CN110074731A - A kind of ground sundries cleaning storage robot - Google Patents
A kind of ground sundries cleaning storage robot Download PDFInfo
- Publication number
- CN110074731A CN110074731A CN201910350459.7A CN201910350459A CN110074731A CN 110074731 A CN110074731 A CN 110074731A CN 201910350459 A CN201910350459 A CN 201910350459A CN 110074731 A CN110074731 A CN 110074731A
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- China
- Prior art keywords
- wheel
- ground
- bottom plate
- plate
- motor
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/4036—Parts or details of the 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of ground sundries cleaning storage robot, including brush, fan, dust absorption platform, dust storage box, wipes the components such as ground platform, wiping drum, manipulator, driving wheel.The movement of rear wheel drive whole system, realize the movement of any direction on the ground in preceding universal wheel control direction, then it is rotated by motor control brush and realizes cleaning function, then subsequent fan rotation generates parital vacuum effect and realizes dust-absorbing function, the roller for being finally fixed with rag relies on the contact for having certain pressure between ground to realize floor mopping function, and during which biggish sundries clearing function is realized by the automatic identification and clamping of manipulator.
Description
Technical field
The present invention relates to a kind of sweeping robot more particularly to a kind of ground sundries cleaning storage robots.
Background technique
Since the industrial revolution, the progress speed of human society is getting faster, with the development of science and technology household electric
Device also more and more enters in the daily life of ordinary populace.In order to free people among housework, it is
The daily life of the common people provides more comfortable, graceful living environment；In order to mitigate people's limbs fatigue, avoid because of limbs labor
Body that is dynamic and generating strains；And science and technology and processing mode rapid development, people have the ability by sensing technology,
Network communication technology is mixed together among household electrical appliances, therefore controlling intelligent household appliances come into being.
One of representative of intelligent appliance is exactly sweeping robot, he can rely on artificial intelligence appropriate, is existed automatically
Sundries cleaning work in ground is completed in house.The sundries for being scattered in ground is first drawn onto robot interior by it, and is entered eventually into
It is arranged in the rubbish storage box of robot interior, to reach the function of land clearing.In general, will complete clean, dust suction with
And the intelligent robot of the work such as ground is wiped, uniformly it is classified as sweeping robot.
Ground sundries cleaning storage robot is one kind of intelligent appliance, he can rely on artificial intelligence appropriate, automatically
Sundries cleaning work in ground is completed in house.The sundries for being scattered in ground is first drawn onto robot interior by it, and is eventually entered into
To the rubbish storage box of robot interior is arranged in, to realize the function of land clearing.
Summary of the invention
The purpose of the invention is to provide a kind of ground sundries cleaning storage robot, suitable for being automatically performed Family Day
Often ground cleaning part in life.
The object of the present invention is achieved like this: including bottom plate, the upper cover being arranged on bottom plate, part of sweeping the floor, wiping ground portion
Point, vacuum part, front-wheel part and rear-wheel part, sundries is provided on upper lid and picks up shell, picks up the upper cover in shell in sundries
Upper end is provided with shoulder rotating servo motor, and the output end of shoulder rotating servo motor is provided with shoulder fixed plate, and shoulder is fixed
Hinged there are two there is large arm driver plate on plate, each large arm driver plate end is hinged with forearm driver plate, each forearm driver plate
End be hinged with wrist driver plate, the hinged place of shoulder fixed plate and two large arm driver plates, two large arm driver plates with
The hinged place of the hinged place of two forearm driver plates, two forearm driver plates and two wrist driver plates is provided with driving electricity
Machine is provided with wrist connecting plate between two wrist driver plates, wrist rotating servo motor, wrist is equipped on wrist connecting plate
The output end of rotating servo motor is provided with the hand fixing plate of L-type, and the horizontal ends of hand fixing plate are provided with roller gear and watch
Take motor, the output end of roller gear servo motor is connected with roller gear train, roller gear train there are two output end and
Two output ends are connected separately with clamping jaw, and two clamping jaws are hinged in the horizontal ends of hand fixing plate.
The invention also includes structure features some in this way:
1. part of sweeping the floor includes the spindle motor being arranged on bottom plate, the main shaft connecting with spindle motor output end, main shaft
End be provided with worm screw section, setting is there are two worm gear big belt wheel axis on the bottom plate of main shaft two sides, each worm gear big belt wheel axis
On be equipped with one and sweep the floor transmission worm gear and a big belt wheel, two transmission worm gears of sweeping the floor are engaged with worm screw section, are also set on bottom plate
It sets there are two small pulley brush axis, small pulley is installed on each small pulley brush axis, end extend out to outside floor and is equipped with
Brush is provided with driving belt between big belt wheel and corresponding small pulley.
2. vacuum part includes the large conical gear being mounted on main shaft, two dust absorption platforms being symmetricly set on bottom plate
It is provided with fan small coning gear shaft on each dust absorption platform, one end of each fan small coning gear shaft is equipped with bevel pinion, another
One end is equipped with fan, and fan is located in dust absorption platform, and bevel pinion is located at outside dust absorption platform, and two bevel pinions with
The through hole section of large conical gear engagement, dust absorption platform lower end passes through bottom plate, and dust absorption platform upper end is provided with disposal box.
3. front wheele part point includes that front-wheel motor cabinet in bottom plate front end, the front-wheel electricity that is mounted on front-wheel motor cabinet is arranged in
Machine, the front-wheel being mounted on front-wheel motor output end, front-wheel are extend out to below bottom plate.
4. rear-wheel part includes two rear-wheel motor seats for being symmetricly set on base plate rear end, the rear-wheel being arranged on bottom plate biography
It is lazy to be also equipped with double linked wheel, planet on drive shaft of rear wheel for moving axis, the rear-wheel hub and rear tyre being mounted on drive shaft of rear wheel
It takes turns, rear-wheel stepper motor is installed on each rear-wheel motor seat, the output end of each rear-wheel stepper motor connects geared worm, passes
Dynamic worm screw engages with double linked wheel worm gear portion, and the gear parts of double linked wheel are engaged with planet idle, planet idle and rear-wheel part
Fixed center wheel be meshed, between the two sides of double linked wheel be equipped with baffle.
5. wiping ground part to include the dismountable wiping ground platform connecting with bottom plate tail portion, the bullet for wiping ground platform both ends is arranged in
Spring adjusts storehouse, and the spring in spring adjustment storehouse is connected with cylinder support bar, is provided with wiping drum between two cylinder support bars.
Compared with prior art, the beneficial effects of the present invention are: the present invention is different from general sweeping robot, ground sundries
It include dust, particle, paper scrap, beverage bottle etc. as the sundries that cleaning storage robot is stored.It is swept and vacuum using common brush
Mode cannot effectively pack up the isometric slightly larger article of beverage bottle, therefore by the cooperation of manipulator, can be effective by beverage bottle
It picks up, improves sweeping efficiency.
Detailed description of the invention
Fig. 1 is ground sundries cleaning storage robot isometric drawing；
Fig. 2 is ground sundries cleaning storage robot backplane placement isometric drawing；
Fig. 3 is ground sundries cleaning storage robot rear-wheel main view；
Fig. 4 be in ground sundries cleaning storage robot rear-wheel main view A-A to cross-sectional view；
Fig. 5 be in ground sundries cleaning storage robot rear-wheel main view B-B to cross-sectional view；
Fig. 6 is ground sundries cleaning storage robot dust absorption platform main view；
Fig. 7 is ground sundries cleaning storage robot catching robot structural front view；
Fig. 8 is ground sundries cleaning storage robot catching robot structure top view.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
A kind of ground sundries cleaning storage robot picks up shell by brush 1, bottom plate 2, upper cover 3, catching robot 4, sundries
5, manipulator fixed plate 6, wipe ground platform 7, wiping drum 8, front-wheel 9, preceding turbin generator 10, front-wheel motor cabinet 11, driving belt 12,
Brush transmission worm gear 13, dust absorption platform 14, cylinder support bar 15, spring adjustment storehouse 16, disposal box 17, large conical gear 18, after
Turbin generator support 19, spindle bearing 20, spindle motor 21, main shaft 22, worm gear big belt wheel axis 23, big belt wheel 24, rear-wheel hub 25,
Small pulley 26, small pulley brush axis 27, rear tyre 28, rear wheel support frame 29, baffle 30, double linked wheel 31, geared worm 32, after
Take turns stepper motor 33, fixed center wheel 34, drive shaft of rear wheel 35, planet idle 36, electric motor end cap 37, fan blade 38, fan
Small coning gear shaft 39, small conical gear 40, fan bevel pinion shaft stool 41, clamping jaw 4-1, clamping jaw fixed plate 4-2, roller gear
It is 4-3, wrist driver plate 4-4, wrist servo motor transmission wheel 4-5 forearm driver plate 4-6, ancon servo motor transmission wheel 4-7, big
Arm passes plate 4-8, shoulder servo motor transmission wheel 4-9, shoulder fixed plate 4-10, shoulder rotating servo motor 4-11, shoulder and swings
Servo motor 4-12, long bolt 4-13, ancon wobble servo motor 4-14, short screw 4-15, wrist wobble servo motor 4-16,
Wrist connecting plate 4-17, hand fixing plate 4-18, roller gear servo motor 4-19, wrist rotating servo motor 4-20 composition.
Spindle bearing 20 is fixed on the central axes of bottom plate 2, the main shaft 22 equipped with spindle motor 21 is mounted on spindle bearing
On 20, wherein main shaft is the main shaft for having worm screw, fixes large conical gear 18 thereon.The worm section of main shaft 22 with sweep
Brush transmission worm gear 13 is meshed, and brush transmission worm gear 13 is also secured on worm gear big belt wheel axis 23 and is installed on big belt wheel 24
Bottom plate 2, big belt wheel 24 are connected by driving belt 12 with small pulley 26, and small pulley 26 is fixed on small pulley brush axis 27,
Bottom plate 2 is installed on by rolling bearing, and small pulley brush axis 27, which is located at, to be provided with through-hole on the position of bottom plate 2 and small pulley can be made to sweep
Brush axis 27 passes through bottom plate 2 and reaches 2 downside of bottom plate, and 2 downside brush 1 of bottom plate is fixed on small pulley brush axis 27, at this time main shaft 22
Rotation can drive brush 1 to rotate；Small conical gear 40 and fan blade 38 are linked together by fan small coning gear shaft 39
And it is mounted on dust absorption platform 14, the big circular cone that the installation site of dust absorption platform makes small conical gear 40 and is mounted on main shaft 22
Gear 18 engages just, and the rotation of main shaft 22 can drive fan blade 38 to rotate, and disposal box 17 is mounted on inserting for dust absorption platform
At slot dust can be collected when fan rotates；33 tail portion of rear-wheel stepper motor is connected with rear-wheel motor support 19 and is fixed on bottom
2 central axes rear end sides of plate, head is fixed on electric motor end cap 37, and is connected with geared worm 32, geared worm 32 and duplex
The engagement of 31 worm gear portions is taken turns, double linked wheel 31 is mounted on drive shaft of rear wheel 35, and the rear-wheel hub 25 equipped with rear tyre 28 is also pacified
On drive shaft of rear wheel 35, rear-wheel can be driven by rear-wheel stepper motor 33, the other side, that is, gear parts of double linked wheel 31 with
The engagement of planet idle 36 is loaded on transmission shaft 35, and planet idle 36 is meshed with fixed center wheel 34 and can disappear in rear wheel
Except inertia force, keep movement more steady, completely cut off two parts working environment equipped with baffle 30 between the two sides of double linked wheel 31 and plays
To the positioning action of planet idle 36；It wipes ground platform 7 to connect by bolt with 2 tail portion junction of bottom plate, is not needing to wipe ground function
It can will wipe ground platform when energy disassemble, one end of cylinder support bar 15 is connected with wiping drum 8, and the other end is connected simultaneously with spring
It is placed in spring adjustment storehouse 16；The front end of bottom plate 2 is equipped with front-wheel motor cabinet 11,10 tail portion of the preceding turbin generator peace equipped with front-wheel 9
It is vertical with bottom plate on front-wheel motor cabinet；Upper cover 3 is fixed together by bolt with bottom plate 2, and formation one is relatively closed
Environmental protection components, and fixed function is played to worm gear big belt wheel axis 23；Sundries picks up shell 5 and is loaded on 3 top of upper cover, can be at any time
It removes；Catching robot 4 is fixed on sundries by manipulator fixed plate 6 and picks up on the groove of shell 5, wherein shoulder rotating servo electricity
The output end of machine 4-11 is connected in shoulder fixed plate 4-10, and shoulder wobble servo motor 4-12 is fixed on shoulder fixed plate 4-
On 10, large arm driver plate 4-8 passes through shoulder servo motor transmission wheel 4-9 and shoulder wobble servo motor 4-12 loaded on its head end
Output end be connected, two large arm driver plate 4-8 by former and later two long bolts 4-13 auxiliary be connected and fixed, large arm driver plate 4-8
End ancon servo motor transmission wheel 4-7 is installed, with the ancon wobble servo motor on the forearm driver plate 4-6 head end
The output end of 4-14 is connected, and two forearm driver plate 4-6 are connected and fixed by two short screw 4-15 of front and back, the end forearm driver plate 4-6
End is equipped with wrist wobble servo motor 4-16, and output end passes through the wrist servo motor transmission wheel mounted in wrist driver plate 4-4
4-5 is connected with wrist driver plate 4-4, and two wrist driver plates are connected and fixed by the horizontal ends of wrist connecting plate 4-17, and wrist connects
The vertical end of fishplate bar 4-17 is equipped with wrist rotating servo motor 4-20, and output end is connect with hand fixing plate vertical end 4-18,
Roller gear servo motor 4-19 two couples of roller gear 4-3, end of clamping jaw 4-1 with inside and outside are housed in fixed plate horizontal ends
It is fixed on outside roller gear axle center, middle section is hinged by clamping jaw fixed plate 4-2 and hand fixing plate.
Working principle: ground sundries clears up the storage robot course of work and is divided into movement, picks up and store compared with bigger material, clearly
It sweeps, dust suction and wipe five, ground step, drive robot body movement to complete the cleaning to ground by mobile mechanism, have
Body situation is as follows:
1) mobile firstly, starting 33 output torque of rear-wheel stepper motor and passing to geared worm 32 makes worm screw start to turn
Dynamic, geared worm 32 is meshed with 31 worm gear side of double linked wheel, and speed reduces, after increase torque passes to the drive of drive shaft of rear wheel 35
Take turns the rotation of wheel hub 25 and realize locomotive function, while the gear side of double linked wheel 31 engage with planet idle 36, planet idle 36 with admittedly
The wheel 34 that centers is meshed, this planet idle structure can eliminate the influence of inertia force in the feelings in addition not adding cushioning device
Guarantee stable drive under condition.
2) it picks up to recognize compared with bigger material robot and moves module from service compared with bigger material time shift, catching robot 4 starts
Work, shoulder rotating servo motor 4-11 control entire picking manipulator 4 around the rotation of shoulder；Shoulder wobble servo motor
4-12 transmits the large arm that torque drives picking manipulator by shoulder servo motor transmission wheel 4-9, realizes large arm, forearm, wrist
And the rotation of hand planar；Ancon wobble servo motor 4-14 transmits torque by ancon servo motor transmission wheel 4-7 and drives
The forearm of dynamic picking manipulator, realizes forearm, the rotation of wrist and hand planar；Similarly, wrist wobble servo motor 4-
16 pass torque to the wrist of picking manipulator by wrist servo motor transmission wheel, realize wrist and hand planar
Rotation；Wrist rotating servo motor 4-20 controls wrist and hand around the rotation of wrist axis；Roller gear servo motor 4-19
Roller gear 4-3 is driven to cooperate rotation, opening and the clamping of control clamping jaw 4-1 are realized to the pickup compared with bigger material, and sundries is picked up
Afterwards, each motor drives each joint to adjust each joint position again, and sundries will be put into compared with bigger material and is picked up in shell 5, is realized larger miscellaneous
The pickup and storage function of object, stop working when being so recycled to there is no compared with bigger material.
3) 21 output torque of cleaning function spindle motor and passing to main shaft 22 starts turning main shaft, with 22 worm screw of main shaft
The brush transmission worm gear 13 that part is meshed rotates, and drives while the big belt wheel 24 being mounted on worm gear big belt wheel axis 23 rotates,
Big belt wheel 24 drives small pulley 26 to rotate by driving belt 12, is mounted on small pulley brush axis 27 together with small pulley 26
Brush 1 starts turning, and realizes to clean and collects dust function.
4) 21 output torque of dust suction spindle motor, which passes to main shaft 22, starts turning main shaft 22, and on the main shaft 22
The small conical gear 40 that large conical gear 18 is meshed accelerates rotation to drive the wind being commonly mounted on fan small coning gear shaft 39
It fans blade 38 to rotate, fan rotation generates parital vacuum and accelerates air flowing, and the dust that brush 1 is collected flows into suction with air
Dirt channel, channel end are the disposal boxes 17 of similar film valve structure, and wind-force opens it when fan rotates, year air flowing ash
Dirt enters disposal box 17, and when fan stops working, film valve is closed, and dust is realized in the closing of disposal box 17.
5) mopping robot is completed to pick up compared with bigger material, after cleaning and dust-absorbing function, as rear-wheel drives entire mechanism
Mobile, the wiping drum 8 equipped with rag is mobile also with entire mechanism, and rag and ground touch, and pass through compressed spring
Pressure between control and bottom surface is completed to work with wiping with suitable pressure.It is clear that large area may be implemented in the Ca Di mechanism of drum-type
The effect on ground is managed, and will not be interfered with other executing agencies.
In conjunction with Fig. 1~2, in the present apparatus, two groups of cleanings are respectively adopted with dust exhaust apparatus and are arranged symmetrically about central axes, improve
Sweeping efficiency.Two rear-wheels use two motor drivens, can accomplish there is certain linear differential between two-wheeled in turning.Phase
Than making product be easier to put into family's use in reducing manufacturing cost and machining accuracy using differential mechanism.Disposal box height passes through
Upper cover can be dismantled at any time and topple over dust.
In conjunction with Fig. 3~5, slowed down using worm and gear and improve retardation efficiency, changes transmission direction, and can be with reasonable distribution
Arrangement space reduces plant bulk；Eliminating inertia force using the mechanism containing planet idle guarantees stable drive without separately adding bradyseism
Device.
In conjunction with Fig. 6, the dust that brush 1 is collected flows into dust absorption passage with air, and channel end is similar film valve structure
Disposal box 17, fan rotate when wind-force open it, year air flowing dust enter disposal box 17, fan stops working
When, film valve is closed, and realizes dust collection and unidirectional blocking.
In conjunction with Fig. 7~8, catching robot 4 is driven by shoulder rotating servo motor 4-11, wrist rotating servo motor 4-20
The rotation of dynamic manipulator and shoulder wobble servo motor 4-12, ancon wobble servo motor 4-14, wrist wobble servo motor 4-
The positioning of catching robot 4 in space is realized in 16 mutual cooperation；Pass through roller gear servo motor 4-19, roller gear 4-
3, the mutual cooperation of clamping jaw 4-1 and clamping jaw fixed plate 4-2 is realized to the clamping function compared with bigger material.The cleaning storage of this ground sundries
The innovative point of robot is that picking manipulator 4 and sundries pick up shell 5 and realize to the pickup and storage compared with bigger material.
This ground sundries cleaning storage robot by brush 1, bottom plate 2, upper cover 3, catching robot 4, sundries pick up shell 5,
Manipulator fixed plate 6 wipes ground platform 7, wiping drum 8, front-wheel 9, preceding turbin generator 10, front-wheel motor cabinet 11, driving belt 12, sweeps
Brush transmission worm gear 13, dust absorption platform 14, cylinder support bar 15, spring adjust storehouse 16, disposal box 17, large conical gear 18, rear-wheel
It is motor support base 19, spindle bearing 20, spindle motor 21, main shaft 22, worm gear big belt wheel axis 23, big belt wheel 24, rear-wheel hub 25, small
Belt wheel 26, small pulley brush axis 27, rear tyre 28, rear wheel support frame 29, baffle 30, double linked wheel 31, geared worm 32, rear-wheel
Stepper motor 33, fixed center wheel 34, drive shaft of rear wheel 35, planet idle 36, electric motor end cap 37, fan blade 38, fan are small
Bevel gear shaft 39, small conical gear 40, fan bevel pinion shaft stool 41, clamping jaw 4-1, clamping jaw fixed plate 4-2, roller gear 4-
3, wrist driver plate 4-4, wrist servo motor transmission wheel 4-5 forearm driver plate 4-6, ancon servo motor transmission wheel 4-7, large arm
Plate 4-8, shoulder servo motor transmission wheel 4-9, shoulder fixed plate 4-10, shoulder rotating servo motor 4-11, shoulder is passed to swing and watch
Take motor 4-12, long bolt 4-13, ancon wobble servo motor 4-14, short screw 4-15, wrist wobble servo motor 4-16, wrist
Portion connecting plate 4-17, hand fixing plate 4-18, roller gear servo motor 4-19, wrist rotating servo motor 4-20 composition.
The design parameter of robot are as follows: specification (length × width × height): 640 × 640 × 500mm.Draft operating voltage 24VDC
~48VDC drafts rated power 60W.
Ground sundries cleaning storage robot may be implemented to be automatically performed the ground cleaning part among everyday home life,
Liberate the labour of larger specific gravity.
To sum up, the present invention provides a kind of ground sundries cleaning storage robot, including brush, fan, dust absorption platform, dust
Storage box wipes the components such as ground platform, wiping drum, manipulator, driving wheel.The movement of rear wheel drive whole system, preceding universal wheel control
The movement of any direction on the ground is realized in direction processed, is then rotated by motor control brush and is realized cleaning function, then below
Fan rotation generate parital vacuum effect and realize dust-absorbing function, it is certain by having between ground to be finally fixed with the roller of rag
Floor mopping function is realized in the contact of pressure, and during which biggish sundries clearing function is realized by the automatic identification and clamping of manipulator.
Claims (10)
1. a kind of ground sundries cleaning storage robot, including bottom plate, the upper cover being arranged on bottom plate, part of sweeping the floor, wipes ground portion
Point, vacuum part, front-wheel part and rear-wheel part, it is characterised in that: be provided with sundries on upper lid and pick up shell, picked up in sundries
Upper cover upper end in shell is provided with shoulder rotating servo motor, and the output end of shoulder rotating servo motor is provided with shoulder and fixes
Plate, hinged there are two there is large arm driver plate in shoulder fixed plate, each large arm driver plate end is hinged with forearm driver plate, each
The end of forearm driver plate is hinged with wrist driver plate, in the hinged place, two big of shoulder fixed plate and two large arm driver plates
Arm driver plate is respectively provided with the hinged place of two forearm driver plates, the hinged place of two forearm driver plates and two wrist driver plates
There is driving motor, wrist connecting plate is provided between two wrist driver plates, wrist rotating servo is installed on wrist connecting plate
Motor, the output end of wrist rotating servo motor are provided with the hand fixing plate of L-type, and the horizontal ends of hand fixing plate are provided with circle
Stud wheel servo motor, the output end of roller gear servo motor are connected with roller gear train, and there are two roller gear trains
Output end and two output ends are connected separately with clamping jaw, and two clamping jaws are hinged in the horizontal ends of hand fixing plate.
2. a kind of ground sundries cleaning storage robot according to claim 1, it is characterised in that: part of sweeping the floor includes setting
The main shaft setting the spindle motor on bottom plate, connecting with spindle motor output end, the end of main shaft is provided with worm screw section, in main shaft
Setting is there are two worm gear big belt wheel axis on the bottom plate of two sides, and one is equipped on each worm gear big belt wheel axis and is swept the floor transmission worm gear and one
Big belt wheel, two sweep the floor transmission worm gears with worm screw section engage, also set up on bottom plate there are two small pulley brush axis, Mei Ge little
Small pulley is installed on belt wheel brush axis, end extend out to outside floor and is equipped with brush, big belt wheel and corresponding small pulley it
Between be provided with driving belt.
3. a kind of ground sundries cleaning storage robot according to claim 2, it is characterised in that: vacuum part includes peace
Large conical gear on main shaft is provided with fan on two each dust absorption platforms of dust absorption platform being symmetricly set on bottom plate
Small coning gear shaft, one end of each fan small coning gear shaft is equipped with bevel pinion, the other end is equipped with fan, and fan is located at
In dust absorption platform, bevel pinion is located at outside dust absorption platform, and two bevel pinions are engaged with large conical gear, under dust absorption platform
The through hole section at end passes through bottom plate, and dust absorption platform upper end is provided with disposal box.
4. a kind of ground sundries cleaning storage robot according to claim 1,2 or 3, it is characterised in that: front-wheel part
Including be arranged in bottom plate front end front-wheel motor cabinet, be mounted on front-wheel motor cabinet preceding turbin generator, be mounted on before turbin generator
Front-wheel on output end, front-wheel are extend out to below bottom plate.
5. a kind of ground sundries cleaning storage robot according to claim 1,2 or 3, it is characterised in that: rear-wheel part
Including two rear-wheel motor seats for being symmetricly set on base plate rear end, the drive shaft of rear wheel being arranged on bottom plate, it is mounted on rear-wheel biography
Rear-wheel hub and rear tyre on moving axis are also equipped with double linked wheel, planet idle, each rear-wheel motor seat on drive shaft of rear wheel
On rear-wheel stepper motor is installed, the output end of each rear-wheel stepper motor connects geared worm, geared worm and double linked wheel snail
Wheel part is engaged, and the gear parts of double linked wheel are engaged with planet idle, and planet idle and the fixed center wheel of rear-wheel part are mutually nibbled
It closes, baffle is housed between the two sides of double linked wheel.
6. a kind of ground sundries cleaning storage robot according to claim 4, it is characterised in that: rear-wheel part includes pair
Claim two rear-wheel motor seats that base plate rear end is set, the drive shaft of rear wheel being arranged on bottom plate, be mounted on drive shaft of rear wheel
Rear-wheel hub and rear tyre, be also equipped with double linked wheel, planet idle on drive shaft of rear wheel, installed on each rear-wheel motor seat
There is rear-wheel stepper motor, the output end of each rear-wheel stepper motor connects geared worm, geared worm and double linked wheel worm gear portion
Engagement, the gear parts of double linked wheel are engaged with planet idle, and planet idle is meshed with the fixed center wheel of rear-wheel part, duplex
Baffle is housed between the two sides of wheel.
7. a kind of ground sundries cleaning storage robot according to claim 1,2 or 3, it is characterised in that: wipe ground part
Including connect with bottom plate tail portion dismountable wiping ground platform, be arranged in wipe ground platform both ends spring adjust storehouse, spring adjustment
Spring in storehouse is connected with cylinder support bar, is provided with wiping drum between two cylinder support bars.
8. a kind of ground sundries cleaning storage robot according to claim 4, it is characterised in that: wipe ground part include with
The spring adjustment storehouse for wiping ground platform both ends is arranged in dismountable wiping ground platform of bottom plate tail portion connection, and spring adjusts in storehouse
Spring is connected with cylinder support bar, is provided with wiping drum between two cylinder support bars.
9. a kind of ground sundries cleaning storage robot according to claim 5, it is characterised in that: wipe ground part include with
The spring adjustment storehouse for wiping ground platform both ends is arranged in dismountable wiping ground platform of bottom plate tail portion connection, and spring adjusts in storehouse
Spring is connected with cylinder support bar, is provided with wiping drum between two cylinder support bars.
10. a kind of ground sundries cleaning storage robot according to claim 6, it is characterised in that: wiping ground part includes
The spring adjustment storehouse for wiping ground platform both ends is arranged in dismountable wiping ground platform for connecting with bottom plate tail portion, and spring adjusts in storehouse
Spring be connected with cylinder support bar, be provided with wiping drum between two cylinder support bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350459.7A CN110074731A (en) | 2019-04-28 | 2019-04-28 | A kind of ground sundries cleaning storage robot |
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| CN111636341A (en) * | 2020-05-30 | 2020-09-08 | 常艺馨 | Park garbage cleaning machine |
| CN112982520A (en) * | 2021-02-03 | 2021-06-18 | 泰州新润辰建设工程有限公司 | Construction device and process for municipal civil engineering |
| CN113693510A (en) * | 2021-09-10 | 2021-11-26 | 深圳乐生机器人智能科技有限公司 | Novel sweeping robot |
| JP2022520515A (en) * | 2020-01-14 | 2022-03-31 | ベイジン センスタイム テクノロジー デベロップメント カンパニー， リミテッド | Mobile robots and their control methods, equipment, storage media, and programs |
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Application publication date: 20190802 |