CN112022010A

CN112022010A - Robot for cleaning rubbish in seat area of stand

Info

Publication number: CN112022010A
Application number: CN202011017931.4A
Authority: CN
Inventors: 王建平; 商俊辉; 史晨琛; 杨贺刚; 杨晰予; 郭世豪; 范保军; 李伦旭
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2020-12-04

Abstract

The invention relates to the technical field of intelligent robots and discloses a platform seat area garbage cleaning robot which comprises a platform seat area conveying mechanism and a cleaning mechanism, wherein the platform seat area conveying mechanism comprises a movable plate trolley and a box body, a swing arm mechanism is movably mounted on the box body, and the swing arm mechanism is assembled and used for fixing the cleaning mechanism through an electromagnetic locking unit and keeping 90-degree circumferential motion along with the swing arm mechanism so that garbage in the cleaning mechanism is dumped in the box body. The robot for cleaning the garbage in the seat area of the stand provided by the invention has the advantages that for other stair climbing structures, the climbing structure is easy to realize that the robot stably climbs stairs, the efficiency is high, and the control is convenient. And for the centre of gravity adjustment mechanism, have upper and lower regulation, have the regulation of front and back, it is easier to shift the centre of gravity of robot forward. The stability of the box body is ensured.

Description

Robot for cleaning rubbish in seat area of stand

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a robot for cleaning rubbish in a seat area of a stand.

Background

As the seats of the stadium spectator stand are wide in area distribution and step-shaped in distribution type, the distribution space is too dense, and the garbage production is very frequent. At present, indoor cleaning type robot stops to clean in a small scale, little volume holds rubbish, and outdoor venue robot removes that the volume is great, only be applicable to flat ground and clean, lack the climbing ladder ability, be difficult to be suitable for the complex environment, and comparatively advanced stair clean robot can't adapt to the work of large tracts of land ladder cleaning. The seat walkway cleaning space in large and medium sized stadium ladder stand areas is limited, and the overall area of the stadium is large, so the required cleaning robot moving mechanism needs to be appropriate in size, and has the capability of going up and down stairs, stronger maneuvering performance, higher cruising capability, smaller volume and larger garbage collection device. However, the existing cleaning machines in the market can not clean the garbage in the large and medium-sized stadium stand areas, so that the conventional manual cleaning and the use of a small-size hand-push type sweeper are still adopted for cleaning the large and medium-sized stadium public places at present.

The hand-push type garbage sweeper for the outdoor stadium mainly collects the ground garbage efficiently and quickly through the two sweeping brushes and the vacuum dust suction device, and cannot be widely applied to complex terrains such as ladder stands with high ladders and many obstacles. Therefore, the cleaning machine has the advantages of low automation degree, low requirement for manual frequent carrying, small garbage storage capacity, difficulty in realizing centralized garbage treatment, huge workload, heavy fatigue, low efficiency and high cost.

Disclosure of Invention

Solves the technical problem

The invention provides a platform seat area garbage cleaning robot, which solves the problems that the prior art can not realize the garbage cleaning of a large and medium stadium platform seat area, does not have corresponding automation products, does not have corresponding combined robots, does not have cleaning robots for correspondingly cleaning larger garbage, and does not separate a garbage containing box from the cleaning robots.

Technical scheme

In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme: the utility model provides a regional rubbish of stand seat cleans machine people, includes stand seat regional transport mechanism and clean mechanism for, stand seat regional transport mechanism is including removing wooden handcart and box for the region, movable mounting has swing arm mechanism on the box, swing arm mechanism is assembled and is used for right through the electromagnetism locking unit of establishing clean mechanism fixes, and follows swing arm mechanism keeps 90 circumferential motion messenger rubbish in the clean mechanism emptys in the box.

Preferably, the front end and the rear end of the moving plate trailer are respectively provided with a deformation wheel and a planet wheel, and the deformation wheel is movably arranged in two conditions: the method comprises a first station, wherein when the moving plate car moves along a road surface, the deformation wheel is circular; the second station, when the movable plate trailer moves along the stair steps, the deformation wheel is triangular; and a gravity center balance mechanism is arranged on the movable plate trailer and is assembled to enable the box body to be kept horizontal when the deformation wheel is in the second working position. When the mobile plate trailer walks on a regular ground, the deformation wheels are switched into common round wheels, and the walking efficiency of the mobile plate trailer is the same as that of a common wheel type robot platform on a regular road surface; in irregular terrain, the deformation wheel is switched to an eccentric state, and the switching can be controlled by people, so that the method has the following advantages: the deformation wheel is switched into the common wheel with a circular structure in a more regular and flat terrain, the movement speed of the deformation wheel is completely the same as that of the wheel, and the deformation wheel has high efficiency. In irregular complex terrains, a deformation wheel of the robot is switched into an eccentric structure, the robot becomes an eccentric wheel obstacle crossing platform, the obstacle crossing mode can be switched automatically by means of manual control or sensor detection, the specific operation mode can be determined according to actual needs, and the manual control or the sensor detection control belong to the existing mature technology, so detailed description is not needed in the invention.

Preferably, the cleaning mechanism includes a bottom surface cleaning mechanism mounted to clean a seat having a radius in a circumferential direction of a stand step, a seat cleaning mechanism, and a dust suction unit mounted to suck dust cleaned by the bottom surface cleaning mechanism and the seat cleaning mechanism into the cleaning mechanism. In a specific implementation process, the bottom surface cleaning mechanism is used for cleaning the floor of the step, and the seat cleaning mechanism is used for cleaning the seat of the step and the chair back of the next step by rotating circumferentially when the cleaning mechanism keeps a reciprocating stroke along the step, and collecting dust through the dust collection unit.

Preferably, a camera unit is installed at the front driving end of the mobile board vehicle, the camera unit is assembled to transmit acquired image data to a terminal through a central control center box installed on the mobile board vehicle, and the terminal transmits an instruction to the central control center box through wireless to control the mobile board vehicle to move;

the cleaning mechanism is provided with a control unit, and the control unit is in wireless connection with the central control center box.

And what moved in this well accuse maincenter box is STM32 singlechip to through the camera unit (this camera unit specifically is infrared camera appearance) in removal wooden handcart the place in front, the camera unit can be to the robot transmission to STM32 singlechip in, and carry out the modeling of regional map and transmit to the display screen at terminal through the calculation of STM32 singlechip, and operating personnel removes according to showing the long-range remote control removal wooden handcart of transmission data, also can make the mobile wooden handcart independently walk through well accuse maincenter box.

Preferably, the deformation wheel is provided with a driving unit, and the driving unit is assembled to drive the deformation wheel to switch between a first station and a second station;

the deformation wheel comprises an inner disc, an outer disc and a hub, wherein the inner disc is rotatably connected to the axis of the outer wall on one side of the hub;

the outer disc body is composed of a plurality of arc-shaped side lobes capable of forming a circular ring-shaped structure, inner rotating shaft frameworks are installed on the inner sides of the arc-shaped side lobes, and the inner rotating shaft frameworks and the arc-shaped side lobes are triangular;

the inner rotating shaft frameworks are rotationally connected to the inner disc, so that the arc-shaped side lobes are distributed in a circular array around the inner disc;

a waist groove is formed in the inner rotating shaft framework, shifting shafts corresponding to the number of the arc-shaped side lobes are arranged on the wheel hub, and the shifting shafts are located on the outer side of the inner disc and are connected to the waist groove in a sliding mode;

when the inner disc deflects to a certain angle in the circumferential direction, the arc-shaped side lobes are acted by the poking shaft, so that the arc-shaped side lobes deflect in the circumferential direction and are triangular;

the driving unit comprises a driving steering engine and an inner disc, wherein the output end of the driving steering engine penetrates through a hub and is connected with the axis of the inner disc, and the driving steering engine can drive the inner disc to keep circumferential rotation;

the planet wheel comprises a three-fork framework and three guide wheels, and the three guide wheels are respectively and rotationally connected to the three top ends of the three-fork framework;

the movable plate trailer comprises a chassis, a worm driving mechanism and a connecting rod, wherein the worm driving mechanism and the connecting rod are symmetrically distributed on the chassis, the two axes of the three-fork framework are respectively and rotatably connected onto the connecting rod, and the worm driving mechanism is assembled to drive the deformation wheel to keep circumferential motion. The driving unit is matched with the driving deformation wheel and the driven planetary wheel to realize random transformation of the circular hub and the triangular hub when the ultrasonic waves detect the steps, the vehicle can stably run on a flat road surface and can freely climb over the steps, stable switching between two working states of the steps and the flat ground can be realized, and the vehicle has the capability of quickly changing directions when working in a multi-turning environment.

Preferably, the movable plate trailer comprises a chassis and a worm driving mechanism for driving the deformation wheel to move circumferentially;

the worm driving mechanism comprises a stepping motor, a worm gear and a driving rod, the worm is installed at the output end of the stepping motor, the driving rod and the worm are vertically distributed and installed on the chassis through a bearing seat, the worm gear is installed on the driving rod and meshed with the worm, and the hub is installed at one end, located on the outer side of the chassis, of the driving rod.

Preferably, the gravity center balancing mechanism comprises a carrier, four-bar mechanisms arranged on two sides of the carrier and a pull rod mechanism used for keeping the carrier horizontal, the box body is arranged at the top of the carrier, a gyroscope is arranged in the center position of the bottom of the carrier, a central control center box is arranged on the movable plate trolley, and the central control center box is assembled for collecting data transmitted by the gyroscope and used for driving the pull rod mechanism to keep the carrier horizontal all the time;

the movable plate trailer comprises a chassis, and the four-bar linkage mechanism and the traction rod mechanism are both arranged on the chassis;

the four-bar mechanism consists of two side bars, a cross bar and a pull bar, wherein one end of each side bar is respectively arranged on the outer walls of two sides of the carrying platform, and the other end of each side bar is rotatably connected to the movable plate trailer;

the pull rod is rotatably connected to the carrying platform and the cross rod;

the traction rod mechanism comprises a rod body I, a rod body II and a rotary steering engine, the rotary steering engine is arranged on the movable plate trailer, the output end of the rotary steering engine is connected with the rod body II, and the rod body I is connected with the rod body II;

the four-bar mechanism is composed of an edge rod, a cross rod and a pull rod, and the rod body I is rotatably connected to the cross rod. And in specific implementation process, because this box is installed through focus balance mechanism, when the removal wooden handcart climbs the stair, the automobile body of whole removal wooden handcart can keep the slope along with the gradient of stair step, and the focus position of box then can change, thereby can cause the unstable risk of taking place the car of overturning of whole focus, and the gyroscope in the focus balance mechanism through setting up can calculate the data transmission who gathers to STM32 singlechip, and calculate the angle of rectifying, and supply power to the traction rod mechanism of both sides, drive traction rod mechanism adjusts the microscope carrier, make the microscope carrier keep the level all the time.

Preferably, the swing arm mechanism comprises a main side rod body, a main shaft rod and an electromagnet plate; the two main side rod bodies are respectively and rotatably connected to the outer walls of two opposite sides of the box body, and a rotating steering engine for driving the main side rod bodies to keep circumferential motion is arranged in the box body; the main shaft rod is rotatably connected to the two main side rod bodies and is of a U-shaped structure, and the electromagnet plate body is fixedly arranged at the center of the main shaft rod; a lithium battery and a circuit board are arranged in the main shaft rod, and the circuit board is assembled to enable the lithium battery to be communicated with the electromagnet plate. After the trolley climbs to the first-stage step, the swing arm mechanism is driven to deflect the moving trolley to contact the ground.

Preferably, the cleaning mechanism comprises a moving trolley and a garbage can movably arranged in the moving trolley; the dustbin back mounted has the magnet piece of being connected with electro-magnet plate magnetism, the magnet piece all wraps up the rubber circle that is used for reducing the magnetism and adsorbs the impact force with the electro-magnet plate outer edge.

Preferably, the cleaning mechanism comprises a moving trolley and a garbage can movably arranged in the moving trolley; the bottom surface cleaning mechanism is a mop which is symmetrically and rotatably connected to the bottom of the movable trolley; the seat cleaning mechanism comprises a framework and cleaning rods, the framework is of an L-shaped structure, the cleaning rods are arranged on the outer side of the L-shaped structure, and the adjacent ends of the two cleaning rods are in transmission connection through gears; the framework is rotationally connected to the top of the moving trolley and is driven by a first steering engine arranged in the moving trolley to enable the seat cleaning mechanism to keep circumferential rotation; a second steering gear is installed in the movable trolley and is assembled to drive a transmission gear set installed in the movable trolley, and the two mops and the cleaning rod keep circumferential motion through the transmission gear set.

Compared with the prior art, the garbage cleaning robot for the seat area of the stand provided by the embodiment of the invention has the following beneficial effects: compared with other stair climbing structures, the stair climbing structure is easy to realize stable stair climbing of the robot, high in efficiency and convenient to control. And for the centre of gravity adjustment mechanism, have upper and lower regulation, have the regulation of front and back, it is easier to shift the centre of gravity of robot forward. The stability of the box body is ensured.

And adopt the combination formula design, can compensate large-scale cleaning robot and can't deal with complicated condition, small-size cleaning robot can't realize the drawback of climbing stair. The aim of cleaning the rubbish in the seat area of the stand is achieved.

And after the small cleaning robot returns to the climbing robot, the electromagnet on the climbing robot is electrified to firmly attract the small cleaning robot, so that the small cleaning robot is prevented from falling off from the climbing robot in the moving process. The structure is light and simple and is convenient to realize.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology.

Drawings

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

FIG. 2 is a schematic structural view of a mobile cart according to the present invention;

FIG. 3 is a schematic view of a camera unit according to the present invention;

FIG. 4 is a schematic view of the worm drive mechanism of the present invention;

FIG. 5 is a schematic view of the connection relationship between the four-bar linkage mechanism and the mobile plate trailer according to the present invention;

FIG. 6 is a schematic view of the connection relationship between the worm driving mechanism and the deforming wheel according to the present invention;

FIG. 7 is a schematic structural view of a four-bar linkage mechanism, a pull rod mechanism and a mobile board vehicle according to the present invention;

fig. 8 is a schematic structural diagram of a planet wheel of the invention;

FIG. 9 is a schematic view of the four bar linkage and the drawbar mechanism of the present invention;

FIG. 10 is an exploded view of a deformable wheel according to the present invention;

FIG. 11 is a schematic view of the outer disk structure of the present invention;

FIG. 12 is a schematic view of a deforming wheel according to the present invention;

FIG. 13 is a schematic diagram showing the station switching state of a deformation wheel of the mobile pallet truck in a climbing state;

FIG. 14 is a structural diagram of a deformation wheel in a second operating position;

FIG. 15 is a schematic structural view of a swing arm mechanism of the present invention;

FIG. 16 is an exploded view of the cleaning mechanism of the present invention;

FIG. 17 is a schematic view of a seat cleaning mechanism according to the present invention;

FIG. 18 is a schematic view of the position of the magnet at the back of the garbage can according to the present invention.

In the figure: 1. a deformation wheel; 11. an inner disc; 12. an outer disc; 121. an arc-shaped side lobe; 122. an inner rotating shaft framework; 13. a hub; 131. a shaft is poked; 2. a planet wheel; 21. a trident skeleton; 22. a guide wheel; 3. a drive unit; 31. driving a steering engine; 4. a center of gravity balancing mechanism; 41. a stage; 42. a four-bar linkage; 421. a side bar; 422. a cross bar; 423. a pull rod; 43. a pull rod mechanism; 431. a rod body I; 432. a rod body II; 433. rotating the steering engine; 5. an image pickup unit; 6. a central control hub box; 200. moving the plate trailer; 201. a chassis; 202. a worm drive mechanism; 2021. a stepping motor; 2022. a worm; 2023. a worm gear; 2024. a drive rod; 203. a connecting rod; 300. a box body; 400. a transfer mechanism for a seat area of the stand; 500. a cleaning mechanism; 501. a bottom surface cleaning mechanism; 502. a seat cleaning mechanism; 5021. a framework; 5022. a cleaning rod; 503. moving the trolley; 504. a dustbin; 505. a magnet block; 600. a swing arm mechanism; 601. a main side rod body; 602. a main shaft rod; 603. an electromagnet plate; 700. an electromagnetic locking unit.

Detailed Description

So that the objects, technical solutions and advantages of the embodiments of the present disclosure will be more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings of the embodiments of the present disclosure.

As shown in fig. 1 to 18, the robot for cleaning garbage in the seat area of the grandstand provided by the present invention comprises a transmission mechanism 400 for the seat area of the grandstand and a cleaning mechanism 500, wherein the transmission mechanism 400 for the seat area of the grandstand comprises a movable plate trailer 200 and a box 300, a swing arm mechanism 600 is movably mounted on the box 300, and the swing arm mechanism 600 is configured to fix the cleaning mechanism 500 by an electromagnetic locking unit 700 and to tilt the garbage in the cleaning mechanism 500 into the box 300 as the swing arm mechanism 600 keeps 90 ° circumferential motion.

As shown in fig. 2 to 14, in the further proposed solution of the present invention, the transmission mechanism 400 for the seat area of the grandstand comprises a mobile board 200 and a box 300, the front end and the rear end of the mobile board 200 are respectively provided with a deforming wheel 1 and a planetary wheel 2, the deforming wheel 1 is movably arranged in two cases: in the first station, when the movable plate trailer 200 moves along the road surface, the deformation wheel 1 is circular; in the second station, when the movable plate trailer 200 moves along the stair steps, the deformation wheel 1 is triangular; the movable plate trailer 200 is provided with a gravity center balance mechanism 4, and the gravity center balance mechanism 4 is assembled to enable the box body 300 to be kept horizontal when the deformation wheel 1 is in the second working position. When the mobile plate trailer 200 walks on a regular ground, the deformation wheels 1 are switched into common round wheels, and the walking efficiency of the mobile plate trailer is the same as that of a common wheel type robot platform on a regular road surface; in irregular terrain, the deformation wheel 1 is switched to an eccentric state, and the switching can be controlled by people, so that the method has the following advantages: the deformation wheel 1 is switched into a common wheel with a circular structure in a more regular and flat terrain, the movement speed of the deformation wheel is completely the same as that of the wheel, and the deformation wheel has high efficiency. In irregular complex terrains, the deformation wheel 1 of the robot is switched into an eccentric structure, the robot becomes an eccentric wheel obstacle crossing platform, the obstacle crossing mode can be switched automatically by means of manual control or sensor detection, the specific operation mode can be determined according to actual needs, and the manual control or the sensor detection control belong to the existing mature technology, so detailed description is not needed in the invention.

In specific implementation process, the device is relative other types climb stair structure for it is more stable that current robot climbs stair, and efficient, convenient control, and to focus adjustment mechanism 4, have the regulation from top to bottom, have the regulation of front and back, shift forward the focus of robot more easily. Realize the step climbing and the transport of goods.

As shown in fig. 3, in the further proposed technical solution of the present invention, a camera unit 5 is installed at a front end of the mobile cart 200, the camera unit 5 is configured to transmit collected image data to a terminal through a central control center box 6 installed on the mobile cart 200, and the terminal transmits an instruction to the central control center box 6 through wireless to control the mobile cart 200 to move. And what move in this well accuse maincenter box 6 is STM32 singlechip to through the camera unit 5 (this camera unit 5 specifically is infrared camera shooting appearance) in the removal wooden handcart front, camera unit 5 can be to the image data transmission of the place that the robot walked to in the STM32 singlechip, and carry out the modeling of regional map and transmit to the display screen at terminal through the calculation of STM32 singlechip, and operating personnel moves according to showing the long-range remote control of transmission data removal wooden handcart.

As further shown in fig. 6, 10, 11, 12, 16 and 17, it can be seen that in some embodiments, the deforming wheel 1 is provided with a driving unit 3, and the driving unit 3 is configured to drive the deforming wheel 1 to switch back and forth between the first station and the second station. Specifically, as can be seen from fig. 10, the deforming wheel 1 includes an inner disc 11, an outer disc 12 and a hub 13, the inner disc 11 is rotatably connected to an axial center of an outer wall of one side of the hub 13, the outer disc 12 is specifically composed of a plurality of arc-shaped side lobes 121 which can form a circular ring-shaped structure, an inner rotating shaft skeleton 122 is installed on an inner side of each arc-shaped side lobe 121, and the inner rotating shaft skeleton 122 and the arc-shaped side lobes 121 are in a triangular shape. Furthermore, a plurality of inner rotating shaft skeletons 122 are rotatably connected to the inner disc 11, so that the arc-shaped side lobes 121 are distributed in a circular array with respect to the inner disc 11.

Furthermore, a waist groove is formed on the inner rotating shaft framework 122, the hub 13 is provided with shifting shafts 131 corresponding to the number of the arc-shaped side lobes 121, and the shifting shafts 131 are positioned on the outer side of the inner disc 11 and are connected to the waist groove in a sliding manner;

when the inner disc 11 circumferentially deflects to a certain angle, the arc-shaped side lobes 121 are acted by the poking shaft 131, so that the arc-shaped side lobes 121 circumferentially deflect and form a triangle.

Meanwhile, the driving unit 3 comprises a driving steering engine 31 and an inner disc 11, wherein the output end of the driving steering engine 31 penetrates through the hub 13 and is connected with the axis of the inner disc 11, and the driving steering engine can drive the inner disc 11 to keep circumferential rotation.

In a specific implementation process, the driving unit 3 is matched with the driving deformation wheel 1 and the driven planet wheel 2 to realize random conversion of the circular hub and the triangular hub when steps are detected by ultrasonic waves, so that the vehicle can stably run on a flat road surface and can freely climb over the steps, stable switching between two working states of the steps and the flat ground can be realized, and the vehicle has the capability of quickly changing directions when working in a multi-turning environment.

Further, referring to fig. 4, the mobile board cart 200 includes a chassis 201 and a worm drive mechanism 202 for driving the deforming wheel 1 to move circumferentially. The worm driving mechanism 202 is composed of a stepping motor 2021, a worm 2022, a worm gear 2023 and a driving rod 2024, the worm 2022 is installed at the output end of the stepping motor 2021, the driving rod 2024 and the worm 2022 are vertically distributed and installed on the chassis 201 through a bearing seat, and the worm gear 2023 is installed on the driving rod 2024 and meshed with the worm 2022. Also, since the deforming wheel 1 includes the inner disc 11, the outer disc 12, and the hub 13, the hub 13 is mounted on one end of the driving rod 2024 located outside the base plate 201.

In a specific implementation process, the deformation wheel 1 can be movably driven to move forward by the worm driving mechanism 202, and the arc-shaped side flaps 121 can be deflected to form a triangular structure by the driving of the driving unit 3, so that the climbing of stairs is cooperatively performed, and further the steering is performed by controlling the state formed by the deflection of the arc-shaped side flaps 121 by the driving unit 3. The worm driving mechanism 202 has a good self-locking capability, so that when the device travels to a step at any height of a stair, and when the stepping motor 2021 stops, the hovering purpose can be achieved through the self-locking of the worm driving mechanism 202.

As further shown in fig. 2, fig. 3, fig. 4 and fig. 8, it can be seen that, in some embodiments, the planetary gear 2 includes a three-fork skeleton 21 and three guide wheels 22, and the three guide wheels 22 are respectively rotatably connected to three top ends of the three-fork skeleton 21. The movable plate trailer 200 comprises a chassis 201, a worm driving mechanism 202 and a connecting rod 203, wherein the worm driving mechanism 202 and the connecting rod 203 are symmetrically distributed on the chassis 201, the axes of the two three-fork frameworks 21 are respectively and rotatably connected to the connecting rod 203, and the worm driving mechanism 202 is assembled to drive the deformation wheel 1 to keep circumferential movement.

In a specific implementation, the mobile board vehicle 200 is driven in a forward driving manner, i.e. the deforming wheel 1 is a driving wheel and the planet wheel 2 is an auxiliary balance wheel. When the vehicle runs on the flat ground, two small wheels of the planet wheel 2 touch the ground and rotate, and the three-fork framework 21 does not move; when the ladder is crossed, the three-fork framework 21 rotates, and the small wheels rotate around the central shaft together to complete the ladder climbing process.

Further, as shown in fig. 5, 7 and 9, in the novel further proposed technical solution of the present invention, the gravity center balancing mechanism 4 includes a stage 41, four-bar linkages 42 installed at both sides of the stage 41, and a pull rod mechanism 43 for keeping the stage 41 horizontal, the box 300 is installed at the top of the stage 41, a gyroscope is installed at the center position of the bottom of the stage 41, the mobile board cart 200 is installed with a center control hub box 6, and the center control hub box 6 is assembled for calculating data transmitted by the gyroscope and driving the pull rod mechanism 43 to keep the stage 41 horizontal all the time.

The movable board cart 200 includes a chassis 201, and the four-bar linkage 42 and the traction bar linkage 43 are mounted on the chassis 201.

As can be further seen from fig. 7 and 9, in some embodiments, the four-bar linkage 42 is composed of two side bars 421, two cross bars 422 and two pull rods 423, and one end of each of the two side bars 421 is respectively installed on the outer walls of the two sides of the carrier 41, and the other end is rotatably connected to the movable cart 200. The pull rod 423 is pivotally connected to the carrier 41 and the cross bar 422.

As can be further seen from fig. 7 and 9, in some embodiments, the pulling rod mechanism 43 includes a rod body I431, a rod body II432, and a rotary steering gear 433, the rotary steering gear 433 is installed on the mobile board cart 200, and the output end is connected to the rod body II432, and the rod body I431 is connected to the rod body II 432. The four-bar linkage 42 is composed of a side bar 421, a cross bar 422 and a pull rod 423, and a bar body I431 is rotatably connected to the cross bar 422.

In addition, it should be noted that the known electromagnetic locking unit mentioned in the present invention is composed of an electromagnet plate 603 and a magnet block 505.

In specific implementation process, because this box 300 is installed through gravity balance mechanism 4, when removing the wooden handcart 200 and climbing the stair, the automobile body of whole removal wooden handcart 200 can keep inclining along with the gradient of stair step, and the gravity center position of box 300 then can change, thereby can cause the unstable risk of taking place the turnover of whole focus, and the gyroscope in the gravity balance mechanism 4 through setting up can be calculated the data transmission who gathers to STM32 singlechip, and calculate the angle of rectifying, and supply power to the traction rod mechanism 43 mechanism of both sides, drive traction rod mechanism 43 adjusts microscope carrier 41, make microscope carrier 41 keep the level all the time, box 300 keeps the level promptly.

As shown in fig. 1, 15-18, the present invention further provides a solution, in which the cleaning mechanism 500 includes a bottom surface cleaning mechanism 501, a seat cleaning mechanism 502, and a dust suction unit, the seat cleaning mechanism 502 is configured to clean a seat with a circumferential radius of a stand step, and the dust suction unit is configured to suck dust cleaned by the bottom surface cleaning mechanism 501 and the seat cleaning mechanism 502 into the cleaning mechanism 500. In a specific implementation, the bottom cleaning mechanism 501 is used for cleaning the floor of a step, and the seat cleaning mechanism 502 is used for cleaning the seat of the step and the back of the next step by rotating the seat cleaning mechanism 502 circumferentially while the cleaning mechanism 500 keeps reciprocating travel along the step, and collecting dust through the dust collection unit. (the dust suction unit is a conventional electronic device built in a conventional dust collector, and may be simply a fan, and the fan is used for conveying dust cleaned by the floor cleaning mechanism 501 and the seat cleaning mechanism 502 to the dust bin 504 for storage).

As can be further seen in conjunction with fig. 15 and 18, in some embodiments, the swing arm mechanism 600 includes a primary side rod body 601, a main shaft rod 602, and an electromagnet plate 603. Further, the number of main side body of rod 601 is two to rotate respectively and connect on the outer wall of the relative both sides of box 300, install in the box 300 and order about main side body of rod 601 and keep circumferential motion's rotation steering wheel, and can drive swing arm mechanism 600 through rotating the steering wheel and keep swinging, conveniently make clean mechanism 500 break away from ground, contact ground and upset are emptyd rubbish and are put box 300.

Furthermore, the main shaft 602 is rotatably connected to the two main side rods 601 and is in a "U" shape, and the electromagnet plate 603 is fixedly installed at the center of the main shaft 602. A lithium battery and a circuit board are provided in the main shaft 602, and the circuit board is assembled to allow passage of the lithium battery to the electromagnet plate 603. In a specific implementation, the cleaning mechanism 500 includes a moving cart 503 and a trash bin 504 movably mounted inside the moving cart 503. The back of the dustbin 504 is provided with a magnet block 505 magnetically connected with the electromagnet plate 603, and the outer edges of the magnet block 505 and the electromagnet plate 603 are all wrapped with rubber rings for reducing magnetic adsorption impact force. And the control circuit board of the central control center box 6 realizes the magnetic adsorption of the electromagnet plate 603 and the magnet block 505, thereby fixing the moving trolley 503.

As can be further seen in conjunction with fig. 16 and 17, in some embodiments, the cleaning mechanism 500 includes a moving cart 503 and a trash can 504 movably mounted inside the moving cart 503, and the bottom sweeping mechanism 501 is embodied as a floor mop symmetrically and rotatably connected to the bottom of the moving cart 503. The seat sweeping mechanism 502 comprises a framework 5021 and cleaning rods 5022, the framework 5021 is specifically of an L-shaped structure, the cleaning rods 5022 are mounted on the outer side of the L-shaped structure, and the adjacent ends of the two cleaning rods 5022 are connected through gear transmission. The framework 5021 is rotatably connected to the top of the trolley 503, and the seat cleaning mechanism 502 is driven to rotate in the circumferential direction by a first steering engine arranged inside the trolley 503. A second steering gear is arranged in the movable trolley 503 and is assembled to drive a transmission gear set arranged in the movable trolley 503, and the two mops and the cleaning rod 5022 keep circumferential motion through the transmission gear set.

Further, a control unit is provided on the cleaning mechanism 500, and the control unit is wirelessly connected to the central control hub box 6. The specific STM32 singlechip combines cleaning mechanism 500 to realize automatic navigation. The camera unit 5 in front of the robot maps the place where the mobile trigger 200 can walk through the equipment, and the mobile trigger 200 runs for a circle in the whole area of the grandstand seat and establishes a map of the whole area of the grandstand seat, including stairs. When the cleaning mechanism 500 is performing cleaning, the robot will clean the spectator stand seat areas one level by one level according to the built map model. When the rubbish of the rubbish containing box inside of climbing robot is received fully, the robot can independently navigate and walk down stairs, pours rubbish to the assigned position. (the operating system data of the central control hub box 6 is known to those skilled in the art and therefore does not require a detailed disclosure in the present invention).

The walking of the cleaning mechanism 500 is driven by the walking wheels at the bottom and matched motors, besides the map navigation mode, the walking track can be laid on the stand in advance, for example, a black matte adhesive tape matched with the walking track of the cleaning mechanism is preset on the ground of the stand, a sensor matched with the cleaning mechanism is arranged at the bottom of the cleaning mechanism, the components are connected with the central control hub box 6, the sensor can adopt a four-way infrared tracing module produced by Shenzhen electronic technology Limited company, the sensor can sense whether the robot deviates the walking route through light reflected by the walking track, when the robot deviates, the rotating speed of the motors of the walking wheels is controlled by a controller, the walking direction and the position of the robot are adjusted through a rotating speed difference, and the robot returns to the walking track, and the technology is the prior art.

When the trolley climbs the first step, the swing arm mechanism 600 places the moving trolley on the first step, the magnet block 505 is controlled to be powered off, the fixing of the moving trolley 503 is released, meanwhile, the central control center box 6 sends an instruction to the cleaning mechanism 500 to drive the cleaning mechanism 500 to clean, the cleaning mechanism moves according to the stand model established in advance, the ground and the chair are cleaned, after one reciprocating operation is completed, the moving trolley 503 is returned, the moving trolley 503 is fixed through the magnet block 505, then the swing arm mechanism 600 is driven to turn over 90 degrees, the cleaning mechanism 500 is completely perpendicular to the box body 300, the garbage in the garbage can 504 is inclined upside down in the box body 300 (the time is 5s), after 5s, the moving board trolley 200 is driven to climb the second step, and the actions are repeated.

It should be noted that the driving system of the garbage collection robot, the remote control system, the driving system of the deformation wheel steering machine, the ultrasonic detection system, the vacuum dust collection system, the gravity center shift system controlled by the steering engine, the bellows recovery system driven by the motor, the chain transmission system, the recovery small cleaning robot system, the small cleaning robot disc brush control system, the ultrasonic detection system, the infrared detection system, the gyroscope, the camera navigation system, the STM32 single chip microcomputer main control system and the like belong to the prior art, and related circuit matching relations of the systems can be directly obtained by technicians in the field according to common knowledge, so detailed description is not needed in the invention.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.

Claims

1. The utility model provides a regional rubbish of stand seat cleans machine people which characterized in that: including regional transport mechanism (400) and clean mechanism (500) of using of stand seat, regional transport mechanism (400) of using of stand seat is including removing wooden handcart (200) and box (300), movable mounting has swing arm mechanism (600) on box (300), swing arm mechanism (600) are assembled and are used for right through electromagnetism locking unit (700) of establishing clean mechanism (500) fix, and follow swing arm mechanism (600) keep 90 circumferential motion messenger rubbish in clean mechanism (500) is emptyd in box (300).

2. The stand seat area debris sweeping robot of claim 1, further comprising: the front driving end and the rear end of the moving plate trolley (200) are respectively provided with a deformation wheel (1) and a planet wheel (2), and the deformation wheel (1) is assembled to be movably arranged under the following two conditions: the method comprises a first station, wherein when the movable plate trailer (200) moves along a road surface, the deformation wheel (1) is circular; a second station, when the movable plate trailer (200) moves along the stair steps, the deformation wheel (1) is triangular; and a gravity center balance mechanism (4) is installed on the movable plate trailer (200), and the gravity center balance mechanism (4) is assembled to enable the box body (300) to be kept horizontal when the deformation wheel (1) is in the second working position.

3. The stand seat area debris sweeping robot of claim 1, further comprising: the cleaning mechanism (500) comprises a bottom surface cleaning mechanism (501), a seat cleaning mechanism (502) and a dust suction unit, wherein the seat cleaning mechanism (502) is assembled to clean seats with a circumferential radius of a stand step, and the dust suction unit is assembled to suck dust cleaned by the bottom surface cleaning mechanism (501) and the seat cleaning mechanism (502) into the cleaning mechanism (500).

4. The stand seat area debris sweeping robot of claim 1, further comprising: a camera unit (5) is installed at the front driving end of the mobile board trolley (200), the camera unit (5) is assembled to transmit collected image data to a terminal through a central control center box (6) installed on the mobile board trolley (200), and the terminal transmits an instruction to the central control center box (6) through wireless to control the mobile board trolley (200) to move;

the cleaning mechanism (500) is provided with a control unit, and the control unit is wirelessly connected with the central control center box (6).

5. A stand seat area debris sweeping robot as claimed in claim 2, wherein: the deformation wheel (1) is provided with a driving unit (3), and the driving unit (3) is assembled to drive the deformation wheel (1) to switch back and forth between a first station and a second station;

the deformation wheel (1) comprises an inner disc (11), an outer disc (12) and a hub (13), wherein the inner disc (11) is rotatably connected to the axis of the outer wall of one side of the hub (13);

the outer disc (12) is specifically composed of a plurality of arc-shaped side lobes (121) which can form a circular ring-shaped structure, an inner rotating shaft framework (122) is installed on the inner side of each arc-shaped side lobe (121), and the inner rotating shaft framework (122) and the arc-shaped side lobes (121) are in a triangular shape;

the inner rotating shaft frameworks (122) are rotationally connected to the inner disc (11) to enable the arc-shaped side lobes (121) to be distributed in a circular array relative to the inner disc (11);

waist grooves are formed in the inner rotating shaft framework (122), shifting shafts (131) corresponding to the arc-shaped side lobes (121) in number are arranged on the hub (13), and the shifting shafts (131) are located on the outer side of the inner disc (11) and are connected to the waist grooves in a sliding mode;

when the inner disc (11) deflects to a certain angle in the circumferential direction, the arc-shaped side lobes (121) are acted by the poking shaft (131), so that the arc-shaped side lobes (121) deflect in the circumferential direction and are triangular;

the driving unit (3) comprises a driving steering engine (31) and an inner disc (11), wherein the output end of the driving steering engine (31) penetrates through a hub (13) and is connected with the axis of the inner disc (11) and can drive the inner disc (11) to keep circumferential rotation;

the planet wheel (2) comprises three trifurcate frameworks (21) and three guide wheels (22), and the three guide wheels (22) are respectively and rotationally connected to the three top ends of the trifurcate frameworks (21);

remove wooden handcart (200) including chassis (201), worm actuating mechanism (202) and connecting rod (203), worm actuating mechanism (202) with connecting rod (203) symmetric distribution in chassis (201), and two the axle center of trident skeleton (21) rotate respectively connect in on connecting rod (203), worm actuating mechanism (202) are assembled and are used for driving out deformation wheel (1) keeps circumferential motion.

6. A stand seat area debris cleaning robot as claimed in claim 5, wherein: the movable plate trolley (200) comprises a chassis (201) and a worm driving mechanism (202) for driving the deformation wheel (1) to move circumferentially;

the worm driving mechanism (202) is composed of a stepping motor (2021), a worm (2022), a worm gear (2023) and a driving rod (2024), the worm (2022) is installed at the output end of the stepping motor (2021), the driving rod (2024) and the worm (2022) are vertically distributed and installed on the chassis (201) through a bearing seat, the worm gear (2023) is installed on the driving rod (2024) and meshed with the worm (2022), and the hub (13) is installed at one end of the driving rod (2024) located at the outer side of the chassis (201).

7. A stand seat area debris sweeping robot as claimed in claim 2, wherein: the gravity center balance mechanism (4) comprises a platform deck (41), four-bar mechanisms (42) arranged on two sides of the platform deck (41) and a pull rod mechanism (43) used for keeping the platform deck (41) horizontal, the box body (300) is arranged on the top of the platform deck (41), a gyroscope is arranged at the center position of the bottom of the platform deck (41), a central control center box (6) is arranged on the movable plate trolley (200), and the central control center box (6) is assembled for collecting data transmitted by the gyroscope and used for driving the pull rod mechanism (43) to keep the platform deck (41) horizontal all the time;

the movable plate trailer (200) comprises a chassis (201), and the four-bar linkage mechanism (42) and the traction rod mechanism (43) are both arranged on the chassis (201);

the four-bar mechanism (42) consists of two side rods (421), two cross rods (422) and two pull rods (423), one end of each side rod (421) is respectively installed on the outer walls of the two sides of the carrying platform (41), and the other end of each side rod is rotatably connected to the movable plate trailer (200);

the pull rod (423) is rotatably connected to the carrier (41) and the cross rod (422);

the traction rod mechanism (43) comprises a rod body I (431), a rod body II (432) and a rotary steering engine (433), the rotary steering engine (433) is installed on the movable plate trailer (200), the output end of the rotary steering engine is connected with the rod body II (432), and the rod body I (431) is connected with the rod body II (432);

the four-bar mechanism (42) is composed of an edge rod (421), a cross rod (422) and a pull rod (423), and the rod body I (431) is rotatably connected to the cross rod (422).

8. The stand seat area debris sweeping robot of claim 1, further comprising: the swing arm mechanism (600) comprises a main side rod body (601), a main shaft rod (602) and an electromagnet plate (603);

the number of the main side rod bodies (601) is two, the main side rod bodies are respectively and rotatably connected to the outer walls of two opposite sides of the box body (300), and a rotating steering engine for driving the main side rod bodies (601) to keep circumferential motion is installed in the box body (300);

the main shaft rod (602) is rotatably connected to the two main side rod bodies (601) and is of a U-shaped structure, and an electromagnet plate body (603) is fixedly arranged at the center of the main shaft rod (602);

a lithium battery and a circuit board are provided in the spindle shaft (602), and the circuit board is assembled to allow the passage of the lithium battery with the electromagnet plate (603).

9. A stand seat area debris sweeping robot as claimed in claim 3, wherein: the cleaning mechanism (500) comprises a mobile trolley (503) and a dustbin (504) movably arranged inside the mobile trolley (503);

dustbin (504) back mounted has magnet piece (505) of being connected with electromagnetism magnet plate (603) magnetism, magnet piece (505) and electromagnetism magnet plate (603) outer edge all wraps up the rubber circle that is used for reducing the magnetism and adsorbs the impact force.

10. A stand seat area debris sweeping robot as claimed in claim 3, wherein: the cleaning mechanism (500) comprises a mobile trolley (503) and a dustbin (504) movably arranged inside the mobile trolley (503);

the bottom surface cleaning mechanism (501) is specifically a mop which is symmetrically and rotatably connected to the bottom of the movable trolley (503);

the seat sweeping mechanism (502) comprises a framework (5021) and cleaning rods (5022), the framework (5021) is of an L-shaped structure, the cleaning rods (5022) are mounted on the outer side of the L-shaped structure, and the adjacent ends of the two cleaning rods (5022) are in transmission connection through gears;

the framework (5021) is rotatably connected to the top of the movable trolley (503), and the seat cleaning mechanism (502) is driven to keep circumferential rotation through a first steering engine arranged in the movable trolley (503);

a second steering gear is installed in the movable trolley (503), the second steering gear is assembled to drive a transmission gear set installed in the movable trolley (503), and the two mops and the cleaning rod (5022) keep circumferential motion through the transmission gear set.