniently.

The ceiling cleaning robot can be internally provided with the laser sensor, so that the robot has a simple obstacle avoidance function.

According to the technical scheme, the main transmission shaft and the main motor mounting seat are driven to rotate through the output shaft of the main motor, so that the cage-type shell is driven to rotate, and the cleaning of the brush on the side wall of the cage-type shell on the side wall is facilitated; in addition, the gear transmission motor drives the sun gear to operate through the gear transmission shaft, so that the planetary gear and the propeller transmission shaft in the middle of the planetary gear are driven to rotate, and finally the propeller is driven to rotate, and lifting force is provided for the whole cleaning robot; meanwhile, the driving motor drives the driving shaft through the transmission gear, so that the hairbrush is driven to run, and the purpose of cleaning the ceiling is achieved.

The beneficial effects of the invention are as follows: (1) The cleaning brush carrier for the side wall body is provided, so that the cleaning brush carrier can clean the outer wall surface except the top surface, meanwhile, the brush is wider, and a spider web can be rotationally rolled down in the cleaning process; (2) The top cleaning mechanism consists of active carbon, a brush and a dust collection fan, and can effectively clean and adsorb dust and prevent the dust from falling down; (3) The active carbon is placed into a fixed bayonet, so that the active carbon is convenient to replace after being used; (4) The main power device of the whole ceiling cleaning robot is provided by a motor and a sun planetary gear, so that a power scheme similar to an unmanned aerial vehicle is abandoned, and meanwhile, the cage-shaped shell is twisted to provide torsion during steering to realize spiral advancing, so that the stable performance of the cleaning process is ensured; (5) The infrared obstacle avoidance module is adopted, so that the influence caused by the uneven wall surface is reduced compared with the ultrasonic obstacle avoidance module.

Drawings

Fig. 1 is a schematic perspective view of a ceiling cleaning robot according to the present invention;

FIG. 2 is an internal cross-sectional view of a ceiling cleaning robot of the present invention;

FIG. 3 is a schematic view of the cage housing of the present invention;

FIG. 4 is a schematic illustration of the structure of FIG. 1 with FIG. 3 removed;

FIG. 5 is a schematic view of the structure of FIG. 4 with the cylindrical main support removed;

FIG. 6 is a diagram of the internal drive architecture of the sun-and-planet gear of the present invention;

FIG. 7 is a view showing the construction of a cylindrical main support frame according to the present invention;

fig. 8 is a schematic structural view of a cleaning carrier mounting plate according to the present invention.

Detailed Description

In order that the invention may become more apparent, a ceiling cleaning robot according to the invention will be further described with reference to the accompanying drawings, the specific embodiments described herein being for illustration only and not for limitation.

A ceiling cleaning robot characterized by comprising the following components:

a. referring to fig. 1, 2 and 3, a cage-shaped shell 1 is provided, wherein a group of ventilation holes 1a are arranged at the lower part of the side wall of the cage-shaped shell 1, a group of sponge placing bayonets 1b are arranged at the bottom of the cage-shaped shell, a group of side hairbrush fixing bayonets 1c are arranged at the upper part of the side wall, and a group of radial supporting plates 1d which are connected towards the center are arranged at the bottom of the cage-shaped shell, so that the air flow input and output during the rotation of a propeller are facilitated;

the middle part of the cage-type shell 1 is fixed with a main motor mounting seat 3 through a bolt, a main motor 4 is arranged in the main motor mounting seat 3, an output shaft 4a of the main motor 4 is connected with a main transmission shaft 5 below the main motor 4, and the main transmission shaft 5 is fixed in a central hole 3a at the lower part of the main motor mounting seat 3;

b. referring to fig. 2 and 7, a cylindrical main support 2 is disposed at an upper portion of the cage-shaped casing 1 and is in clearance fit with the cage-shaped casing 1, an upper portion of the main motor 4 is connected to a lower bottom surface of the main support 2, a sleeve 6 is fixed at a lower portion of the main support 2, and upper and lower ends of the sleeve 6 are respectively connected with the main motor mounting seat 3 through bearings 10 to form running fit;

referring to fig. 2 and 3, the bearings 10 are fixed in the bearing fixing grooves 7 on the outer wall of the main motor mounting seat 3, each bearing fixing groove 7 is connected with a clamp spring placing groove 8, and each clamp spring placing groove 8 is internally provided with a clamp spring 9 for fixing the bearings 10 and preventing the bearings 10 from sliding;

c. referring to fig. 2, 4, 5 and 6, a propeller driving device, four propeller driving shaft fixing seats 11 are fixed on the lower bottom surface of the main support 2, a propeller driving shaft 12 is arranged in each propeller driving shaft fixing seat 11, the lower end of each propeller driving shaft 12 is connected with a propeller 13, the upper end of each propeller driving shaft 12 is fixed in the middle of a planetary gear 14 in the main support 2, each planetary gear 14 is meshed with a sun gear 15 in the center and an inner gear ring 16 around, the middle of the sun gear 15 is connected with a gear driving shaft 17, and the upper part of the gear driving shaft 17 is connected with a gear driving motor 18 so as to enable the propeller 13 to rotate by driving the planetary gear 14, thereby providing lifting force for the whole cleaning robot;

referring to fig. 2 and 6, the outer circumference of the ring gear 16 is connected to the inner wall of the main support 2 through a tooth-release preventing bearing 19 to prevent the loose gear engagement of the entire sun planetary gear during high-speed operation.

d. Referring to fig. 1, 2, 5 and 8, a cleaning carrier mounting plate 20 is disposed at the upper portion of the main support frame 2, the cleaning carrier mounting plate 20 includes a horizontal circular plate 20a, the circular plate 20a is fixedly connected with the bottom plate of the main support frame 2 through four connecting rods 21, a concave dust collection bin 22 is disposed at the middle portion of the circular plate 20a, a pair of circular grooves 23 are disposed on the circular plate 20a at both sides of the dust collection bin 22, passageways 36 communicating between the circular grooves 23 and the dust collection bin 22 are disposed in an inclined manner, a dust collection fan 24 is disposed in each circular groove 23, and the lower end of the dust collection fan 24 is connected with a hollow cup motor 25 to drive the dust collection fan 24 to suck and collect dust into the dust collection bin 22;

the geared motor 18 is connected to the lower bottom surface of the circular plate 20 a.

e. Referring to fig. 1, 2 and 5, four brushes 26 are provided above the cleaning carrier mounting plate 20, the brushes 26 are connected with brush shafts 27, and a stop ring 28 is sleeved on the brush shafts 27 to prevent the brushes 26 from falling off during rotation;

referring to fig. 5 and 6, each brush shaft 27 passes through the circular plate 20a of the cleaning carrier mounting plate 20, and is connected at its lower end with a first bevel gear 29, two pairs of shaft mounting seats 36 are fixed at the lower bottom surface of the circular plate 20a, a driving shaft 31 is disposed between each pair of shaft mounting seats 36, two ends of each driving shaft 31 are respectively provided with a second bevel gear 30, each first bevel gear 29 is engaged with the corresponding second bevel gear 30, the driving shaft 31 is provided with a transmission gear 32, the transmission gear 32 is engaged with a motor gear 37, and the motor gear 37 is connected with the central shaft of the driving motor 33 to provide rotary power for the brush 26.

Referring to fig. 1 and 2, a first activated carbon 34 is disposed in a groove of the inner ring at the top of the main support frame 2, and a second activated carbon 35 is disposed in the middle of the dust collection bin 22, so as to facilitate effective adsorption and cleaning of dust.

The ceiling cleaning robot can be internally provided with the laser sensor, so that the robot has a simple obstacle avoidance function, and the whole framework is made of titanium alloy, so that the quality of the device is reduced, and the device can be lifted under a smaller lifting force.

In the invention, a gear transmission motor 18 drives a sun gear 15 to rotate, a planetary gear 14 is driven to drive a propeller transmission shaft 12 to rotate a propeller 13, and the whole cleaning robot is driven to ascend; during the movement, the driving motor 33 drives the driving shaft 31 and the first and second bevel gears 30 to power the hairbrush 26, so that the hairbrush starts to rotate to clean the top ceiling; at the same time, the dust collection fan 24 sucks the dust falling off into the dust bin 22, and the first activated carbon 34 also sucks the dust not sucked by the dust collection fan 24. In the moving process, the laser sensor records the distance between the main support frame and the wall body, so that the robot has a simple obstacle avoiding function, and when the main support frame 2 reaches a fixed position, the main motor 4 starts to drive the main transmission shaft 5 to rotate, thereby driving the main motor mounting seat 3 and the cage-shaped shell 1 to rotate, and providing a torque force for the robot to enable the robot to advance in a spiral posture; the side brush fixing bayonet 1c of the cage housing 1 can be used for fixing a brush to clean a side wall. In the event of an accident, the sponge placed in the bayonet 1b at the bottom of the cage housing 1 provides cushioning and shock absorption for the machine. In addition, the power devices of the main support frame 2 and the cage type shell 1 are completely separated and respectively independent, so that the framework remained after the cage type shell 1 is disassembled can be independently operated.

Claims

1. A ceiling cleaning robot characterized by comprising the following components:

a. the novel electric motor comprises a cage-shaped shell (1), wherein a group of air exchanging holes (1 a) and a group of radial supporting plates (1 d) with centripetal bottom surfaces are arranged at the lower part of the side wall of the cage-shaped shell (1), a main motor mounting seat (3) is connected to the middle part of the bottom surface of the cage-shaped shell (1), a main motor (4) is arranged in the main motor mounting seat (3), an output shaft (4 a) of the main motor (4) is connected with a main transmission shaft (5) below the main motor mounting seat, and the main transmission shaft (5) is fixed in a central hole (3 a) at the lower part of the main motor mounting seat (3);

b. the cylindrical main support (2) is arranged at the upper part of the cage-shaped shell (1) and is in clearance fit with the cage-shaped shell (1), a sleeve (6) is fixed in the middle of the lower bottom surface of the main support (2), the upper end and the lower end of the sleeve (6) are respectively connected with the main motor mounting seat (3) through bearings (10) to form rotation support fit, and the upper part of the main motor (4) is fixed at the lower bottom surface of the main support (2);

c. the group of propeller transmission devices comprises a sun gear (15) arranged in the middle of a main support (2), an inner wall is connected with an inner gear ring (16) through an anti-drop gear bearing (19), a group of mutually meshed planetary gears (14) are arranged between the sun gear (15) and the inner gear ring (16), the middle of each planetary gear (14) is connected with a propeller transmission shaft (12), the propeller transmission shafts (12) are fixed in a propeller transmission shaft fixing seat (11) connected below the main support (2), the lower end of each propeller transmission shaft (12) is connected with a propeller (13), and the middle of each sun gear (15) is connected with a gear transmission motor (18) through a gear transmission shaft (17);

d. the cleaning carrier mounting plate (20) is arranged on the upper part of the main support (2), the cleaning carrier mounting plate (20) comprises a horizontal circular plate (20 a), the circular plate (20 a) is fixedly connected with the bottom plate of the main support (2) through a group of connecting rods (21), a concave dust collection bin (22) is arranged in the middle of the circular plate (20 a), a pair of circular grooves (23) are formed in two sides of the dust collection bin (22), the side walls of the circular grooves (23) are communicated with the dust collection bin (22), a dust collection fan (24) is arranged in each circular groove (23), the lower end of the dust collection fan (24) is connected with a hollow cup motor (25), and the gear transmission motor (18) is connected to the bottom of the dust collection bin (22);

e. the brush (26) is arranged above the cleaning carrier mounting plate (20), the brush (26) is connected with brush shafts (27), each brush shaft (27) penetrates through a circular plate (20 a) to be downwards connected with a first bevel gear (29) respectively, two pairs of shaft mounting seats (20 b) are fixed on the lower bottom surface of the circular plate (20 a), a driving shaft (31) is connected between each pair of shaft mounting seats (20 b), two ends of the driving shaft (31) are connected with a second bevel gear (30) respectively, each first bevel gear (29) is meshed with the corresponding second bevel gear (30), a transmission gear (32) is arranged on each driving shaft (31), the transmission gear (32) is meshed with a motor gear (37), the middle part of the motor gear (37) is connected with the central shaft of a driving motor (33), and the driving motor (33) is connected to the bottom surface of the circular plate (20 a);

the passage (36) at the communicating part of the circular groove (23) and the dust collection bin (22) is obliquely arranged;

the bottom of the cage-shaped shell (1) is provided with a sponge placing bayonet (1 b), and the upper part of the side wall is provided with a group of side hairbrush fixing bayonets (1 c).

2. A ceiling cleaning robot according to claim 1, wherein:

a stop ring (28) is sleeved on the brush shaft (27).