CN111150335A

CN111150335A - Household cleaning robot

Info

Publication number: CN111150335A
Application number: CN202010064717.8A
Authority: CN
Inventors: 李兴龙; 王娟; 张月柔
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-05-15
Anticipated expiration: 2040-01-20
Also published as: CN111150335B

Abstract

The invention relates to a household cleaning robot, and belongs to the technical field of robot design. The invention comprises a detection device, a mechanical arm, a control device, a track angle adjusting device, a main track device, an auxiliary track device, a machine body cover, a tool magazine and a ball connecting block; the mechanical arms are installed on two sides of the control device, the machine body cover is installed on the control device, the spherical groove is formed in the upper end of the machine body cover, the detection device is installed on the machine body cover in a matched mode through the spherical connecting block and the spherical groove, the tool magazine is installed on the back of the control device, the crawler angle adjusting device is installed at the bottom of the control device, the main crawler device and the crawler angle adjusting device are connected and located on the lateral portion of the crawler angle adjusting device, and the auxiliary crawler device is installed on the lateral portion of. The invention integrates the cleaning function into a whole, thereby being convenient for finishing various cleaning; the articulated crawler belt can adapt to various complex environments; by applying various mature technologies, the voice control or the autonomous cleaning can be realized, and the automation degree is high.

Description

Household cleaning robot

Technical Field

The invention relates to a household cleaning robot, in particular to a multifunctional cleaning robot which can finish various cleaning works and adapt to various complex environments, and belongs to the technical field of robot design.

Background

In the current society, more and more people are busy in life and cannot clean the living environment of the people frequently, so that various cleaning robots appear on the market. The development of cleaning robots has also brought about some inevitable problems. One of the cleaning robots is that the same cleaning robot can only complete specific cleaning work, and different cleaning robots are needed to be purchased to complete various housework tasks, which increases the economic burden of people. People in life prefer to spend a small amount of money on robots that can perform a variety of household cleaning tasks.

Disclosure of Invention

The invention aims to provide a household cleaning robot, which solves the problems of single function, limited cleaning range, single working form and the like of the conventional cleaning robot.

The invention is realized according to the following technical scheme: a household cleaning robot comprises a detection device 1, a mechanical arm 2, a control device 3, a crawler angle adjusting device 4, a main crawler device 5, an auxiliary crawler device 6, a machine body cover 7, a tool magazine 8 and a ball connecting block 9; the mechanical arm 2 is arranged on two sides of the control device 3, the machine body cover 7 is arranged on the control device 3, the upper end of the machine body cover 7 is provided with a spherical groove 10, the detection device 1 is arranged on the machine body cover 7 through a spherical connecting block 9 and the spherical groove 10 in a matching manner, the tool library 8 is arranged on the back of the control device 3, the crawler angle adjusting device 4 is arranged at the bottom of the control device 3, the main crawler device 5 and the crawler angle adjusting device 4 are connected and positioned on the side part of the crawler angle adjusting device 4, the auxiliary crawler device 6 is arranged on the side part of the main crawler device 5, and the detection device 1 comprises a detection shell 11, a sound receiver 12, a camera 13, a fixing plate; the sound receiver 12 is arranged on two sides outside the detection shell 11, the fixing plate 14 is arranged on the inner lower part of the detection shell 11, the camera 13 is arranged on the fixing plate 14, the mainboard 16 is arranged on the fixing plate 14, the central processing unit 15 is arranged on the mainboard 16, the upper part of the ball connecting block 9 is arranged at the bottom of the detection shell 11, the detection shell 11 of the detection device 1 is arranged on the machine body cover 7 through the cooperation of the ball connecting block 9 and the ball-shaped groove 10, the mechanical arm 2 comprises a mechanical claw I17, a mechanical claw II 18, a mechanical claw III 19, an electromagnet 20, an electromagnet fixing ring 21, a mechanical arm coupling 22, a mechanical arm I23, a mechanical arm II 24, a mechanical arm III 25, a mechanical arm fixing pin 26, a mechanical arm; one end of a mechanical claw I17 is arranged at one end of a mechanical claw II 18 through a mechanical claw fixing pin 30, a mechanical claw groove 31 is formed in the upper portion of the mechanical claw III 19, a mechanical claw mounting ring 32 is arranged on the mechanical claw III 19, the mechanical claw groove 31 is located on two sides of the mechanical claw mounting ring 32, the other end of the mechanical claw II 18 is arranged in the mechanical claw groove 31 of the mechanical claw III 19 through the mechanical claw fixing pin 30 and the mechanical claw mounting ring 32 in a matched mode, an electromagnet fixing ring 21 is arranged on the lower portion of the mechanical claw III 19, an electromagnet 20 is arranged inside the electromagnet fixing ring 21, one end of a mechanical arm coupler 22 is arranged on the lower portion of the electromagnet fixing ring 21, one end of a mechanical arm I23 is arranged at the other end of the mechanical arm coupler 22, the other end of the mechanical arm I23, the two ends of a mechanical, The mechanical arm fixing pin 26 is connected and mounted at the other end of the mechanical arm I23, one end of the mechanical arm III 25 is connected and mounted at the other end of the mechanical arm II 24 through a mechanical arm connecting hole 33 and the mechanical arm fixing pin 26, one end of the mechanical arm IV 27 is connected and mounted at the other end of the mechanical arm III 25 through a mechanical arm connecting hole 33 and the mechanical arm fixing pin 26, the mechanical arm V28 is mounted at the other end of the mechanical arm IV 27, the machine body coupler 29 is mounted at the lower part of the mechanical arm V28, the mechanical arm 2 is mounted at two sides of the control device 3 through the machine body coupler 29, and the control device 3 comprises a dust suction device 34, a collection device 35, a mechanical; the dust collection device 34 is arranged at the bottom of the machine body cover 7 and positioned in the upper part of the machine body shell 60, the mechanical arm lifting mechanisms 36 are arranged at two sides in the machine body shell 60, the supporting platform 40 is arranged in the machine body shell 60, the collecting device 35 is arranged on the supporting platform 40, one end of a dust collection pipeline 38 is arranged at the bottom of the dust collection device 34, the other end of the dust collection pipeline 38 is arranged at the upper part of the collecting device 35, the power supply 39 is arranged at the inner back part of the machine body shell 60, the outer swing type door mechanism 37 is arranged at the inner front part of the machine body shell 60, and the dust collection device 34; the upper part of the dust collector fixing cover 44 is arranged at the bottom of the machine body cover 7, the fan blade shell 43 is arranged in the dust collector fixing cover 44, the fan blade 41 is arranged in the fan blade shell 43, the fan blade gasket 42 is arranged at the upper part of the fan blade 41, and the collecting device 35 comprises a guide rail 45, a guide rail base 46, a garbage can 47, a collecting cover 48 and a collecting box body 61; the guide rail 45 is arranged at the bottom of the collection box body 61, the guide rail base 46 is arranged at the upper part of the supporting platform 40, the collection box body 61 is used for installing the collection device 35 on the supporting platform 40 through the mutual matching of the guide rail 45 and the guide rail base 46, the garbage can 47 is arranged in the collection box body 61, the collection cover 48 is arranged at the top of the collection box body 61, the other end of the dust suction pipeline 38 passes through the collection cover 48 and is arranged at the upper part of the collection device 35, and the mechanical arm lifting mechanism 36 comprises a lead screw 49, a lead screw support 50, a lead screw limiting plate 51; the lead screw support 50 is installed on two sides in the machine body shell 60, the lead screw 49 is installed on the lead screw support 50, the lead screw limit plate 51 is installed on the top of the lead screw support 50, the moving block 52 is installed on the lead screw 49, the mechanical arm connecting plate 53 is installed on the moving block 52, the mechanical arm supporting plate 54 is installed on the mechanical arm connecting plate 53, the machine body coupling 29 is installed on the mechanical arm supporting plate 54, the mechanical arm 2 is connected with the mechanical arm supporting plate 54 through the machine body coupling 29 and installed on the side part of the control device 3, and the outer swinging type door mechanism 37 comprises a door shaft; one end of an L-shaped connecting rod 58 is arranged at the upper part in the machine body shell 60 through a door shaft sleeve 57, an outer swinging door 59 is arranged at the other end of the L-shaped connecting rod 58 through the door shaft sleeve 57, and the crawler angle adjusting device 4 comprises an adjusting shell 62, a driving motor 63, a motor driving wheel 64, an inductor 65, a crawler driving wheel 66 and a connecting shaft 73; the adjusting shell 62 is installed at the bottom of the machine body shell 60, the driving motor 63 is installed at the bottom in the adjusting shell 62, the motor driving wheel 64 is installed on an output shaft of the driving motor 63, the connecting shaft 73 is installed at the side of the adjusting shell 62, the crawler driving wheel 66 is installed at one end of the connecting shaft 73 and is positioned in the adjusting shell 62 to be meshed with the motor driving wheel 64, the other end of the connecting shaft 73 penetrates out of the adjusting shell 62, the sensor 65 is installed at the upper portion in the adjusting shell 62, the main crawler device 5 comprises a transmission shaft I55, a transmission gear 56, a main crawler 67, a driving wheel shaft sleeve 68, a driven wheel shaft sleeve 69, a fixing rod I70, a fixing rod II 71, a fastening piece 72, a main crawler motor 74, a tensioning wheel 75, a driving wheel 76, a bearing I77; the upper part of a fastener 72 is connected and installed on the other end of a connecting shaft 73, one end of a fixed rod I70 is connected and installed on the lower part of the fastener 72, one end of a fixed rod II 71 is connected and installed on the lower part of the fastener 72, one end of a driving wheel shaft sleeve 68 is connected and installed on the other end of the fixed rod I70, one end of a driven wheel shaft sleeve 69 is connected and installed on the other end of the fixed rod II 71, a driving track baffle 92 is installed on two sides of a track fixing seat 90, the other end of the driving wheel shaft sleeve 68 and the other end of the driven wheel shaft sleeve 69 are respectively installed on the driving track baffle 92, a tension wheel 75 is installed on the lower part of the driving track baffle 92, a driving wheel groove 93 and a driven wheel groove 94 are respectively formed at two ends of the track fixing seat 90, a power wheel groove 95 is formed on the track fixing seat 90, the power wheel 78 is arranged on an output shaft of the main track motor 74 and is positioned in the power wheel groove 95, the transmission shaft II 87 penetrates through the driving wheel groove 93, one end of the transmission shaft II is arranged in the driving wheel shaft sleeve 68, the other end of the transmission shaft II is arranged on the main track baffle 92 through the shaft end cover 84, the driving wheel 76 is arranged on the transmission shaft II 87 and is positioned in the driving wheel groove 93, the driven wheel 80 is positioned in the driven wheel groove 94, two ends of the transmission shaft I55 are arranged on the inner side of the main track baffle 92, the transmission gear 56 is arranged on the transmission shaft I55, the transmission gear 56 is meshed with the power wheel 78, the driving wheel 76 is meshed with the transmission, the auxiliary crawler device 6 comprises an auxiliary crawler motor 79, an auxiliary crawler driven wheel 81, an auxiliary crawler driving wheel 82, an auxiliary crawler baffle 83, an auxiliary crawler mandrel 85, an auxiliary crawler 86, a high-torque synchronous gear shaft 88 and a special-shaped shaft end cover 89; the auxiliary track motor 79 is arranged in the driven wheel shaft sleeve 69, one end of a high-torque synchronizing gear shaft 88 passes through a driven wheel groove 94 to be connected with an output shaft of the auxiliary track motor 79, the driven wheel 80 is arranged on the high-torque synchronizing gear shaft 88 through a bearing I77 and is positioned in the driven wheel groove 94, the other end of the high-torque synchronizing gear shaft 88 is arranged on an auxiliary track baffle 83 outside the auxiliary track device 6 through a shaft end cover 84, a tooth socket I97 is arranged on the outer cylindrical surface of the high-torque synchronizing gear shaft 88, a tooth socket II 98 is arranged in the auxiliary track driving wheel 82, the auxiliary track driving wheel 82 is arranged on the high-torque synchronizing gear shaft 88 through the tooth socket II 98 and the tooth socket I97 in a matching way, a special-shaped shaft end cover 89 is arranged on the auxiliary track baffle 83 side inside the auxiliary track device 6 on the high-torque synchronizing gear shaft 88, and two ends of, the auxiliary track driven wheel 81 is arranged on an auxiliary track mandrel 85 through a bearing I77, the auxiliary track 86 is arranged on an auxiliary track driving wheel 82 and the auxiliary track driven wheel 81, and the tool magazine 8 comprises a box body 99, a tool magazine motor 100, a bearing II 101, a tensioning wheel shaft 102, a driving chain wheel 103, a driven shaft 104, a driven chain wheel 105, a chain 106, a connecting seat 107, a right-angle rod 108, a tool 109 and a tool magazine tensioning wheel 119; a motor mounting groove 91 is formed in the box body 99, a fixed shaft 120 is arranged on the box body 99, a tool magazine motor 100 is mounted in the motor mounting groove 91, one end of a driving chain wheel 103 is mounted on an output shaft of the tool magazine motor 100, the other end of the driving chain wheel 103 is mounted on the fixed shaft 120, a tensioning wheel shaft 102 is mounted at the lower part of the box body 99 through a bearing II 101, a tool magazine tensioning wheel 119 is mounted on the tensioning wheel shaft 102, a driven shaft 104 is mounted at the upper part of the box body 99 through a bearing II 101, a driven chain wheel 105 is mounted on the driven shaft 104; chain recess 112 has been opened to link 110 one end, the link 110 other end is equipped with chain arch 113, every link 110 is through connecting rod 111, chain arch 113 and chain recess 112 cooperation interconnect, link 110 interconnect forms chain 106, link 110 bottom has seted up gear groove 114, chain 106 passes through gear groove 114 and installs at drive sprocket 103, driven sprocket 105, tool magazine take-up pulley 119, connecting seat 107 is installed on link 110, the guide way 115 has been seted up on connecting seat 107, right angle pole 108 one end is passed guide way 115 and is connected and install on connecting seat 107, the connection of instrument 109 is installed on right angle pole 108 other end.

The tools 109 may be a wiper 116, a vacuum cleaner 117, a glass brush 118.

A household cleaning robot working principle comprises the following steps: the camera 13 positioned in the detection device 1 utilizes an infrared scanning identification technology to emit infrared rays to the surrounding environment and then analyzes the numerical change of the reflected infrared rays to judge the accurate position of the area needing to be cleaned; through the familiarity of geometric environment, the central processing unit 15 of the robot can form a positioning diagram of a room inside, and can be stored on the main board 16 of the robot, then through a positioning system, a corresponding work plan is made according to the current position, meanwhile, the sound receiver 12 in the detection device 1 can receive a voice command, the central processing unit 15 transmits a command to each mechanism after analyzing information, the tool library 8 drives the driving chain wheel 103 to rotate after receiving the command, and the driven chain wheel 105 rotates to drive the chain 106 to rotate so as to convey the required tool 109 to the appointed position; after the mechanical arm 2 receives the instruction, the electromagnet 20 at the front end of the mechanical arm 2 can suck the corresponding tool 109 from the designated position in the tool library 8, the camera 13 transmits the instruction of a certain area to be cleaned to the mechanical arm 2 through scanning so as to imitate the hand of a person to clean the mechanical arm or suck the garbage into the collecting device 35 through the high-speed rotation of the fan blade 41 in the dust collection device 34, when the garbage in the garbage can 47 needs to be cleaned, the L-shaped connecting rod 58 moves to drive the outer swinging door 59 to move in the up-and-down directions respectively, and the guide rail 45 moves to push the garbage can 47 out of the machine body shell 60 for garbage cleaning; when the cleaning space is relatively low, the mechanical arm lifting mechanism 36 drives the mechanical arm 2 to descend to a proper height for cleaning; a main track motor 74 of the main track device 5 drives a power wheel 78 to move, drives a transmission gear 56 meshed with the power wheel to move and drives a driving wheel 76 to move, a driven wheel 80 moves to drive a main track 67 to rotate, a secondary track motor 79 drives a high-torque synchronous gear shaft 88 to move, and a secondary track driving wheel 82 meshed with the high-torque synchronous gear shaft 88 moves to drive a secondary track 86 to move so as to bring the robot to an area needing cleaning; when the camera 13 detects an obstacle, the central processing unit 15 transmits an avoidance instruction to the main crawler device 5 and the auxiliary crawler device 6, and according to the environment survey conducted by the camera 13, the central processing unit 15 selects a proper path to avoid, and the main crawler device 5 and the auxiliary crawler device 6 avoid along a set route; the sensor 65 in the crawler angle adjusting device 4 measures the acceleration caused by gravity, and the central processing unit 15 calculates the inclination angle of the robot relative to the horizontal plane; and judging whether the robot turns over or not by analyzing the dynamic acceleration. If the inclination angle of the robot is larger than the limit inclination angle, the central processing unit 15 feeds a signal back to the driving motor 63, the driving motor 63 drives the motor driving wheel 64 to move, and the track driving wheel 66 engaged with the motor driving wheel moves, so that the main track device 5 and the auxiliary track device 6 are correspondingly raised or lowered by a specific angle; the inclination degree of the track is adjusted to prevent the robot from turning over, so that the stability of the robot in crossing obstacles and walking can be ensured.

The invention has the following beneficial effects:

1. the cleaning function is integrated, so that various cleaning can be conveniently finished;

2. the articulated crawler belt can adapt to various complex environments;

3. the required tools are combined with the machine body, and the robot can clamp the tools in the tool library for cleaning, so that the robot is convenient to use;

4. the multi-degree-of-freedom and liftable mechanical arm can enlarge the cleaning space;

5. a dust suction device and a collection device are arranged in the machine body, so that the sucked garbage can be temporarily stored, and the working environment can be kept clean;

6. by applying various mature technologies, the voice control or the autonomous cleaning can be realized, and the automation degree is high.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the body cover of the present invention;

FIG. 3 is a schematic view of the internal structure of the detecting device of the present invention;

FIG. 4 is a schematic view of a robotic arm of the present invention;

FIG. 5 is a schematic view of a gripper according to the present invention;

FIG. 6 is a schematic diagram of the internal structure of the control device according to the present invention;

FIG. 7 is a schematic view of an installation structure of an out-swinging door mechanism of the present invention;

FIG. 8 is a schematic view of the mounting structure of the robot arm lift mechanism of the present invention;

FIG. 9 is a schematic view of a robotic arm linkage of the present invention;

FIG. 10 is a schematic view of the installation structure of the dust collector of the present invention;

FIG. 11 is a schematic view of the mounting structure of the collecting device of the present invention;

FIG. 12 is a schematic view of the dust collector of the present invention;

FIG. 13 is a schematic view of the structure of the collecting device of the present invention;

FIG. 14 is a schematic structural view of a robot arm lift mechanism of the present invention;

FIG. 15 is a schematic structural view of an outboard swing door mechanism of the present invention;

FIG. 16 is a schematic view of the internal structure of the track angle adjustment apparatus of the present invention;

FIG. 17 is a schematic view of the main track arrangement of the present invention;

FIG. 18 is a schematic view of a track attachment base of the primary track assembly of the present invention;

FIG. 19 is a schematic view of a main track swashplate configuration of the main track assembly of the present invention;

FIG. 20 is a schematic view of the internal structure of the main track assembly of the present invention;

FIG. 21 is a schematic top view of the main track assembly of the present invention;

FIG. 22 is a schematic view of the secondary track motor mounting structure of the present invention;

FIG. 23 is a schematic view of the construction of the secondary track assembly of the present invention;

FIG. 24 is a schematic view of the attachment configuration of the secondary track assembly of the present invention;

FIG. 25 is a schematic view of the internal structure of the secondary track assembly of the present invention;

FIG. 26 is a schematic top view of the secondary track assembly of the present invention;

FIG. 27 is a schematic view of the secondary track drive wheel of the present invention;

FIG. 28 is a schematic view of a high torque synchronous gear shaft structure according to the present invention

FIG. 29 is a schematic diagram of a tool library configuration according to the present invention;

FIG. 30 is a schematic view of the structure of the case of the present invention;

FIG. 31 is a schematic view of the chain structure of the present invention;

fig. 32 is a schematic view of the internal structure of the tool library according to the present invention.

The reference numbers in the figures are: 1: detection device, 2: mechanical arm, 3: control device, 4: track angle adjusting device, 5: main crawler device, 6: auxiliary crawler device, 7: body cover, 8: tool library, 9: ball connecting block, 10: spherical groove, 11: detection housing, 12: sound receiver, 13: camera, 14: fixing plate, 15: central processing unit, 16: mainboard, 17: gripper i, 18: gripper ii, 19: gripper iii, 20: electromagnet, 21: electromagnet fixing ring, 22: arm coupling, 23: arm I, 24: mechanical arms ii, 25: arm iii, 26: arm fixing pin, 27: arm iv, 28: mechanical arm V, 29: body coupling, 30: gripper fixing pin, 31: gripper groove, 32: gripper mounting ring, 33: arm connection hole, 34: dust collection device, 35: collecting device, 36: arm lift mechanism, 37: outward swinging door mechanism, 38: dust collection duct, 39: power supply, 40: support platform, 41: fan blade, 42: fan blade spacer, 43: fan blade housing, 44: fixed lid of dust catcher, 45: guide rail, 46: guide rail base, 47: dustbin, 48: collection cover, 49: screw rod, 50: screw support, 51: screw limiting plate, 52: moving block, 53: arm connecting plate, 54: arm support plate, 55: transmission shaft I, 56: transmission gear, 57: door bushing, 58: l-shaped link, 59: outward swing door, 60: body case, 61: collection box, 62: adjusting the shell, 63: drive motor, 64: motor drive wheel, 65: inductor, 66: crawler drive wheel, 67: main track, 68: driving sheave shaft sleeve, 69: driven wheel sleeve, 70: fixing rod I, 71: fixing rods II, 72: fastener, 73: connecting shaft, 74: main track motor, 75: tension pulley, 76: driving wheel, 77: bearing I, 78: power wheel, 79: auxiliary track motor, 80: driven pulley, 81: secondary crawler driven wheel, 82: secondary crawler drive wheel, 83: secondary track guard, 84: shaft end cover, 85: secondary crawler spindle, 86: auxiliary crawler, 87: transmission shafts ii, 88: high-torque synchronizing gear shaft, 89: special-shaped shaft end cover, 90: track fixing base, 91: motor mounting groove, 92: main crawler belt guard, 93: driving sheave groove, 94: driven sheave groove, 95: power sheave groove, 96: shaft hole, 97: tooth socket I, 98: tooth grooves II and 99: a box body and 100: tool magazine motor, 101: bearings ii, 102: tension pulley shaft, 103: drive sprocket, 104: driven shaft, 105: driven sprocket, 106: chain, 107: connecting seat, 108: right-angle rod, 109: tool, 110: link, 111: connecting rod, 112: chain groove, 113: chain projection, 114: gear groove, 115: guide groove, 116: wiper, 117: vacuum cleaner, 118: glass brush, 119: tool magazine tensioning wheel, 120: and fixing the shaft.

Detailed Description

The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.

Example 1: as shown in fig. 1 to 32, a household cleaning robot includes a detecting device 1, a robot arm 2, a control device 3, a track angle adjusting device 4, a main track device 5, a sub track device 6, a body cover 7, a tool magazine 8, a ball connecting block 9; the mechanical arm 2 is arranged on two sides of the control device 3, the machine body cover 7 is arranged on the control device 3, the upper end of the machine body cover 7 is provided with a spherical groove 10, the detection device 1 is arranged on the machine body cover 7 through a spherical connecting block 9 and the spherical groove 10 in a matching manner, the tool library 8 is arranged on the back of the control device 3, the crawler angle adjusting device 4 is arranged at the bottom of the control device 3, the main crawler device 5 and the crawler angle adjusting device 4 are connected and positioned on the side part of the crawler angle adjusting device 4, the auxiliary crawler device 6 is arranged on the side part of the main crawler device 5, and the detection device 1 comprises a detection shell 11, a sound receiver 12, a camera 13, a fixing plate; the sound receiver 12 is arranged on two sides outside the detection shell 11, the fixing plate 14 is arranged on the inner lower part of the detection shell 11, the camera 13 is arranged on the fixing plate 14, the mainboard 16 is arranged on the fixing plate 14, the central processing unit 15 is arranged on the mainboard 16, the upper part of the ball connecting block 9 is arranged at the bottom of the detection shell 11, the detection shell 11 of the detection device 1 is arranged on the machine body cover 7 through the cooperation of the ball connecting block 9 and the ball-shaped groove 10, the mechanical arm 2 comprises a mechanical claw I17, a mechanical claw II 18, a mechanical claw III 19, an electromagnet 20, an electromagnet fixing ring 21, a mechanical arm coupling 22, a mechanical arm I23, a mechanical arm II 24, a mechanical arm III 25, a mechanical arm fixing pin 26, a mechanical arm; one end of a mechanical claw I17 is arranged at one end of a mechanical claw II 18 through a mechanical claw fixing pin 30, a mechanical claw groove 31 is formed in the upper portion of the mechanical claw III 19, a mechanical claw mounting ring 32 is arranged on the mechanical claw III 19, the mechanical claw groove 31 is located on two sides of the mechanical claw mounting ring 32, the other end of the mechanical claw II 18 is arranged in the mechanical claw groove 31 of the mechanical claw III 19 through the mechanical claw fixing pin 30 and the mechanical claw mounting ring 32 in a matched mode, an electromagnet fixing ring 21 is arranged on the lower portion of the mechanical claw III 19, an electromagnet 20 is arranged inside the electromagnet fixing ring 21, one end of a mechanical arm coupler 22 is arranged on the lower portion of the electromagnet fixing ring 21, one end of a mechanical arm I23 is arranged at the other end of the mechanical arm coupler 22, the other end of the mechanical arm I23, the two ends of a mechanical, The mechanical arm fixing pin 26 is connected and mounted at the other end of the mechanical arm I23, one end of the mechanical arm III 25 is connected and mounted at the other end of the mechanical arm II 24 through a mechanical arm connecting hole 33 and the mechanical arm fixing pin 26, one end of the mechanical arm IV 27 is connected and mounted at the other end of the mechanical arm III 25 through a mechanical arm connecting hole 33 and the mechanical arm fixing pin 26, the mechanical arm V28 is mounted at the other end of the mechanical arm IV 27, the machine body coupler 29 is mounted at the lower part of the mechanical arm V28, the mechanical arm 2 is mounted at two sides of the control device 3 through the machine body coupler 29, and the control device 3 comprises a dust suction device 34, a collection device 35, a mechanical; the dust collection device 34 is arranged at the bottom of the machine body cover 7 and positioned in the upper part of the machine body shell 60, the mechanical arm lifting mechanisms 36 are arranged at two sides in the machine body shell 60, the supporting platform 40 is arranged in the machine body shell 60, the collecting device 35 is arranged on the supporting platform 40, one end of a dust collection pipeline 38 is arranged at the bottom of the dust collection device 34, the other end of the dust collection pipeline 38 is arranged at the upper part of the collecting device 35, the power supply 39 is arranged at the inner back part of the machine body shell 60, the outer swing type door mechanism 37 is arranged at the inner front part of the machine body shell 60, and the dust collection device 34; the upper part of the dust collector fixing cover 44 is arranged at the bottom of the machine body cover 7, the fan blade shell 43 is arranged in the dust collector fixing cover 44, the fan blade 41 is arranged in the fan blade shell 43, the fan blade gasket 42 is arranged at the upper part of the fan blade 41, and the collecting device 35 comprises a guide rail 45, a guide rail base 46, a garbage can 47, a collecting cover 48 and a collecting box body 61; the guide rail 45 is arranged at the bottom of the collection box body 61, the guide rail base 46 is arranged at the upper part of the supporting platform 40, the collection box body 61 is used for installing the collection device 35 on the supporting platform 40 through the mutual matching of the guide rail 45 and the guide rail base 46, the garbage can 47 is arranged in the collection box body 61, the collection cover 48 is arranged at the top of the collection box body 61, the other end of the dust suction pipeline 38 passes through the collection cover 48 and is arranged at the upper part of the collection device 35, and the mechanical arm lifting mechanism 36 comprises a lead screw 49, a lead screw support 50, a lead screw limiting plate 51; the lead screw support 50 is installed on two sides in the machine body shell 60, the lead screw 49 is installed on the lead screw support 50, the lead screw limit plate 51 is installed on the top of the lead screw support 50, the moving block 52 is installed on the lead screw 49, the mechanical arm connecting plate 53 is installed on the moving block 52, the mechanical arm supporting plate 54 is installed on the mechanical arm connecting plate 53, the machine body coupling 29 is installed on the mechanical arm supporting plate 54, the mechanical arm 2 is connected with the mechanical arm supporting plate 54 through the machine body coupling 29 and installed on the side part of the control device 3, and the outer swinging type door mechanism 37 comprises a door shaft; one end of an L-shaped connecting rod 58 is arranged at the upper part in the machine body shell 60 through a door shaft sleeve 57, an outer swinging door 59 is arranged at the other end of the L-shaped connecting rod 58 through the door shaft sleeve 57, and the crawler angle adjusting device 4 comprises an adjusting shell 62, a driving motor 63, a motor driving wheel 64, an inductor 65, a crawler driving wheel 66 and a connecting shaft 73; the adjusting shell 62 is installed at the bottom of the machine body shell 60, the driving motor 63 is installed at the bottom in the adjusting shell 62, the motor driving wheel 64 is installed on an output shaft of the driving motor 63, the connecting shaft 73 is installed at the side of the adjusting shell 62, the crawler driving wheel 66 is installed at one end of the connecting shaft 73 and is positioned in the adjusting shell 62 to be meshed with the motor driving wheel 64, the other end of the connecting shaft 73 penetrates out of the adjusting shell 62, the sensor 65 is installed at the upper portion in the adjusting shell 62, the main crawler device 5 comprises a transmission shaft I55, a transmission gear 56, a main crawler 67, a driving wheel shaft sleeve 68, a driven wheel shaft sleeve 69, a fixing rod I70, a fixing rod II 71, a fastening piece 72, a main crawler motor 74, a tensioning wheel 75, a driving wheel 76, a bearing I77; the upper part of a fastener 72 is connected and installed on the other end of a connecting shaft 73, one end of a fixed rod I70 is connected and installed on the lower part of the fastener 72, one end of a fixed rod II 71 is connected and installed on the lower part of the fastener 72, one end of a driving wheel shaft sleeve 68 is connected and installed on the other end of the fixed rod I70, one end of a driven wheel shaft sleeve 69 is connected and installed on the other end of the fixed rod II 71, a driving track baffle 92 is installed on two sides of a track fixing seat 90, the other end of the driving wheel shaft sleeve 68 and the other end of the driven wheel shaft sleeve 69 are respectively installed on the driving track baffle 92, a tension wheel 75 is installed on the lower part of the driving track baffle 92, a driving wheel groove 93 and a driven wheel groove 94 are respectively formed at two ends of the track fixing seat 90, a power wheel groove 95 is formed on the track fixing seat 90, the power wheel 78 is arranged on an output shaft of the main track motor 74 and is positioned in the power wheel groove 95, the transmission shaft II 87 penetrates through the driving wheel groove 93, one end of the transmission shaft II is arranged in the driving wheel shaft sleeve 68, the other end of the transmission shaft II is arranged on the main track baffle 92 through the shaft end cover 84, the driving wheel 76 is arranged on the transmission shaft II 87 and is positioned in the driving wheel groove 93, the driven wheel 80 is positioned in the driven wheel groove 94, two ends of the transmission shaft I55 are arranged on the inner side of the main track baffle 92, the transmission gear 56 is arranged on the transmission shaft I55, the transmission gear 56 is meshed with the power wheel 78, the driving wheel 76 is meshed with the transmission, the auxiliary crawler device 6 comprises an auxiliary crawler motor 79, an auxiliary crawler driven wheel 81, an auxiliary crawler driving wheel 82, an auxiliary crawler baffle 83, an auxiliary crawler mandrel 85, an auxiliary crawler 86, a high-torque synchronous gear shaft 88 and a special-shaped shaft end cover 89; the auxiliary track motor 79 is arranged in the driven wheel shaft sleeve 69, one end of a high-torque synchronizing gear shaft 88 passes through a driven wheel groove 94 to be connected with an output shaft of the auxiliary track motor 79, the driven wheel 80 is arranged on the high-torque synchronizing gear shaft 88 through a bearing I77 and is positioned in the driven wheel groove 94, the other end of the high-torque synchronizing gear shaft 88 is arranged on an auxiliary track baffle 83 outside the auxiliary track device 6 through a shaft end cover 84, a tooth socket I97 is arranged on the outer cylindrical surface of the high-torque synchronizing gear shaft 88, a tooth socket II 98 is arranged in the auxiliary track driving wheel 82, the auxiliary track driving wheel 82 is arranged on the high-torque synchronizing gear shaft 88 through the tooth socket II 98 and the tooth socket I97 in a matching way, a special-shaped shaft end cover 89 is arranged on the auxiliary track baffle 83 side inside the auxiliary track device 6 on the high-torque synchronizing gear shaft 88, and two ends of, the auxiliary track driven wheel 81 is arranged on an auxiliary track mandrel 85 through a bearing I77, the auxiliary track 86 is arranged on an auxiliary track driving wheel 82 and the auxiliary track driven wheel 81, and the tool magazine 8 comprises a box body 99, a tool magazine motor 100, a bearing II 101, a tensioning wheel shaft 102, a driving chain wheel 103, a driven shaft 104, a driven chain wheel 105, a chain 106, a connecting seat 107, a right-angle rod 108, a tool 109 and a tool magazine tensioning wheel 119; a motor mounting groove 91 is formed in the box body 99, a fixed shaft 120 is arranged on the box body 99, a tool magazine motor 100 is mounted in the motor mounting groove 91, one end of a driving chain wheel 103 is mounted on an output shaft of the tool magazine motor 100, the other end of the driving chain wheel 103 is mounted on the fixed shaft 120, a tensioning wheel shaft 102 is mounted at the lower part of the box body 99 through a bearing II 101, a tool magazine tensioning wheel 119 is mounted on the tensioning wheel shaft 102, a driven shaft 104 is mounted at the upper part of the box body 99 through a bearing II 101, a driven chain wheel 105 is mounted on the driven shaft 104; chain recess 112 has been opened to link 110 one end, the link 110 other end is equipped with chain arch 113, every link 110 is through connecting rod 111, chain arch 113 and chain recess 112 cooperation interconnect, link 110 interconnect forms chain 106, link 110 bottom has seted up gear groove 114, chain 106 passes through gear groove 114 and installs at drive sprocket 103, driven sprocket 105, tool magazine take-up pulley 119, connecting seat 107 is installed on link 110, the guide way 115 has been seted up on connecting seat 107, right angle pole 108 one end is passed guide way 115 and is connected and install on connecting seat 107, the connection of instrument 109 is installed on right angle pole 108 other end.

The tools 109 may be a wiper 116, a vacuum 117, a glass brush 118.

Claims

1. A household cleaning robot, characterized in that: the device comprises a detection device (1), a mechanical arm (2), a control device (3), a track angle adjusting device (4), a main track device (5), an auxiliary track device (6), a machine body cover (7), a tool magazine (8) and a ball connecting block (9); the mechanical arm (2) is installed on two sides of the control device (3), the machine body cover (7) is installed on the control device (3), a spherical groove (10) is formed in the upper end of the machine body cover (7), the detection device (1) is installed on the machine body cover (7) through a spherical connecting block (9) and the spherical groove (10) in a matched mode, the tool magazine (8) is installed on the back portion of the control device (3), the crawler angle adjusting device (4) is installed at the bottom of the control device (3), the main crawler device (5) and the crawler angle adjusting device (4) are connected and located on the side portion of the crawler angle adjusting device (4), the auxiliary crawler device (6) is installed on the side portion of the main crawler device (5), and the detection device (1) comprises a detection shell (11), a sound receiver (12), a camera (13), a fixing plate (14), a central processing; sound receiver (12) are installed in the outer both sides of detection shell (11), lower part in detecting shell (11) is installed in fixed plate (14), install on fixed plate (14) camera (13), install on fixed plate (14) mainboard (16), central processing unit (15) are installed on mainboard (16), install in detecting shell (11) bottom on ball connecting block (9) upper portion, detection shell (11) of detection device (1) are installed on organism lid (7) through ball connecting block (9) and ball-type recess (10) cooperation, arm (2) are including gripper I (17), gripper II (18), gripper III (19), electro-magnet (20), electro-magnet solid fixed ring (21), arm shaft coupling (22), arm I (23), arm II (24), arm III (25), arm fixed pin (26), arm IV (27) are, The mechanical arm V (28), the machine body coupler (29) and the mechanical claw fixing pin (30); one end of a mechanical claw I (17) is installed at one end of a mechanical claw II (18) through a mechanical claw fixing pin (30), a mechanical claw groove (31) is formed in the upper portion of the mechanical claw III (19), a mechanical claw installing ring (32) is installed on the mechanical claw III (19), the mechanical claw groove (31) is located on two sides of the mechanical claw installing ring (32), the other end of the mechanical claw II (18) is installed in the mechanical claw groove (31) of the mechanical claw III (19) in a matched mode through the mechanical claw fixing pin (30) and the mechanical claw installing ring (32), an electromagnet fixing ring (21) is installed on the lower portion of the mechanical claw III (19), an electromagnet (20) is installed inside the electromagnet fixing ring (21), one end of a mechanical arm coupler (22) is installed on the lower portion of the electromagnet fixing ring (21), one end of a mechanical arm I (23) is installed on the other end of the mechanical, Two ends of a second mechanical arm (24), two ends of a third mechanical arm (25), mechanical arm connecting holes (33) are formed in one end of a fourth mechanical arm (27), the mechanical arm connecting holes (33) are formed in one end of the second mechanical arm (24), mechanical arm fixing pins (26) are connected and installed on the other end of the first mechanical arm (23), the mechanical arm connecting holes (33) are formed in one end of the third mechanical arm (25), the mechanical arm fixing pins (26) are connected and installed on the other end of the second mechanical arm (24), the mechanical arm connecting holes (33) are formed in one end of the fourth mechanical arm (27), the mechanical arm fixing pins (26) are connected and installed on the other end of the third mechanical arm (25), a third mechanical arm (28) is installed on the other end of the fourth mechanical arm (27), a machine body coupling (29) is installed on the lower portion of a fourth mechanical arm (28), the mechanical arm (2, The device comprises a collecting device (35), a mechanical arm lifting mechanism (36), an outer swinging door mechanism (37), a dust collection pipeline (38), a power supply (39) and a machine body shell (60); the dust collection device (34) is arranged at the bottom of the machine body cover (7) and is positioned in the upper part of the machine body shell (60), the mechanical arm lifting mechanisms (36) are arranged at two sides in the machine body shell (60), a supporting platform (40) is arranged in the machine body shell (60), the collection device (35) is arranged on the supporting platform (40), one end of a dust collection pipeline (38) is arranged at the bottom of the dust collection device (34), the other end of the dust collection pipeline (38) is arranged at the upper part of the collection device (35), the power supply (39) is arranged at the inner back part of the machine body shell (60), the outer swing type door mechanism (37) is arranged at the inner front part of the machine body shell (60), and the dust collection device (34) comprises fan blades (41), gaskets (42), fan blade shells; the upper part of a dust collector fixing cover (44) is arranged at the bottom of a machine body cover (7), a fan blade shell (43) is arranged inside the dust collector fixing cover (44), a fan blade (41) is arranged inside the fan blade shell (43), a fan blade gasket (42) is arranged on the upper part of the fan blade (41), and a collecting device (35) comprises a guide rail (45), a guide rail base (46), a garbage can (47), a collecting cover (48) and a collecting box body (61); the guide rail (45) is installed at the bottom of the collection box body (61), the guide rail base (46) is installed at the upper portion of the supporting platform (40), the collection box body (61) is used for installing the collection device (35) on the supporting platform (40) through mutual matching of the guide rail (45) and the guide rail base (46), the garbage can (47) is installed in the collection box body (61), the collection cover (48) is installed at the top of the collection box body (61), the other end of the dust collection pipeline (38) penetrates through the collection cover (48) to be installed at the upper portion of the collection device (35), and the mechanical arm lifting mechanism (36) comprises a lead screw (49), a lead screw support seat (50), a lead screw limiting plate (51), a moving block (52), a; the lead screw support (50) is arranged on two sides in a machine body shell (60), a lead screw (49) is arranged on the lead screw support (50), a lead screw limiting plate (51) is arranged on the top of the lead screw support (50), a moving block (52) is arranged on the lead screw (49), a mechanical arm connecting plate (53) is arranged on the moving block (52), a mechanical arm supporting plate (54) is arranged on the mechanical arm connecting plate (53), a machine body coupler (29) is arranged on the mechanical arm supporting plate (54), a mechanical arm (2) is connected with the mechanical arm supporting plate (54) through the machine body coupler (29) and is arranged on the side of a control device (3), and an outer swing type door mechanism (37) comprises a door shaft sleeve (57), an L-shaped connecting rod (58; one end of an L-shaped connecting rod (58) is arranged at the upper part in a machine body shell (60) through a door shaft sleeve (57), an outward swinging door (59) is arranged at the other end of the L-shaped connecting rod (58) through the door shaft sleeve (57), and a crawler angle adjusting device (4) comprises an adjusting shell (62), a driving motor (63), a motor driving wheel (64), an inductor (65), a crawler driving wheel (66) and a connecting shaft (73); the adjusting shell (62) is arranged at the bottom of the machine body shell (60), the driving motor (63) is arranged at the bottom in the adjusting shell (62), the motor driving wheel (64) is arranged on an output shaft of the driving motor (63), the connecting shaft (73) is arranged at the side part of the adjusting shell (62), the crawler driving wheel (66) is arranged at one end of the connecting shaft (73) and is positioned in the adjusting shell (62) to be meshed with the motor driving wheel (64), the other end of the connecting shaft (73) penetrates out of the adjusting shell (62), the inductor (65) is arranged at the upper part in the adjusting shell (62), the main crawler device (5) comprises a transmission shaft I (55), a transmission gear (56), a main crawler (67), a driving wheel shaft sleeve (68), a driven wheel shaft sleeve (69), a fixing rod I (70), a fixing rod II (71), a fastening piece (72), a main crawler motor, The device comprises a bearing I (77), a power wheel (78), a driven wheel (80), a shaft end cover (84), a transmission shaft II (87), a track fixing seat (90) and a main track baffle (92); the upper part of a fastener (72) is connected and installed on the other end of a connecting shaft (73), one end of a fixing rod I (70) is connected and installed on the lower part of the fastener (72), one end of a fixing rod II (71) is connected and installed on the lower part of the fastener (72), one end of a driving wheel shaft sleeve (68) is connected and installed on the other end of the fixing rod I (70), one end of a driven wheel shaft sleeve (69) is connected and installed on the other end of the fixing rod II (71), a driving track baffle (92) is installed on two sides of a track fixing seat (90), the other end of the driving wheel shaft sleeve (68) and the other end of the driven wheel shaft sleeve (69) are respectively installed on the driving track baffle (92), a tensioning wheel (75) is installed on the lower part of the driving track baffle (92), driving wheel grooves (93) and driven wheel grooves (94) are respectively formed in two ends of the track fixing seat (90), the main track motor (74) is arranged on the main track baffle (92), an output shaft of the main track motor (74) passes through a shaft hole (96) and is positioned in a power wheel groove (95), a power wheel (78) is arranged on the output shaft of the main track motor (74) and is positioned in the power wheel groove (95), a transmission shaft II (87) passes through a driving wheel groove (93), one end of the transmission shaft II is arranged in a driving wheel shaft sleeve (68), the other end of the transmission shaft II is arranged on the main track baffle (92) through a shaft end cover (84), a driving wheel (76) is arranged on the transmission shaft II (87) and is positioned in the driving wheel groove (93), a driven wheel (80) is positioned in a driven wheel groove (94), two ends of the transmission shaft I (55) are arranged on the inner side of the main track baffle (92), a transmission gear (56) is arranged on the transmission shaft I (55), the transmission gear (56) is meshed with the power wheel, the main crawler (67) is arranged on the driving wheel (76), the tensioning wheel (75) and the driven wheel (80), and the auxiliary crawler device (6) comprises an auxiliary crawler motor (79), an auxiliary crawler driven wheel (81), an auxiliary crawler driving wheel (82), an auxiliary crawler baffle plate (83), an auxiliary crawler mandrel (85), an auxiliary crawler (86), a high-torque synchronizing gear shaft (88) and a special-shaped shaft end cover (89); the auxiliary track motor (79) is arranged in a driven wheel shaft sleeve (69), one end of a high-torque synchronous gear shaft (88) penetrates through a driven wheel groove (94) to be connected with an output shaft of the auxiliary track motor (79), a driven wheel (80) is arranged on the high-torque synchronous gear shaft (88) through a bearing I (77) and is positioned in the driven wheel groove (94), the other end of the high-torque synchronous gear shaft (88) is arranged on an auxiliary track baffle plate (83) outside the auxiliary track device (6) through a shaft end cover (84), a tooth socket I (97) is arranged on the outer cylindrical surface of the high-torque synchronous gear shaft (88), a tooth socket II (98) is arranged in the auxiliary track driving wheel (82), the auxiliary track driving wheel (82) is arranged on the high-torque synchronous gear shaft (88) in a matching way through the tooth socket II (98) and the tooth socket I (97), a special-shaped shaft end cover (89) is arranged on the side part of the auxiliary track baffle plate (, two ends of an auxiliary track mandrel (85) are respectively installed on two auxiliary track baffles (83) of an auxiliary track device (6) through shaft end covers (84), an auxiliary track driven wheel (81) is installed on the auxiliary track mandrel (85) through a bearing I (77), an auxiliary track (86) is installed on an auxiliary track driving wheel (82) and an auxiliary track driven wheel (81), and a tool magazine (8) comprises a box body (99), a tool magazine motor (100), a bearing II (101), a tensioning wheel shaft (102), a driving chain wheel (103), a driven shaft (104), a driven chain wheel (105), a chain (106), a connecting seat (107), a right-angle rod (108), a tool (109) and a tool magazine tensioning wheel (119); a motor mounting groove (91) is formed in the box body (99), a fixed shaft (120) is arranged on the box body (99), a tool magazine motor (100) is mounted in the motor mounting groove (91), one end of a driving chain wheel (103) is mounted on an output shaft of the tool magazine motor (100), the other end of the driving chain wheel (103) is mounted on the fixed shaft (120), a tensioning wheel shaft (102) is mounted at the lower part of the box body (99) through a bearing II (101), a tool magazine tensioning wheel (119) is mounted on the tensioning wheel shaft (102), a driven shaft (104) is mounted at the upper part of the box body (99) through the bearing II (101), a driven chain wheel (105) is mounted on the driven shaft (104), and a chain (106) comprises a chain link (110; chain recess (112) have been opened to chain link (110) one end, chain link (110) other end is equipped with chain arch (113), every chain link (110) is through connecting rod (111), chain arch (113) and chain recess (112) cooperation interconnect, chain link (110) interconnect forms chain (106), gear groove (114) have been seted up to chain link (110) bottom, install at driving sprocket (103) chain (106) through gear groove (114), driven sprocket (105), on tool magazine take-up pulley (119), install on chain link (110) connecting seat (107), guide way (115) have been seted up on connecting seat (107), guide way (115) are passed to right angle pole (108) one end and are connected and install on connecting seat (107), instrument (109) are connected and are installed on right angle pole (108) the other end.

2. A domestic cleaning robot according to claim 1, wherein: the tool (109) can be a water scraper (116), a dust collector (117) and a glass brush (118).