CN111636345A - The automatic adjustment mechanism for the vertical brush height of the sweeper - Google Patents

Abstract

The invention discloses an automatic adjustment mechanism for the vertical brush height of a sweeping vehicle. A front brush assembly includes a front sweeping disc motor fixedly installed on the outer end of a swing arm of the front brush. The front brush rotating shaft is fixedly installed on the output shaft of the front brush, the bottom end of the front brush rotating shaft is fixedly installed with a front brush sweeping disc, the outer side of the front brush rotating shaft is installed with a torque sensor, and the bottom end of the front brush sweeping disc is installed with a conical structure. The present invention detects the contact resistance between the front sweeping brush and the ground through a torque sensor, thereby judging the cleaning height of the front sweeping brush relative to the ground. In this way, the height of the front sweeping brush can be adjusted in real time according to the road conditions to ensure the The degree of fit between the brush and the ground remains unchanged, ensuring that the cleaning height is appropriate, and at the same time, it can prevent the transitional wear of the front sweeping brush due to the transition of the front sweeping brush to the ground; The brush is worn out for a long time, resulting in the phenomenon that it cannot be cleaned.

Description

The automatic adjustment mechanism for the vertical brush height of the sweeper

technical field

The invention relates to the field of sanitation vehicles, in particular to an automatic adjustment mechanism for the vertical brush height of a sweeper.

Background technique

The traditional sanitation model is basically the following two: 1. Our sanitation workers manually clean the garbage in the community or street; 2. Manually drive the sanitation cleaning vehicle to clean the garbage in the community or street. Since the sanitation system relies heavily on manpower, and there are insufficient sanitation workers, the existing sanitation workers need to be overloaded to complete the cleaning work every day. At the same time, because the sanitation workers often work on the roadside, it will bring about the safety of the sanitation workers. There are certain hidden dangers; so in order to reduce the cost of sanitation operation and maintenance, in order to reduce the work pressure of sanitation workers, and to protect the life safety of sanitation workers, we promote smart unmanned sweepers in the sanitation industry, so that our sanitation workers can also enjoy The convenience and benefits brought to them by human-driving technology and smart sanitation.

At present, unmanned sweepers are an application of unmanned technology, also known as wheeled mobile sweeping robots, which mainly rely on the computer system, perception system, power system, etc. in the sweeper to achieve unmanned driving. Use on-board sensors to perceive the surrounding environment, and control the steering and speed of the vehicle based on the road, garbage, location and obstacle information obtained by the perception to complete the unmanned function.

At this stage, the solution for short-range detection on the side of the unmanned sweeper mainly uses ultrasonic detection. The ultrasonic wave continuously emits sound waves to detect obstacles at a short distance, and then transmits feedback commands to the control center, and then makes corresponding actions. However, the sweeping height of the current sweeper brushes is preset and does not have a real-time adjustment function, so the sweeping height of the sweeping brush cannot be adjusted according to the current road conditions, especially when the sweeping brush is used for a period of time, the sweeping brush has wear and tear , If it is still the original cleaning height, the cleaning effect cannot be guaranteed; in addition, when the sweeper sweeps along the road shoulder stone, in order to prevent the sweeper from colliding with the road shoulder stone and damage, it is often necessary to avoid the road shoulder stone, the prior art The distance between the road shoulder stone and the road shoulder stone is judged by ultrasonic waves, so that the sweeper can walk and clean the road shoulder stone. However, because the ultrasonic detection is affected by the environment, when the detection is inaccurate, the cleaning vehicle will not be able to remedy the collision in the future. .

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an automatic adjustment mechanism for the vertical brush height of the sweeper, which can automatically adjust the cleaning height of the sweeping brush and can automatically clean along the edge of the road shoulder stone with a reasonable design.

In order to solve the above-mentioned technical problems, the technical solution of the present invention is: an automatic adjustment mechanism for the vertical brush height of the sweeper is arranged on the front end side of the sweeper, and includes a front brush device and a side brush device, and the front brush device is arranged at the place. The front of the side brush device extends outward toward the side of the cleaning vehicle, the front brush device includes a front brush fixing frame, and an outer side of the front brush fixing frame is installed with a horizontal swing toward the rear of the cleaning vehicle. A front brush swing arm, the inner end of the front brush swing arm is fixedly installed with a front brush rotating shaft, the front brush rotating shaft is rotatably installed on the outer end of the front brush fixing frame, and the top end of the front brush rotating shaft extends out of the An angle sensor for collecting the swinging angle of the front brush swing arm to the rear is installed outside the front brush fixing frame, and a front brush swing arm is arranged between the front brush swing arm and the front brush fixing frame to drive the front brush swing arm from the rear direction. A swing arm reset torsion spring that makes the front brush swing arm return to its original position by the front horizontal swing, the swing arm reset torsion spring is sleeved on the front brush rotation shaft; the front brush is installed on the outer end of the front brush swing arm The lower cover of the front brush assembly is provided with an edge-seeking device for contacting or colliding with the road shoulder stone; the bottom of the sweeper is also installed with a sweeping brush that drives the front brush device and the side brush device to ascend or descend at the same time Lifting device; the front brush assembly includes a front sweeping disc motor fixedly installed on the outer end of the front brush swing arm, a reducer is installed on the power shaft of the front sweeping disc motor, and the output shaft of the reducer is fixedly installed There is a front brush rotating shaft, the bottom end of the front brush rotating shaft is fixedly installed with a front brush sweeping disc, the outer side of the front brush rotating shaft is installed with a torque sensor, and the bottom end of the front brush sweeping disc is installed with a conical structure of the front sweeping disc brush.

As a preferred technical solution, the edge-seeking device includes an edge-seeking wheel that is covered outside the front brush and sweeping disc, and the rotation axis of the edge-seeking wheel coincides with the rotation axis of the front brush-sweeping disc. The wheel is arranged in the middle of the front brush and sweeping disc, and the edge-seeking wheel is rotatably mounted on the front brush sweeping disc through a wheel side frame.

As a preferred technical solution, the upper part of the front brush assembly is provided with an auxiliary anti-collision device.

As a preferred technical solution, the auxiliary anti-collision device is an anti-collision ring frame fixedly installed on the swing arm of the front brush, and the anti-collision ring frame is arranged on the outer periphery of the front brush motor.

As a preferred technical solution, the front end of the front brush fixing frame is provided with a front brush limit plate that prevents the front brush swing arm from swinging horizontally toward the front of the sweeper.

As a preferred technical solution, the side brush device includes a side brush fixing frame, and a side brush assembly is installed at the end of the side brush fixing frame.

As a preferred technical solution, the side brush assembly includes a side sweeping disc motor fixedly installed at the rear end of the side brush fixing frame, and a side brush sweeping disc is fixedly installed on the power shaft of the side sweeping disc motor through a reducer. A side brush with a conical structure is installed at the bottom end of the side brush sweeping disc.

As a preferred technical solution, the sweeping brush lifting device includes a parallel four-bar mechanism, the top of the parallel four-bar mechanism is fixedly mounted on the bottom end of the sweeper, and the front brush device and the side brush device are respectively It is fixed on the bottom end of the parallel four-bar mechanism, and between the bottom end of the sweeper and the parallel four-bar mechanism is also provided with a lift control device for controlling the rise or fall of the parallel four-bar mechanism.

As a preferred technical solution, the lift control device includes an electric push rod fixed at the bottom end of the sweeper, and a lift rope is wound and connected between the bottom end of the parallel four-bar mechanism and the electric push rod through a pulley, so Both ends of the lift rope are respectively connected to the parallel four-bar mechanism and the electric push rod.

Due to the adoption of the above technical solution, the automatic adjustment mechanism for the vertical brush height of the sweeper is arranged on the front end side of the sweeper, and includes a front brush device and a side brush device, and the front brush device is arranged in front of the side brush device. and extends outward toward the side of the sweeper, the front brush device includes a front brush fixing frame, and a front brush swing arm that can swing horizontally toward the rear of the sweeper is installed on the outer side of the front brush fixing frame, so The inner end of the front brush swing arm is fixedly installed with a front brush rotating shaft, the front brush rotating shaft is rotatably mounted on the outer end of the front brush fixing frame, and the top end of the front brush rotating shaft is installed outside the front brush fixing frame There is an angle sensor for collecting the swinging angle of the swing arm of the front brush to the rear, and an angle sensor is arranged between the swing arm of the front brush and the fixing frame of the front brush to drive the swing arm of the front brush to swing horizontally from the rear to the front so that the The swing arm reset torsion spring that restores the front brush swing arm to its original position, the swing arm reset torsion spring is sleeved on the front brush rotation shaft; the front brush assembly is installed on the outer end of the front brush swing arm, and the front brush The lower cover of the assembly is provided with an edge-finding device for contacting or colliding with road shoulder stones; the bottom of the sweeper is also provided with a sweeping brush lifting device that drives the front brush device and the side brush device to ascend or descend at the same time; the front The brush assembly includes a front sweeping disc motor fixedly installed on the outer end of the front brush swing arm, a reducer is installed on the power shaft of the front sweeping disc motor, and a front brush rotating shaft is fixedly installed on the output shaft of the reducer, so The bottom end of the front brush rotating shaft is fixedly installed with a front brush sweeping disc, the outer side of the front brush rotating shaft is installed with a torque sensor, and the bottom end of the front brush sweeping disc is installed with a front sweeping brush with a conical structure; the present invention is beneficial The effect is:

(1) The present invention detects the contact resistance between the front sweeping brush and the ground through the torque sensor, so as to judge the cleaning height of the front sweeping brush relative to the ground. In this way, the The height of the front sweeping brush ensures that the fit between the front sweeping brush and the ground remains unchanged, ensuring that the cleaning height is appropriate, and at the same time, it can prevent the transitional wear of the front sweeping brush due to the transition of the front sweeping brush to the ground; In the prior art, there will be a phenomenon that the front brush cannot be cleaned due to the long-term wear and tear of the front brush;

(2) In the present invention, the anti-collision function can be realized by contacting the curbstone in advance by the edge finding device, which ensures the use safety of the sweeper; and the angle sensor is used to obtain the direction signal of the sweeper and adjust it, so as to realize the safety of the sweeper. The automatic edge-seeking function enables the sweeper to always clean along the roots of the road shoulder stones, and the cleaning effect is good, which greatly compensates for the shortcomings and disadvantages of the ultrasonic solution, and enables the unmanned sweeper to adapt to the automatic edge-finding cleaning function, which greatly improves the cleaning effect. It improves the safety mechanism of the unmanned sweeper, and contributes a new safety guarantee for the introduction of the unmanned sweeper to the market.

Description of drawings

The following drawings are only intended to illustrate and explain the present invention schematically, and do not limit the scope of the present invention. in:

1 is a side view of an embodiment of the present invention;

2 is a schematic structural diagram of an embodiment of the present invention;

3 is a schematic structural diagram of another angle of an embodiment of the present invention;

4 is a schematic diagram of an embodiment of the present invention;

5 is an installation effect diagram of an embodiment of the present invention;

In the figure: 1- Front brush device; 11- Front brush fixing frame; 12- Front brush swing arm; 13- Angle sensor; 14- Swing arm reset torsion spring; 15- Front sweeping disc motor; 16- Front brush sweeping disc; 17-Front brush; 18-Anti-collision ring frame; 19-Front brush limit plate; 2-Side brush device; 21-Side brush fixing frame; 22-Side sweep motor; 23-Side brush sweep; 24- Side sweeping brush; 3-edge-seeking device; 31-edge-seeking wheel; 32-wheel side frame; 4-sweeping brush lifting device; 41-parallel four-bar mechanism; 42-electric push rod; 43-lifting rope; 5-torque sensor.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, certain exemplary embodiments of the present invention have been described by way of illustration only. Needless to say, as those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

As shown in Figures 1 to 5, the automatic adjustment mechanism for the vertical brush height of the sweeper is arranged on the front side of the sweeper, and includes a front brush device 1 and a side brush device 2. The front brush device 1 is arranged in the The front of the side brush device 2 extends outward toward the side of the sweeper. The front brush device 1 and the side brush device 2 have the same cleaning height; the front brush device 1 and the side brush device 2 are arranged on the sweeper. Since this device is mainly used for walking and cleaning along the road shoulder, when there is only one device, it must be installed on the right side of the front end of the sweeper; This device is installed on both sides.

The front brush device 1 includes a front brush fixing frame 11 , and a front brush swing arm 12 is installed on the outer side of the front brush fixing frame 11 and can swing horizontally toward the rear of the cleaning vehicle. The inner end of the front brush swing arm 12 is installed. A front brush rotating shaft is fixedly installed, the front brush rotating shaft is rotatably installed on the outer end of the front brush fixing frame 11, and the top end of the front brush rotating shaft protrudes out of the front brush fixing frame 11, and a The angle sensor 13 of the swinging angle of the brush swing arm 12 to the rear is provided between the front brush swing arm 12 and the front brush fixing frame 11 to drive the front brush swing arm 12 to swing horizontally from the rear to the front so that the front brush The swing arm reset torsion spring 14 of the brush swing arm 12 is restored to its original position, and the swing arm reset torsion spring 14 is sleeved on the front brush rotating shaft; the front brush assembly is installed on the outer end of the front brush swing arm 12, so The lower cover of the front brush assembly is provided with an edge finding device 3 for contacting or colliding with the road shoulder stone; the height of the edge finding device 3 corresponds to the road shoulder stone, when the front brush assembly descends to the ground and is in a cleaning state, the The height of the side device 3 is lower than the height of the road shoulder stone, so as to ensure that when the distance between the sweeper and the road shoulder stone is too close, the edge seeker 3 can first contact or collide with the road shoulder stone; the bottom of the sweeper A sweeping brush lifting device 4 that drives the front brush device 1 and the side brush device 2 to ascend or descend at the same time is also installed; the front brush assembly includes a front sweeping disc motor fixedly installed on the outer end of the front brush swing arm 12 15. A reducer is installed on the power shaft of the front sweeping disc motor 15, a front brush rotating shaft is fixedly installed on the output shaft of the reducer, and a front brush sweeping disc 16 is fixedly installed at the bottom end of the front brush rotating shaft, A torque sensor 5 is installed on the outer side of the front brush rotating shaft, and a front brush 17 with a tapered structure is installed at the bottom end of the front brush sweeping disc 16 .

The present invention has the function of automatic edge-finding of the sweeping brush and the function of automatic adjustment of the sweeping height, and the two do not interfere with each other; the two states are respectively introduced below:

Automatic edge-finding function of sweeping brush: During the process of the sweeper walking along the road shoulder stone, when the edge-finding device 3 is not in contact with the road shoulder stone, the sweeper vehicle rotates towards the road shoulder stone direction to actively shorten the distance between the road shoulder stone and the road shoulder stone. The steering of the sweeper is gradually and slowly turned, and the phenomenon of transitional turning will not occur; when the sweeper turns in the direction of the road shoulder stone to adjust the distance between the road shoulder stone and the road shoulder stone, when the edge finding device 3 When it collides with the road shoulder stone, the force between the edge finding device 3 and the road shoulder stone is relatively large. At this time, when the sweeper continues to move forward, the road shoulder stone will give a force to the front brush swing arm 12, so that the front The brush swing arm 12 is swung backward against the force of the swing arm return torsion spring 14. At this time, the angle sensor 13 will collect the steering signal of the front brush swing arm 12 and transmit the steering signal to the Inside the sweeper, the sweeper will react and turn away from the road shoulder stone to increase the distance between the edge-finding device 3 and the road shoulder stone. The steering adjustment of the sweeper is small, And it is gradually rotated outward until the angle sensor 13 collects the swing angle value of the front brush swing arm 12 within a range, and no longer transmits the steering signal of the front brush swing arm 12 to the sweeper. At this time, the edge-finding device 3 is just in contact with the road shoulder stone, and the sweeper will not continue to rotate and keep walking and cleaning in this state until the angle sensor 13 transmits the previous signal again. When brushing the turn signal of the swing arm 12, the distance between the side-finding device 3 and the road shoulder stone will continue to be adjusted; in the process of turning the sweeper to the side away from the road shoulder stone, the distance between the edge-finding device 3 and the road shoulder stone is increased. At this time, the acting force of the road shoulder stone on the front brush swing arm 12 is small, and the swing arm return torsion spring 14 will force the front brush swing arm 12 to swing forward to form a reset.

Automatic adjustment of the brush height: when the sweeper is ready to clean, the brush lifting device 4 lowers the front brush device 1 and the side brush device 2 at the same time, so that the front brush device 1 and the side brush device 2 are in contact When the sweeper is cleaning, the front sweeping disc motor 15 works, which will drive the front brush rotating shaft and the front brush sweeping disc 16 installed on the front brush rotating shaft to rotate, thereby The front brush 17 is driven to rotate. The front brush assembly belongs to the prior art and belongs to the brush structure in the traditional sense. When the front brush 17 rotates, the torque sensor 5 can detect the rotation shaft of the front brush. The magnitude of the torque received, and the signal is transmitted to the sweeper, and the sweeper takes action to control the sweeping brush lifting device 4 to adjust the height between the front sweeping brush 17 and the ground; When the descending height is low, that is, when the contact surface with the ground is large, when the front brush 17 cleans, the ground will give the front brush 17 a greater resistance, so that the front The torque received by the sweeping brush 17 and the rotating shaft of the front brush is relatively large. At this time, the torsion sensor detects a relatively large torque and transmits the signal to the sweeping vehicle. At this time, the sweeping vehicle controls the sweeping brush lifting device 4 , thereby Lift the front sweeping brush 17 upwards, so that the resistance between the front sweeping brush 17 and the ground is small; when the front sweeping brush 17 contacts the ground too little or is separated from the ground, the front sweeping brush 17 is subject to The resistance is small or no resistance is encountered, the torsion sensor detects a small torque or no torque is detected, and transmits the signal to the sweeper. At this time, the sweeper controls the sweeping brush lifting device 4, and the front The sweeping brush 17 is lowered so that the front sweeping brush 17 contacts the ground to reach the sweeping height.

Since the present invention adds the front brush assembly, the edge finding device 3, the angle sensor 13, the torque sensor 5 and other devices on the basis of the existing sweeper, and the components are designed in combination, the sweeper There is always a safety distance from the road shoulder stone, and the safety distance is generated by the direct contact between the edge finding device 3 and the road shoulder stone, and through this direct contact, a turn signal is generated and the turn signal is transmitted to all The sweeper is used as the basis for steering adjustment, and this direct contact to achieve signal transmission is more accurate and reliable; and in the prior art, ultrasonic and other transmitters are generally used for distance measurement, which is to directly measure the sweeper body and the road shoulder. In order to prevent the body of the sweeper from hitting the road shoulder stone, the sweeping brush cannot touch the root of the road shoulder stone, and the cleaning effect is not good. In the present invention, the front brush device 1 extends out of the cleaning Outside of the vehicle, if the distance between the sweeper and the road shoulder stone is small at this time, a collision will occur, and the edge finding device 3 installed on the front brush device 1 will first contact the road shoulder stone at this time. The sweeper has not been in contact with the road shoulder stone, and will not appear the phenomenon that it is too late to remedy once a collision occurs as in the prior art; in addition, the front brush device 1 can directly contact the root of the road shoulder stone for directly cleaning the road shoulder stone. and sweep the dust and garbage to the front of the side brush device 2, and then the side brush device 2 is used for further cleaning, which is used in combination with the side brush device 2 in the prior art to form a Larger cleaning surface, the cleaning effect is further guaranteed.

The present invention can realize the anti-collision function by contacting the curbstone in advance by the edge-finding device 3, which ensures the use safety of the sweeper; and the angle sensor 13 is used to obtain the direction signal of the sweeper and adjust it, so as to realize the automatic operation of the sweeper. The edge-seeking function enables the sweeper to always sweep along the root of the road shoulder stone, and the cleaning effect is good, which greatly makes up for the shortcomings and drawbacks of the ultrasonic solution, and enables the unmanned sweeper to adapt to the automatic edge-finding cleaning function, which greatly improves the The safety mechanism of unmanned sweepers has been improved, and new safety guarantees have been contributed to the introduction of unmanned sweepers to the market.

The present invention uses the torque sensor 5 to detect the contact resistance between the front sweeping brush 17 and the ground, thereby judging the cleaning height of the front sweeping brush 17 relative to the ground. In this way, the The height of the front sweeping brush 17 ensures that the fit between the front sweeping brush 17 and the ground remains unchanged, ensures that the cleaning height is appropriate, and at the same time can prevent the front sweeping brush 17 from excessively fitting the ground and causing the transitional wear of the front sweeping brush 17; At the same time, in the present invention, the phenomenon that the front sweeping brush 17 cannot be cleaned due to long-term wear and tear does not occur in the prior art.

During the movement of the sweeper along the road shoulder stone, when the edge finding device 3 collides with the road shoulder stone, in order to ensure that the front brush swing arm 12 can swing backward smoothly, therefore, in this embodiment, the The front brush fixing frame 11 is set forward, and the front brush swing arm 12 is perpendicular to the front brush fixing frame 11 and protrudes vertically toward the outside of the sweeper. At this time, when the edge finding device 3 collides with After reaching the road shoulder stone, the sweeper moves forward, and the road shoulder stone will have a force that pushes the edge-seeking device 3 backwards. At this time, the edge-seeking device 3 will swing backward around the front brush rotating shaft; of course, The angle between the front brush swing arm 12 and the front brush fixing frame 11 may also be less than 90°, that is, the front brush swing arm 12 is inclined backward in the initial state; The angle between 12 and the front brush fixing frame 11 cannot be greater than 90°, that is, the front brush swing arm 12 cannot be inclined forward in the initial state, because at this time, when the edge finding device 3 and the road shoulder are When a rock collides, the front brush swing arm 12 is not easy to tilt and swing backward, that is, the angle sensor 13 is difficult to accurately measure the backward swing angle of the front brush swing arm 12, that is, an accurate turning signal cannot be formed.

The angle sensor 13 cooperates with the front brush rotating shaft to measure the rotation angle of the front brush rotating shaft. The angle sensor 13 is in the prior art, and its specific structure and working principle are not repeated here.

The torque sensor 5 is in the prior art, and its specific structure and working principle are not repeated here.

The outer end of the front brush fixing frame 11 is provided with a mounting hole, and the front brush rotating shaft is vertically arranged and rotatably installed in the mounting hole. The swing arm reset torsion spring 14 is a torsion spring, the torsion spring is sleeved outside the front brush rotating shaft, the top end is positioned by the baffle plate, one end of the torsion spring is abutted and fixed on the front brush swing arm 12, and the torsion spring The other end is abutted and fixed on the front brush fixing frame 11, and the front brush swing arm 12 is pulled back to the initial position by its own characteristics; the torsion spring is sleeved outside the front brush shaft to ensure the front brush swing arm 12 The arm 12 rotates around the axis of the front brush shaft.

The edge-finding device 3 includes an edge-finding wheel 31 that is covered outside the front brush-sweeping disc 16 . The rotation axis of the edge-finding wheel 31 coincides with the rotation axis of the front brush-sweeping disc 16 . 31 is arranged in the middle of the front brushing and sweeping disc 16 , and the edge-finding wheel 31 is rotatably mounted on the front brushing and sweeping disc 16 through the wheel side frame 32 . Since the edge-seeking wheel 31 can rotate around the front brush sweeping disc 16 , when the edge-seeking wheel 31 is in contact with the road shoulder stone, the edge-seeking wheel 31 rotates by itself under the action of friction, which relieves and eliminates the The friction between the road shoulder stones, at this time, the contact between the edge-seeking wheel 31 and the road shoulder stone is a soft contact, which will not increase the driving resistance of the sweeper; and when the edge-seeking wheel 31 collides with the road shoulder stone, At this time, the resistance of the road shoulder stone to the edge-seeking wheel 31 cannot be eliminated by the rotation of the edge-seeking wheel 31 itself, and the edge-seeking wheel 31 will force the front brush swing arm 12 The sweeper provides turn signals. In this embodiment, the edge-seeking wheel 31 is an annular frame that is sheathed outside the front brush assembly. The material of the annular frame is a steel tube structure with high strength, and the upper part of the annular frame is rotated and installed on the On the brush shaft of the front brush and sweeping disc 16, the center of the wheel side frame 32 is mounted on the brush shaft through a bearing, and the wheel side frame 32 is also provided with an upper part of the front brush and sweep disc 16 to prevent collision. Protective bracket; the ring frame is a steel tube structure with a smooth surface and no tip, which reduces the friction force in direct contact with the road shoulder stone. The edge-seeking wheel 31 is arranged in the middle of the front sweeping brush 17, and the tapered bottom of the front sweeping brush 17 protrudes out of the edge-seeking wheel 31, so when the edge-seeking wheel 31 contacts the road shoulder stone , the bottom end of the front sweeping brush 17 can just clean up to the root of the road shoulder stone.

In order to further prevent the motor of the front brush 17 from being used safely, the upper part of the front brush assembly is provided with an auxiliary anti-collision device. The auxiliary anti-collision device is an anti-collision ring frame 18 fixedly mounted on the front brush swing arm 12 , and the anti-collision ring frame 18 is arranged on the outer periphery of the motor of the front brush 17 . The edge-finding wheel 31 is used in cooperation with the anti-collision ring frame 18 to ensure the safety of the front brush device 1 as a whole, and avoid the phenomenon that the front brush device 1 is damaged and cannot be cleaned reliably and safely.

The front end of the front brush holder 11 is provided with a front brush limiter 19 that prevents the front brush swing arm 12 from swinging horizontally toward the front of the sweeper. The front brush limiter 19 is located on the front brush holder The front end of 11 is arranged in front of the front brush swing arm 12. When the front brush swing arm 12 is driven by the swing arm return torsion spring 14 to swing forward and contact the front brush limit plate 19, The forward movement is no longer continued, so that the front brush swing arm 12 is finally in this state.

The side brush device 2 includes a side brush fixing frame 21 , and a side brush assembly is installed at the end of the side brush fixing frame 21 . The side brush assembly includes a side brush motor 22 that is fixedly installed at the rear end of the side brush fixing frame 21. The power shaft of the side brush motor 22 is fixedly installed with a side brush scanning disk 23 through a reducer. The bottom end of the sweeping disc 23 is provided with a conical structure side sweeping brush 24 . The side brush assembly is a structure in the prior art.

The sweeping brush lifting device 4 includes a parallel four-bar mechanism 41, the top of the parallel four-bar mechanism 41 is fixedly mounted on the bottom end of the sweeper, and the front brush device 1 and the side brush device 2 are respectively fixed. At the bottom end of the parallel four-bar mechanism 41, between the bottom end of the sweeper and the parallel four-bar mechanism 41, a lift control device for controlling the parallel four-bar mechanism 41 to ascend or descend is further provided. The lifting control device includes an electric push rod 42 fixed on the bottom end of the sweeper, and a lifting rope 43 is wound and connected between the bottom end of the parallel four-bar mechanism 41 and the electric push rod 42 through a pulley. Two ends of the rope 43 are respectively connected to the parallel four-bar mechanism 41 and the electric push rod 42 .

The parallel four-bar mechanism 41 includes two opposite vertical bars, and two parallel adjusting bars with the same length are hinged between the two vertical bars. 1 and the side brush device 2 are fixed on the bottom end of another vertical rod. The lifting rope 43 passes through one of the vertical rods, and the upper adjusting rod is fixed on the lower adjusting rod. When the telescopic end of the electric push rod 42 is retracted, one end of the lifting rope 43 is driven to move backward, and the lifting rope 43 pulls the adjusting rod to move upward, so that the other vertical rod and the vertical rod installed on the vertical rod are moved upward. The front brush device 1 and the side brush device 2 on the upper part move upward to increase the height of the front brush device 1 and the side brush device 2; when the telescopic end of the electric push rod 42 is extended, all the The front brush device 1 and the side brush device 2 move downward to the cleaning height.

The cleaning vehicle is provided with a main controller, and the main controller is provided with an information processing module, a power control module, a steering control module, and a brush height control module; the angle sensor 13 and the torque sensor 5 are respectively connected to the information processing module. A variety of different systems are provided on the sweeper, and only the systems and control modules that are related to the solution and are beneficial to describing the principle of the solution are described here. The main controller, the power control module, and the steering control module all belong to the prior art. The power control module is used to control the power and the traveling mechanism to start, stop and move the sweeper. The steering control module It is used to control the steering mechanism to make the sweeper turn, and the brush height control module is used to control the brush control module to control the action of the front sweeping disc motor 15, the side sweeping disc motor 22 and the electric push rod 42. It is used to control the cleaning action of the brush and the height of the brush from the ground.

The angle sensor 13 is used to collect the angle at which the front brush swing arm 12 swings horizontally to the rear in real time, and transmit the angle value to the information processing module, which is then sent to the steering control module by the information processing module. The turn signal for turning on the side close to the shoulder stone, the turning signal for turning on the side away from the shoulder stone, or the signal for not turning; an angle threshold is preset in the information processing module, and the angle value received by the angle sensor 13 Compare with the preset angle threshold. In this embodiment, the angle threshold is an interval value, and the minimum value of the angle threshold is greater than 0. Therefore, when the front brush swing arm 12 does not touch the road shoulder, the angle collected by the angle sensor 13 is 0. When it is necessary to control the sweeper to approach the road shoulder stone, the minimum value of the angle threshold should be greater than 0, and the range of this interval is small, so that the edge-finding wheel 31 contacts the road shoulder stone and keeps a small When the angle value is greater than the maximum value of the preset angle threshold, the information processing module will transmit the information to the steering control module, and control the steering control module to make the sweeper move to the side away from the shoulder stone Steering to increase the distance from the road shoulder stone; when the angle value is less than the minimum value of the preset angle threshold, the information processing module will transmit the information to the steering control module, and control the steering control module to make the The sweeper turns towards the side of the road shoulder to shorten the distance with the road shoulder; when the angle value is within the range of the angle threshold, the information processing module will transmit a signal to the steering control module to control the The steering control module no longer acts, and the sweeper continues to move in this direction.

The torque sensor 5 is used to collect the torque between the sweeping brush and the ground when the front sweeping brush 17 sweeps in real time, and transmit the torque value to the information processing module, and the information processing module sends the sweeping value to the sweeper. The brush height control module sends a signal, so that the brush height control module controls the electric push rod 42 in the brush lift device 4 to extend and retract, that is, to control the front brush 17 to rise and fall; A torque threshold is preset in the information processing module, and the torque value received by the torque sensor 5 is compared with the preset torque threshold for judgment. In this embodiment, the torque threshold is an interval value, and when the torque value is greater than the maximum value of the preset torque threshold, the information processing module will transmit the information to the brush height control module, and the brush height control module Make the electric push rod 42 contract, and increase the height of the front brush 17; when the torque value is less than the minimum value of the preset torque threshold, the information processing module will transmit the information to the brush height control module, The brush height control module makes the electric push rod 42 extend to reduce the height of the front brush 17; when the torque value is within the range of the torque threshold, the information processing module will transmit the signal to The brush height control module and the brush height control module no longer operate, and it is inconvenient to keep the front brush 17 at this height.

The principle of automatic edge finding in this embodiment:

During the process of the sweeper walking along the road shoulder stone, when the edge finding device 3 is not in contact with the road shoulder stone, when the front brush swing arm 12 does not swing, that is, the signal collected by the angle sensor 13 is 0, when the angle value is less than the preset angle threshold minimum value, the information processing module will transmit the information to the steering control module, and control the steering control module to make the sweeper turn towards the side of the road shoulder, and actively shorten the the distance from the shoulder stone;

When the edge-finding wheel 31 suddenly collides with the road shoulder stone, the front brush swing arm 12 will suddenly swing backward horizontally, that is, the angle value of the front brush swing arm 12 collected by the angle sensor 13 is no longer 0, which means that the edge-finding wheel 31 is in contact with the road shoulder stone at this time. When the angle value collected by the angle sensor 13 suddenly increases from 0 to a certain value, the angle value is transmitted to the signal processing module. When the angle value is greater than the maximum value of the preset angle threshold, the signal processing module will transmit the information to the steering control module, and control the steering control module to make the sweeper turn to the side away from the shoulder stone, and increase and The distance between the road shoulder stones; when the steering control module controls the steering of the sweeper, the sweeper walks while turning. In real life, the driver turns quickly away from the obstacle, but walks slowly against the road shoulder stone. When walking close to the road shoulder stone, the angle sensor 13 is also collecting the swing angle of the front brush swing arm 12 in real time; When the angle value is within the interval value of the angle threshold, the signal processing module will transmit the signal to the steering control module to control the steering control module to no longer act, and the sweeper will continue to move in this direction;

During the avoidance process, when the angle value collected by the angle sensor 13 gradually decreases and changes, it means that the sweeping direction of the sweeper is about to be adjusted at this time, until the angle value collected by the angle sensor 13 is again . When it is in the angle threshold range, the edge finding device 3 is just in contact with the road shoulder stone. At this time, the sweeper will no longer continue to rotate away from the road shoulder stone and keep walking and cleaning in this state until the angle When the sensor 13 transmits the steering signal of the front brush swing arm 12 again, it will continue to adjust the distance from the road shoulder stone; however, when the angle value collected by the angle sensor 13 does not decrease but gradually increases, there may be Obstacles, it means that it is difficult for the sweeper to adjust the direction at this time. At this time, the signal processing module controls the steering control module to increase the steering amplitude for quick adjustment, or controls the power control module to stop suddenly, or switch to The original system of the sweeper has the automatic avoidance mode. When the obstacle is successfully passed, it switches to the automatic edge-finding mode again, and the sweeper is controlled by the device and the system to automatically find the edge.

The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. Automatic guiding mechanism of motor sweeper vertical brush terrain clearance sets up the front end lateral part at the motor sweeper, including preceding brush device and limit brush device, preceding brush device sets up the place ahead of limit brush device and orientation the lateral part of motor sweeper outwards extends its characterized in that: the front brush device comprises a front brush fixing frame, a front brush swing arm capable of horizontally swinging towards the rear of the sweeper is installed on the outer side of the front brush fixing frame, a front brush rotating shaft is fixedly installed at the inner end of the front brush swing arm, the front brush rotating shaft is rotatably installed at the outer end of the front brush fixing frame, an angle sensor used for collecting the backward swinging angle of the front brush swing arm is installed at the position, extending out of the front brush fixing frame, of the top end of the front brush rotating shaft, an oscillating arm reset torsion spring used for driving the front brush swing arm to horizontally swing from the rear to the front is arranged between the front brush swing arm and the front brush fixing frame, so that the front brush swing arm is restored to the original position, and the oscillating arm reset torsion spring; the outer end of the front brush swing arm is provided with a front brush assembly, and the lower part of the front brush assembly is covered with an edge searching device used for contacting or colliding with a road shoulder stone; the bottom of the sweeper is also provided with a sweeping brush lifting device for driving the front brush device and the side brush device to simultaneously ascend or descend; the front brush assembly comprises a front sweeping disc motor fixedly mounted at the outer end of a front brush swing arm, a speed reducer is mounted on a power shaft of the front sweeping disc motor, a front brush rotating shaft is fixedly mounted on an output shaft of the speed reducer, a front brush sweeping disc is fixedly mounted at the bottom end of the front brush rotating shaft, a torque sensor is mounted on the outer side of the front brush rotating shaft, and a front sweeping brush of a conical structure is mounted at the bottom end of the front brush sweeping disc.

2. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the edge searching device comprises an edge searching wheel covered outside the front brush sweeping disc, the rotation axis of the edge searching wheel is overlapped with the rotation axis of the front brush sweeping disc, the edge searching wheel is arranged in the middle of the front brush sweeping disc, and the edge searching wheel is rotatably installed on the front brush sweeping disc through a wheel edge frame.

3. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: and an auxiliary anti-collision device is arranged at the upper part of the front brush assembly.

4. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 3, is characterized in that: the auxiliary anti-collision device is an anti-collision annular frame fixedly mounted on the front brush swing arm, and the anti-collision annular frame is arranged on the periphery of the front sweeper motor.

5. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the front end of the front brush fixing frame is provided with a front brush limiting plate for preventing the front brush swing arm from moving towards the horizontal swing in front of the sweeper.

6. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the side brush device comprises a side brush fixing frame, and a side brush assembly is arranged at the end part of the side brush fixing frame.

7. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 6, is characterized in that: the side brush assembly comprises a side brush disc motor fixedly installed at the rear end of a side brush fixing frame, a side brush disc is fixedly installed on a power shaft of the side brush disc motor through a speed reducer, and a side brush of a conical structure is installed at the bottom end of the side brush disc.

8. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 1, is characterized in that: the sweeper lifting device comprises a parallel four-bar mechanism, the top end of the parallel four-bar mechanism is fixedly installed at the bottom end of the sweeper, the front brush device and the side brush device are respectively fixed at the bottom end of the parallel four-bar mechanism, and a lifting control device for controlling the parallel four-bar mechanism to ascend or descend is further arranged between the bottom end of the sweeper and the parallel four-bar mechanism.

9. The automatic adjusting mechanism for the ground clearance of the vertical brush of the sweeper as claimed in claim 8, is characterized in that: the lifting control device comprises an electric push rod fixed at the bottom end of the sweeper, a lifting rope is connected between the bottom end of the parallel four-bar mechanism and the electric push rod in a winding mode through a pulley, and two ends of the lifting rope are respectively connected to the parallel four-bar mechanism and the electric push rod.

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