CN110215165A - It is a kind of to cross crawler belt clean robot automatically - Google Patents
It is a kind of to cross crawler belt clean robot automatically Download PDFInfo
- Publication number
- CN110215165A CN110215165A CN201910549029.8A CN201910549029A CN110215165A CN 110215165 A CN110215165 A CN 110215165A CN 201910549029 A CN201910549029 A CN 201910549029A CN 110215165 A CN110215165 A CN 110215165A
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- gear
- crawler belt
- support
- motor
- driving gear
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 239000011521 glass Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
Crawler belt clean robot is crossed automatically the invention discloses a kind of, including car body, charger interface and battery, left-right and front-back is symmetrically installed there are four motor in the car body, the motor is connected with transmission shaft, the transmission shaft passes through car body and connect with driving gear, rotating disk is socketed on the driving gear, the driving wheel is engaged with transmission gear, the transmission gear is engaged with driving gear, and the transmission gear, driving gear pass through support rod respectively and be mounted on rotating disk；Two support rods are also equipped in the rotating disk, two support rods are connect with support gear A, support gear B respectively, and the driving gear, support gear A, support gear B constitute equilateral triangle, are used to support, are installed crawler belt；The present invention between crawler attachment and car body by being arranged a rotating disk device, when needing crossing over blockage, is rotated by rotating disk and drives crawler belt crossing over blockage, structure is simple, easy to use.
Description
Technical field
The present invention relates to a kind of crawler belt clean robots, and in particular to a kind of to cross crawler belt clean robot automatically.
Background technique
With the development of society, skyscraper is more and more, how indoor and outdoor glass is safely and efficiently cleaned
Have become people's topic of interest.Therefore, occur various crawler belt clean robots, but these crawler belts on the market
Clean robot generally can only all clean single sheet, and its working face is only restricted in the boss such as window frame, Wu Fashi
Now cross automatically.
Summary of the invention
In view of the above shortcomings of the prior art, crawler belt clean robot is crossed automatically the object of the present invention is to provide a kind of.
The specific technical solution that the present invention takes is:
It is a kind of to cross crawler belt clean robot, including car body, charger interface and battery, left and right in the car body automatically
Front and back is symmetrically installed there are four motor, and the motor is connected with transmission shaft, and the transmission shaft passes through car body and connect with driving gear,
Rotating disk is socketed on the driving gear, the driving wheel is engaged with transmission gear, and the transmission gear is nibbled with driving gear
It closes, the transmission gear, driving gear pass through support rod respectively and be mounted on rotating disk；Two supports are also equipped in the rotating disk
Bar, two support rods are connect with support gear A, support gear B respectively, and the driving gear, support gear A, support gear B are constituted
Equilateral triangle is used to support, installs crawler belt；The charging on the car body is fixedly mounted in the charger interface and battery
Device interface is connect with the battery, and the motor is connect with the battery, provides electric energy by battery；In the rotating disk
Equipped with groove, the groove is made of inclined-plane one and inclined-plane two, and the car body is equipped with spring arrangement, peace in the spring arrangement
Equipped with mandril, mandril and groove are cooperatively connected.
Preferably, the driving gear, transmission gear, support gear A, support gear B are socketed on support rod respectively.
Preferably, the driving gear socket is on transmission shaft.
Preferably, the driving gear, support gear A are equal with support gear B diameter.
Preferably, the driving gear, transmission gear diameter are less than driving gear diameter.
Preferably, the transmission gear diameter is less than driving gear diameter.
It is further, described that cross crawler belt clean robot further include control device automatically；The control device includes control
Device processed, attitude transducer, wireless remote control module, the wireless remote control module includes: wireless receiver and remote controler；The control
Device, attitude transducer, wireless receiver are respectively and fixedly installed on car body, the attitude transducer, wireless receiver respectively with
Controller electrical connection, the motor are electrically connected with the controller, and the controller is connect with the battery, is entire by battery
Control device provides electric energy.
Preferably, the attitude transducer is gyroscope and acceleration transducer.
Correspondingly, the present invention also provides one kind to cross the control method of crawler belt clean robot automatically, including walks as follows
It is rapid:
Step 1, initialization detection and setting, whether the value including test pose sensor is normal, carries out if abnormal
It prompts and waits it normal；
Step 2: the information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3: if the information content that remote controler is sent is advances, controller controls left motor and right motor is same
Shi Zhengzhuan；If the information content that remote controler is sent is to retreat, controller control left motor and right motor invert simultaneously；If
The information content that remote controler is sent is to fast forward through, then controller control left motor and right motor increase speed simultaneously；If
The information content that remote controler is sent is to slow down, then controller control left motor and right motor reduce revolving speed simultaneously；If remote control
The information content that device is sent is to turn left, then the stalling of controller control left motor, right motor rotate forward；If the letter that remote controler is sent
Ceasing content is to turn right, then the stalling of controller control right motor, left motor rotate forward；If the information content that remote controler is sent is to wipe
Glass function, then controller controls left motor according to the routing algorithm that cleans the windows of storage and right motor realizes corresponding track
Movement；
Step 4: whether the value of test pose sensor is normal, if normal return step two, judges whether if abnormal,
Automatically it crosses crawler belt clean robot to fall, alarm.
Compared with prior art, the invention has the following advantages that the present invention between crawler attachment and car body by being arranged
One rotating disk device when needing crossing over blockage, is rotated by rotating disk and drives crawler belt crossing over blockage, structure is simple, user
Just.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for crossing crawler belt clean robot automatically；
Fig. 2 is rotating disk and crawler sections structural schematic diagram；
Fig. 3 is motor coupling portion separation structure schematic diagram；
Fig. 4 is schematic diagram of rotating disk structure；
Fig. 5 is the structural schematic diagram of groove；
Fig. 6 is spring arrangement structural schematic diagram.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Embodiment 1
One kind crossing crawler belt clean robot automatically, as shown in Figure 1, including car body 1, charger interface, battery and control
Device processed, left-right and front-back is symmetrically installed there are four motor 13 in the car body 1, and the motor 13 is connected with transmission shaft 2, the biography
Moving axis 2 passes through car body 1 and connect with driving gear 3, and as shown in Figure 2,3, the specially described driving gear 3 is socketed on transmission shaft 2,
Rotating disk 4 is socketed on the driving gear 3, the driving gear 4 is engaged with transmission gear 5, the transmission gear 5 and driving
Gear 6 engages, and the transmission gear 5, driving gear 6 are mounted in rotating disk 4 by support rod 7 respectively；In the rotating disk 4
Two support rods 7 are also equipped with, two support rods 7 are connect with support gear A 8, support gear B 9 respectively, the specially described driving gear
6, transmission gear 5, support gear A 8, support gear B 9 are socketed in respectively on support rod 7, the driving gear 6, support gear
A8, support gear B 9 constitute equilateral triangle, are used to support, install crawler belt 10, wherein the driving gear 6, support gear A 8
Equal with support 9 diameter of gear B, the driving gear 4,5 diameter of transmission gear are less than driving 6 diameter of gear, the driving cog
5 diameters are taken turns less than 4 diameter of driving gear；The charger interface and battery are fixedly mounted on car body 1, and the charger connects
Mouth is connect with the battery, and the motor is connect with the battery, provides electric energy by battery；As shown in figure 4, the rotation
Groove 11 there are three being set on turntable 4, as shown in figure 5, the groove is made of inclined-plane 1 and inclined-plane 2 112, the car body 1
It is equipped with spring arrangement, as shown in fig. 6, being equipped with mandril 12 in the spring arrangement, mandril 12 and groove are cooperatively connected；It is described
Control device includes controller, attitude transducer, wireless remote control module, the wireless remote control module include: wireless receiver and
Remote controler；The controller, attitude transducer, wireless receiver are respectively and fixedly installed on car body 1, the attitude transducer,
Wireless receiver is electrically connected with the controller respectively, and the attitude transducer is gyroscope and acceleration transducer, the motor
It is electrically connected with the controller, there is the operation of controller control zone, the controller is connect with the battery, is entire control by battery
Device processed provides electric energy.
Usually mandril is in the groove that inclined-plane one and inclined-plane two form, and when encountering barrier, crawler belt is not moved, at this time
Driven by the motor, driving gear transmitting power to rotating disk, rotating disk overcome the pressure of spring arrangement make mandril exit by
The groove that inclined-plane one and inclined-plane two form, rotating disk, which is realized, to be rotated and then crawler belt is driven to break the barriers, and rotation pushing rod arrives down
In one groove, rotating disk is stopped rotating, crawler belt normal walking.
Embodiment 2
A kind of control method for crossing crawler belt clean robot automatically, includes the following steps:
Step 1, initialization detection and setting, whether the value including test pose sensor is normal, carries out if abnormal
It prompts and waits it normal；
Step 2: the information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3: if the information content that remote controler is sent is advances, controller controls left motor and right motor is same
Shi Zhengzhuan；If the information content that remote controler is sent is to retreat, controller control left motor and right motor invert simultaneously；If
The information content that remote controler is sent is to fast forward through, then controller control left motor and right motor increase speed simultaneously；If
The information content that remote controler is sent is to slow down, then controller control left motor and right motor reduce revolving speed simultaneously；If remote control
The information content that device is sent is to turn left, then the stalling of controller control left motor, right motor rotate forward；If the letter that remote controler is sent
Ceasing content is to turn right, then the stalling of controller control right motor, left motor rotate forward；If the information content that remote controler is sent is to wipe
Glass function, then controller controls left motor according to the routing algorithm that cleans the windows of storage and right motor realizes corresponding track
Movement；
Step 4: whether the value of test pose sensor is normal, if normal return step two, judges whether if abnormal,
Automatically it crosses crawler belt clean robot to fall, alarm.
Although above-described embodiment is described, created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments, so the above description is only an embodiment of the present invention, and
Non- therefore limitation scope of patent protection of the invention, it is all using equivalent structure made by description of the invention and accompanying drawing content or
Equivalent process transformation, being applied directly or indirectly in other relevant technical fields, similarly includes protecting in patent of the invention
Within the scope of shield.
Claims (9)
1. a kind of cross crawler belt clean robot automatically, it is characterised in that including car body, charger interface and battery, the vehicle
Internal left-right and front-back is symmetrically installed there are four motor, and the motor is connected with transmission shaft, and the transmission shaft passes through car body and active
Gear connects, and is socketed with rotating disk on the driving gear, and the driving wheel is engaged with transmission gear, the transmission gear and drive
Moving gear engagement, the transmission gear, driving gear pass through support rod respectively and are mounted on rotating disk；It is also installed in the rotating disk
There are two support rods, two support rods are connect with support gear A, support gear B respectively, the driving gear, support gear A, support
Gear B constitutes equilateral triangle, is used to support, installs crawler belt；The charger interface and battery are fixedly mounted on the car body,
The charger interface is connect with the battery, and the motor is connect with the battery, provides electric energy by battery；It is described
Rotating disk is equipped with groove, and the groove is made of inclined-plane one and inclined-plane two, and the car body is equipped with spring arrangement, the spring
Mandril is installed, mandril and groove are cooperatively connected in device.
2. a kind of according to claim 1 cross crawler belt clean robot automatically, it is characterised in that the driving gear, transmission
Gear, support gear A, support gear B are socketed on support rod respectively.
3. a kind of according to claim 1 cross crawler belt clean robot automatically, it is characterised in that the driving gear socket
On transmission shaft.
4. a kind of according to claim 1 cross crawler belt clean robot automatically, it is characterised in that the driving gear, support
Gear A is equal with support gear B diameter.
5. a kind of according to claim 1 cross crawler belt clean robot automatically, it is characterised in that the driving gear, transmission
Gear diameter is less than driving gear diameter.
6. a kind of according to claim 1 cross crawler belt clean robot automatically, it is characterised in that the transmission gear diameter
Less than driving gear diameter.
7. according to claim 1-6 any one described cross crawler belt clean robot automatically, it is characterised in that further include control
Device；The control device includes controller, attitude transducer, wireless remote control module, and the wireless remote control module includes: wireless
Receiver and remote controler；The controller, attitude transducer, wireless receiver are respectively and fixedly installed on car body, the posture
Sensor, wireless receiver are electrically connected with the controller respectively, and the motor is electrically connected with the controller, the controller and the storage
Battery connection, provides electric energy by battery for entire control device.
8. a kind of according to claim 7 cross crawler belt clean robot automatically, it is characterised in that the attitude transducer
For gyroscope and acceleration transducer.
9. a kind of control method for crossing crawler belt clean robot automatically according to claim 8, it is characterised in that including such as
Lower step:
Step 1, initialization detection and setting, whether the value including test pose sensor is normal, is prompted if abnormal
And wait it normal；
Step 2: the information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3: if the information content that remote controler is sent is advances, controller is controlling left motor and right motor simultaneously just
Turn；If the information content that remote controler is sent is to retreat, controller control left motor and right motor invert simultaneously；If remote control
The information content that device is sent is to fast forward through, then controller control left motor and right motor increase speed simultaneously；If remote control
The information content that device is sent is to slow down, then controller control left motor and right motor reduce revolving speed simultaneously；If remote controler is sent out
The information content come is to turn left, then the stalling of controller control left motor, right motor rotate forward；If in the information that remote controler is sent
Hold to turn right, then the stalling of controller control right motor, left motor rotate forward；If the information content that remote controler is sent is to clean the windows
Function, then controller controls left motor according to the routing algorithm that cleans the windows of storage and right motor realizes that corresponding track is transported
It is dynamic；
Step 4: whether the value of test pose sensor is normal, if normal return step two, judges whether if abnormal, automatic
It crosses crawler belt clean robot to fall, alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549029.8A CN110215165A (en) | 2019-06-24 | 2019-06-24 | It is a kind of to cross crawler belt clean robot automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549029.8A CN110215165A (en) | 2019-06-24 | 2019-06-24 | It is a kind of to cross crawler belt clean robot automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110215165A true CN110215165A (en) | 2019-09-10 |
Family
ID=67814384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910549029.8A Pending CN110215165A (en) | 2019-06-24 | 2019-06-24 | It is a kind of to cross crawler belt clean robot automatically |
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| CN (1) | CN110215165A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017497A (en) * | 2021-03-17 | 2021-06-25 | 江西理工大学南昌校区 | Walking mechanism of floor sweeping robot |
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| US5979580A (en) * | 1997-08-07 | 1999-11-09 | Suzuki, Motor Corporation | High ground-clearance hybrid track/wheel drive |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| CN106428268A (en) * | 2016-11-14 | 2017-02-22 | 中国人民解放军陆军军官学院 | All-terrain composite walking mechanism |
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| CN107878585A (en) * | 2017-12-25 | 2018-04-06 | 定远县中林机械技术有限公司 | A kind of electric caterpillar band wheel for the traveling that can roll |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN109358427A (en) * | 2018-11-28 | 2019-02-19 | 宫春洁 | It comes out of retirement and takes up an official post a kind of day entertaining augmented reality and virtual reality device |
-
2019
- 2019-06-24 CN CN201910549029.8A patent/CN110215165A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5979580A (en) * | 1997-08-07 | 1999-11-09 | Suzuki, Motor Corporation | High ground-clearance hybrid track/wheel drive |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| CN106428268A (en) * | 2016-11-14 | 2017-02-22 | 中国人民解放军陆军军官学院 | All-terrain composite walking mechanism |
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| CN107878585A (en) * | 2017-12-25 | 2018-04-06 | 定远县中林机械技术有限公司 | A kind of electric caterpillar band wheel for the traveling that can roll |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN109358427A (en) * | 2018-11-28 | 2019-02-19 | 宫春洁 | It comes out of retirement and takes up an official post a kind of day entertaining augmented reality and virtual reality device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017497A (en) * | 2021-03-17 | 2021-06-25 | 江西理工大学南昌校区 | Walking mechanism of floor sweeping robot |
| CN113017497B (en) * | 2021-03-17 | 2021-12-28 | 江西理工大学南昌校区 | Walking mechanism of floor sweeping robot |
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Effective date of abandoning: 20240628 |