CN111530861A - Cleaning robot capable of automatically jumping obstacles - Google Patents
Cleaning robot capable of automatically jumping obstacles Download PDFInfo
- Publication number
- CN111530861A CN111530861A CN202010460522.5A CN202010460522A CN111530861A CN 111530861 A CN111530861 A CN 111530861A CN 202010460522 A CN202010460522 A CN 202010460522A CN 111530861 A CN111530861 A CN 111530861A
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- chassis
- cleaning robot
- obstacle
- sliding piece
- driving wheel
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- 238000004140 cleaning Methods 0.000 title claims abstract description 52
- 230000009191 jumping Effects 0.000 title claims description 18
- 230000005291 magnetic effect Effects 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000009193 crawling Effects 0.000 claims abstract description 23
- 239000000428 dust Substances 0.000 claims description 17
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 abstract description 6
- 230000005294 ferromagnetic effect Effects 0.000 description 7
- 238000004378 air conditioning Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic obstacle-jumping cleaning robot, which comprises a vehicle body main body, an electric control assembly, a moving mechanism and at least two groups of adjustable magnetic devices, wherein the vehicle body main body is connected with the moving mechanism; wherein the vehicle body main body comprises a chassis; the both sides of the front end of crawling on chassis are provided with at least a set of adjustable magnetic means respectively, and adjustable magnetic means includes lifting unit and the strong magnetic sliding piece of electricity, and automatically controlled subassembly is connected with lifting unit, the strong magnetic sliding piece electricity respectively, and the last one end of keeping away from the chassis of lifting unit is connected with strong magnetic sliding piece of electricity. The invention realizes the normal crawling and operation of the obstacle-jumping and protection cleaning robot simultaneously through the adjustable magnetic device.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning, in particular to a cleaning robot capable of automatically jumping obstacles.
Background
In the accumulated use process of the air conditioner pipeline, a large amount of dust is easily accumulated, so that the normal operation of the air conditioner is influenced. However, the air conditioning duct is usually long and is located in places such as walls and ceilings where manual operation is difficult, and the duct is cleaned manually, so that the problems of troublesome cleaning, difficulty in cleaning, high cleaning cost and the like exist. Therefore, in the related art, a small cleaning robot has been developed to effectively clean an air conditioning duct by cleaning the duct while traveling in the duct.
Most of the existing air-conditioning pipelines are square pipes made of galvanized sheet materials, so that articles such as angle irons and bolts with various sizes are inevitably welded in the metal pipelines, and when a cleaning robot meets the articles, if the cleaning robot cannot exceed obstacles, the cleaning robot cannot continue cleaning, so that the cleaning effect on the pipelines is influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided is a cleaning robot capable of automatically jumping obstacles in a duct.
In order to solve the technical problems, the invention adopts the technical scheme that:
a cleaning robot capable of automatically jumping obstacles comprises a vehicle body main body, an electric control assembly, a moving mechanism and at least two groups of adjustable magnetic devices, wherein the vehicle body main body is connected with the moving mechanism, and the electric control assembly is respectively and electrically connected with the moving mechanism and the adjustable magnetic devices;
the vehicle body main body includes a chassis;
the chassis is characterized in that at least one group of adjustable magnetic devices are respectively arranged on two sides of the crawling front end of the chassis and comprise a lifting assembly and an electromagnetic sliding piece, an electric control assembly is respectively electrically connected with the lifting assembly and the electromagnetic sliding piece, and one end, far away from the chassis, of the lifting assembly is connected with the electromagnetic sliding piece.
The invention has the beneficial effects that: a cleaning robot capable of automatically jumping obstacles is characterized in that when an obstacle is met, a lifting assembly at the crawling front end of a chassis is subjected to height adjustment through an electric control assembly, and the lifting assembly slides through a moving mechanism on two sides and an electromagnetic sliding piece located on the lifting assembly so as to realize the obstacle jumping. Meanwhile, when the distance between the chassis of the cleaning robot and the surface of the pipeline is larger, the electric control assembly immediately starts the electromagnetic sliding piece, and the electromagnetic sliding piece reaches the preset height by controlling the lifting assembly, so that the magnetic force between the cleaning robot and the surface of the pipeline is increased.
Drawings
Fig. 1 is a schematic perspective view of an automatic obstacle-jumping cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a frame of an automatic obstacle-jumping cleaning robot according to an embodiment of the present invention;
fig. 3 is a perspective view of an automatic obstacle-jumping cleaning robot according to another embodiment of the present invention;
fig. 4 is a schematic cross-sectional view illustrating an automatic obstacle-jumping cleaning robot according to an embodiment of the present invention;
fig. 5 is an internal schematic view of an automatic obstacle-jumping cleaning robot according to an embodiment of the present invention.
Description of reference numerals:
1. a vehicle body main body; 2. an electronic control assembly; 3. a ferromagnetic crawler mechanism; 4. an adjustable magnetic device; 5. a brush device; 6. a negative pressure suction pipe; 7. a dust guard; 11. a chassis; 12. a top surface; 21. a main controller; 22. a lifting motor; 23. a ranging sensor; 24. a camera; 41. an electromagnetic pulley; 42. a driving wheel; 43. a driving wheel; 44. a limiting member; 45. a screw; 46. a flange plate; 111. a crawling front end.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 5, an automatic obstacle-jumping cleaning robot includes a vehicle body, an electric control assembly, a moving mechanism and at least two sets of adjustable magnetic devices, wherein the vehicle body is connected to the moving mechanism, and the electric control assembly is electrically connected to the moving mechanism and the adjustable magnetic devices respectively;
the vehicle body main body includes a chassis;
the chassis is characterized in that at least one group of adjustable magnetic devices are respectively arranged on two sides of the crawling front end of the chassis and comprise a lifting assembly and an electromagnetic sliding piece, an electric control assembly is respectively electrically connected with the lifting assembly and the electromagnetic sliding piece, and one end, far away from the chassis, of the lifting assembly is connected with the electromagnetic sliding piece.
From the above description, the beneficial effects of the present invention are: when meeting the barrier, the height of the lifting assembly at the crawling front end of the chassis is adjusted through the electric control assembly, and the lifting assembly slides through the moving mechanisms on the two sides and the electromagnetic sliding piece positioned on the lifting assembly, so that the barrier jumping is realized. Meanwhile, when the distance between the chassis of the cleaning robot and the surface of the pipeline is larger, the electric control assembly immediately starts the electromagnetic sliding piece, and the electromagnetic sliding piece reaches the preset height by controlling the lifting assembly, so that the magnetic force between the cleaning robot and the surface of the pipeline is increased.
Furthermore, the electric control assembly comprises lifting motors corresponding to the number of groups of the adjustable magnetic devices, and the lifting assembly comprises a driving wheel, a limiting piece and a screw rod penetrating through the chassis, which are arranged in the body of the vehicle;
the lifting motor is connected with the driving wheel, the driving wheel is meshed with the driving wheel, the center of the driving wheel is in threaded connection with the screw, and the driving wheel is clamped between the limiting piece and the chassis.
From the above description, the lifting motor drives the wheel and the transmission wheel to rotate in sequence, and because the center of the transmission wheel is in threaded connection with the screw rod, and the transmission wheel is clamped between the limiting piece and the chassis to limit the up-and-down movement of the transmission wheel, when the transmission wheel rotates, the screw rod can perform lifting movement, so that the up-and-down lifting control of the electromagnetic slider is realized.
Furthermore, the adjustable magnetic device also comprises a flange plate, the flange plate is fixed outside the chassis, and the screw rod penetrates through a guide through hole in the flange plate.
From the above description, the screw is guided by the guiding through hole on the flange plate, so that the screw can move up and down.
Furthermore, the electric control assembly comprises a main controller and a distance measuring sensor, and the main controller is electrically connected with the moving mechanism, the lifting motor, the electromagnetic sliding piece and the distance measuring sensor respectively;
the ranging sensor is positioned at the crawling front end of the chassis.
From the above description, can know, through the distance measuring sensor who sets up the front end of crawling on the chassis to the distance of monitoring chassis and pipeline surface, thus when the distance is great, carry out the start-up and the lift of electromagnetic slider, creep and the operation on the wall body with the flexibility of effective protection robot.
Further, the electronic control assembly further comprises a camera connected with the main controller, and the camera is arranged on the top surface of the vehicle body main body.
According to the above description, the information in front of the vehicle is collected through the top surface arranged on the camera, so that whether the front of the vehicle is suspended or has an obstacle can be effectively observed, the real-time adjustment of the adjustable magnetic device can be carried out, the acquired information in front of the vehicle can be intelligently identified, the obstacle can be intelligently identified, the image information can be transmitted to a manual monitoring system in a pipeline, and the judgment and the control can be carried out manually.
Further, the electromagnet sliding piece is an electromagnet pulley or an electromagnet universal wheel.
As can be seen from the above description, two preferred embodiments of the electromagnetic slider are provided, which should be understood as the sliding component is an electromagnetic, i.e., the portion contacting the floor is an electromagnetic, to increase the magnetic force of the cleaning robot and the surface of the pipe.
Further, the moving mechanism is a strong magnetic crawler mechanism.
According to the above description, since most air-conditioning pipelines all adopt the square pipe that galvanized sheet board material made, adopt strong magnetism to creep the mode and can effectively creep in the galvanized pipe and keep away the barrier, but simultaneously greatly increased capacity increases the stability of crawling of robot.
The vacuum cleaner further comprises a brush device, a negative pressure suction pipe and a dust baffle plate, wherein one end of the negative pressure suction pipe is connected with external negative pressure equipment, and the other end of the negative pressure suction pipe is connected with the brush device;
one end of the dust baffle is connected with the top end of the brush device, and the other end of the dust baffle extends towards the direction which is far away from the vehicle body main body and the oblique upward direction of the brush device.
As can be seen from the above description, in the case of severe dust, the dust swept by the brush device may fly to the body main body, the moving mechanism and the adjustable magnetic device of the cleaning robot, and therefore, the dust blocking plate located in the obliquely upward direction away from the body main body and away from the brush device is connected to the brush device to prevent the dust from flying toward the body main body as far as possible during the sweeping process, thereby ensuring the normal operation of the cleaning robot.
Referring to fig. 1 to 5, a first embodiment of the present invention is:
a cleaning robot capable of automatically jumping obstacles comprises a vehicle body main body 1, an electric control assembly 2, a moving mechanism, at least two groups of adjustable magnetic devices 4, a hairbrush device 5, a negative pressure suction pipe 6 and a dust guard plate 7, wherein the vehicle body main body 1 is connected with the moving mechanism, and the electric control assembly 2 is respectively electrically connected with the moving mechanism and the adjustable magnetic devices 4. Wherein the vehicle body 1 includes a chassis 11; the both sides of the front end 111 of crawling of chassis 11 are provided with at least a set of adjustable magnetic means 4 respectively, and adjustable magnetic means 4 includes lifting unit and the strong magnetic sliding piece of electricity, and automatically controlled subassembly 2 is connected with lifting unit, the strong magnetic sliding piece electricity respectively, and the last one end of keeping away from chassis 11 of lifting unit is connected with the strong magnetic sliding piece of electricity. At this time, when an obstacle is encountered, the height of the lifting assembly at the climbing front end 111 of the chassis 11 is adjusted by the electric control assembly 2, and the lifting assembly slides by the moving mechanisms at both sides and the electromagnetic sliding pieces at the lifting assembly, so that the obstacle jumping is realized. Meanwhile, when the distance between the chassis 11 of the cleaning robot and the surface of the pipeline is large, the electric control assembly 2 immediately starts the electromagnetic sliding piece, and the electromagnetic sliding piece reaches the preset height by controlling the lifting assembly, so that the magnetic force between the cleaning robot and the surface of the pipeline is increased.
As shown in fig. 3, in the embodiment, the moving mechanism is a strong magnetic crawler mechanism 3, because most of the air-conditioning pipelines are square pipes made of galvanized sheet materials, the obstacle avoidance can be effectively crawled in the galvanized pipes by adopting a strong magnetic crawling manner, and meanwhile, the load capacity can be greatly increased, and the crawling stability of the robot is increased; in the present embodiment, the ferromagnetic sliding member is a ferromagnetic pulley 41, and in other embodiments, the ferromagnetic sliding member may be a ferromagnetic universal wheel to ensure the free rotation of the sliding.
As shown in fig. 2, the electric control assembly 2 includes a main controller 21, a distance measuring sensor 23, a camera 24 and a lifting motor 22 corresponding to the number of groups of the adjustable magnetic devices 4, wherein the main controller 21 is electrically connected with the ferromagnetic crawler 3, the lifting motor 22, the ferromagnetic sliding member, the distance measuring sensor 23 and the camera 24 respectively; wherein, the distance measuring sensor 23 is positioned at the crawling front end 111 of the chassis 11 to monitor the distance between the chassis 11 and the surface of the pipeline in real time; the camera 24 is arranged on the top surface 12 of the vehicle body 1 to acquire the information in front of the vehicle in real time; wherein, two tracks of the strong magnetic track mechanism 3 are positioned at two sides of the vehicle body 1, and the lifting motor 22 is positioned inside the vehicle body 1 to ensure stable crawling.
As shown in fig. 4 and 5, the lifting assembly includes a driving wheel 42, a driving wheel 43, a limiting member 44 and a screw 45 penetrating through the chassis 11, which are disposed in the vehicle body 1, wherein the lifting motor 22 is connected to the driving wheel 42, the driving wheel 42 is engaged with the driving wheel 43, the center of the driving wheel 43 is in threaded connection with the screw 45, and the driving wheel 43 is clamped between the limiting member 44 and the chassis 11. Meanwhile, the adjustable magnetic device 4 further comprises a flange 46, the flange 46 is fixed outside the chassis 11, and the screw 45 penetrates through a guide through hole in the flange 46, so that the electromagnet pulley 41 on the screw 45 can move up and down along with the screw 45, thereby realizing obstacle jumping and protecting the normal crawling and operation of the cleaning robot.
As shown in fig. 4, one end of the negative pressure suction pipe 6 is connected to an external negative pressure device and the other end is connected to the brush device 5, one end of the dust guard 7 is connected to the top end of the brush device 5, and the other end extends in an obliquely upward direction away from the vehicle body 1 and away from the brush device 5, so as to prevent dust in the cleaning process from flying in the direction of the vehicle body 1 as far as possible, and ensure the normal operation of the cleaning robot.
In summary, the cleaning robot capable of automatically jumping obstacles provided by the invention adopts a strong magnetic crawling mode to crawl in an air-conditioning pipeline, collects information in front of a vehicle through the top surface arranged on a camera, so that whether the front of the vehicle is suspended or an obstacle exists can be effectively observed, when the obstacle is met, a lifting motor at the crawling front end of a chassis is driven through an electric control assembly to enable an electromagnetic sliding piece to move up and down, and the moving mechanisms at two sides and the electromagnetic sliding piece positioned on the lifting assembly slide to realize obstacle jumping. Meanwhile, the distance between the chassis and the surface of the pipeline is monitored by the ranging sensor arranged at the crawling front end of the chassis, when the distance is larger, the electric control assembly immediately starts the electromagnetic sliding piece, and the electromagnetic sliding piece reaches the preset height by controlling the lifting assembly, so that the magnetic force between the cleaning robot and the surface of the pipeline is increased, namely, an adjustable magnetic device is designed at the front end of the cleaning robot, which is most prone to losing the magnetic force, so that the robot can be prevented from losing balance and falling at the same time, the cleaning robot is effectively protected from crawling and operating in the pipeline flexibly, and therefore, the normal crawling and operating of the cleaning robot can be simultaneously relieved and protected by only one adjustable magnetic device. Meanwhile, the dust blocking plate which is positioned in the oblique upward direction far away from the vehicle body and far away from the brush device is connected to the brush device, so that dust in the cleaning process is prevented from flying towards the direction of the vehicle body as far as possible, and the normal work of the cleaning robot is ensured.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (8)
1. An automatic cleaning machines people that jumps barrier which characterized in that: the vehicle body main body is connected with the moving mechanism, and the electric control assembly is respectively electrically connected with the moving mechanism and the adjustable magnetic device;
the vehicle body main body includes a chassis;
the chassis is characterized in that at least one group of adjustable magnetic devices are respectively arranged on two sides of the crawling front end of the chassis and comprise a lifting assembly and an electromagnetic sliding piece, an electric control assembly is respectively electrically connected with the lifting assembly and the electromagnetic sliding piece, and one end, far away from the chassis, of the lifting assembly is connected with the electromagnetic sliding piece.
2. The cleaning robot capable of automatically jumping over an obstacle as claimed in claim 1, wherein: the electric control assembly comprises lifting motors corresponding to the number of groups of the adjustable magnetic devices, and the lifting assembly comprises a driving wheel, a limiting piece and a screw rod penetrating through the chassis, which are arranged in the body of the vehicle;
the lifting motor is connected with the driving wheel, the driving wheel is meshed with the driving wheel, the center of the driving wheel is in threaded connection with the screw, and the driving wheel is clamped between the limiting piece and the chassis.
3. The cleaning robot capable of automatically jumping over an obstacle as claimed in claim 2, wherein: the adjustable magnetic device further comprises a flange plate, the flange plate is fixed to the outer portion of the base plate, and the screw penetrates through the guide through hole in the flange plate.
4. The cleaning robot capable of automatically jumping over an obstacle as claimed in claim 2, wherein: the electric control assembly comprises a main controller and a distance measuring sensor, and the main controller is electrically connected with the moving mechanism, the lifting motor, the electromagnetic sliding piece and the distance measuring sensor respectively;
the ranging sensor is positioned at the crawling front end of the chassis.
5. The cleaning robot capable of automatically jumping over an obstacle as claimed in claim 4, wherein: the electronic control assembly further comprises a camera connected with the main controller, and the camera is arranged on the top surface of the vehicle body main body.
6. The cleaning robot capable of automatically jumping over an obstacle as claimed in claim 5, wherein: the electromagnetic sliding piece is an electromagnetic pulley or an electromagnetic universal wheel.
7. An automatic obstacle-jumping cleaning robot as claimed in any one of claims 1 to 6, wherein: the moving mechanism is a strong magnetic crawler mechanism.
8. An automatic obstacle-jumping cleaning robot as claimed in any one of claims 1 to 6, wherein: the vacuum cleaner also comprises a brush device, a negative pressure suction pipe and a dust baffle, wherein one end of the negative pressure suction pipe is connected with external negative pressure equipment, and the other end of the negative pressure suction pipe is connected with the brush device;
one end of the dust baffle is connected with the top end of the brush device, and the other end of the dust baffle extends towards the direction which is far away from the vehicle body main body and the oblique upward direction of the brush device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460522.5A CN111530861A (en) | 2020-05-27 | 2020-05-27 | Cleaning robot capable of automatically jumping obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460522.5A CN111530861A (en) | 2020-05-27 | 2020-05-27 | Cleaning robot capable of automatically jumping obstacles |
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| CN111530861A true CN111530861A (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010460522.5A Pending CN111530861A (en) | 2020-05-27 | 2020-05-27 | Cleaning robot capable of automatically jumping obstacles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112007924A (en) * | 2020-09-21 | 2020-12-01 | 厦门佰欧环境智能科技有限公司 | Pipeline cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112007924A (en) * | 2020-09-21 | 2020-12-01 | 厦门佰欧环境智能科技有限公司 | Pipeline cleaning robot |
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