CN112806910A

CN112806910A - Collision avoiding device of cleaning robot

Info

Publication number: CN112806910A
Application number: CN202110081889.0A
Authority: CN
Inventors: 宋慧; 刘纪新; 曹爱霞; 王刚; 刘娜; 王永刚; 曹传剑
Original assignee: Qingdao Huanghai University
Current assignee: Qingdao Huanghai University
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-05-18

Abstract

The invention discloses a collision avoiding device of a cleaning robot, and relates to the technical field of cleaning robots. This cleaning robot collision avoidance device, including the casing, be provided with on the casing and dodge the structure, it includes device case, rotation motor and infrared sensor to dodge the structure, the inside of device case is provided with driving motor, the one end fixedly connected with driving gear of driving motor output shaft, the inside rotation of device case is connected with the axis of rotation. Through the cooperation setting between supporting spring and the slider, can subdue the effort that produces when removing, and then make the robot can keep relatively stable state when traveling, it also can not receive great degree's influence to travel on uneven ground, safety protection effect when improving the robot use avoids leading to it to appear toppling because of receiving great degree's rocking, make cleaning machines people can be fine adaptation different ground environment when using, flexibility and adaptability when increasing the use.

Description

Collision avoiding device of cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a collision avoiding device of a cleaning robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, the earliest robot is a puppet robot built by the inventor of the inventor according to the image of Liu 2529, a mechanism is applied, and the robot has the basic characteristics of sitting, standing, raking, lying and the like, can assist or even replace the human to complete dangerous, heavy and complex work, improves the working efficiency and quality, serves the human life, and expands or extends the activity and capability range of the human.

Along with the improvement of the standard of life and artificial intelligence deepen life, the robot is more and more extensive in people's daily life, wherein cleaning robot is the most common, with advantages such as its easy operation and convenient to use more and more people's life of having walked into, and in order to avoid cleaning robot receives the damage because of the collision in the use, can be provided with the collision in its inside and dodge the device, and dodge the device and generally use rather than inside drive structure cooperation, through control drive structure shut down, prevent in advance that robot and external object from colliding, and traditional drive structure lacks buffering shock attenuation effect, if the robot when moving on uneven ground, can lead to its removal not stable enough, probably lead to its appearance to empty.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a cleaning robot collision avoiding device, which solves the problems that the existing cleaning robot collision avoiding device lacks a buffering and damping effect, and if a robot moves on an uneven ground, the movement of the robot is not stable enough, and the robot can topple.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a collision avoidance device of a cleaning robot comprises a shell, wherein an avoidance structure is arranged on the shell and comprises a device box, a rotating motor and an infrared sensor, a driving motor is arranged in the device box, a driving gear is fixedly connected to one end of an output shaft of the driving motor, a rotating shaft is rotatably connected to the inside of the device box, a driven gear is sleeved on the outer surface of the rotating shaft, the outside of the driven gear is meshed with the outside of the driving gear, a rotating rod is fixedly connected to the middle of the top of the device box, a first bevel gear is sleeved on the outside of the rotating rod, a second bevel gear is fixedly connected to one end of an output shaft of the rotating motor, the outside of the second bevel gear is meshed with the outside of the first bevel gear, rolling wheels are hinged to the two ends of the rotating shaft and the two sides of the rotating shaft respectively positioned at the outside, one side of the wheel that rolls articulates there are four bracing pieces, the one end of bracing piece articulates there is the slider, the shifting chute has all been seted up to the both sides of axis of rotation surface, fixedly connected with slide bar between the both sides of shifting chute internal surface, the outside of slider cup joint in the outside of slide bar, the both sides of slide bar surface just are located respectively the both sides of slider have all cup jointed supporting spring, the outside both sides of axis of rotation have all cup jointed the rotation lantern ring, the outside top fixedly connected with electric telescopic handle of the rotation lantern ring.

Furthermore, the inside fixedly connected with dustbin of casing, the inside swing joint of dustbin has the rubbish fill, one side of rubbish fill run through the inside of casing and extend to the outside of casing.

Further, the rotating motor is fixedly installed at the bottom of the garbage can, and the top end of the rotating rod is rotatably connected with the bottom of the garbage can.

Further, the bottom of the device box is fixedly connected with a rotating base, and the bottom of the device box penetrates through the inside of the shell and extends to the bottom of the shell.

Further, the top of the electric telescopic rod is fixedly connected with one side of the device box, adjusting grooves are formed in the two sides of the device box, and the outer portion of the rotating shaft is connected with the inner portions of the adjusting grooves in a sliding mode.

Further, the inside of casing is provided with the suction pump, the suction pump input intercommunication has the dust absorption pipe fitting, the output of suction pump with the inside of dustbin is through the output tube intercommunication.

Further, one side of the inside of the shell is fixedly connected with a water tank, the bottom of the water tank is communicated with a floor mopping assembly, and a control valve is arranged on the floor mopping assembly.

Further, the infrared sensor is fixedly installed on one side of the outer portion of the shell, and a control assembly is arranged on the top of the shell.

Advantageous effects

The invention has the following beneficial effects:

(1) the collision avoidance device of the cleaning robot can reduce the acting force generated during moving through the matching arrangement between the supporting spring and the sliding piece, so that the robot can keep a relatively stable state during running, the robot can not be influenced to a greater extent during running on uneven ground, the safety protection effect of the robot during use is improved, the robot is prevented from falling due to shaking to a greater extent, the cleaning robot can be well adapted to different ground environments during use, and the flexibility and the adaptability during use are improved;

(2) this cleaning machines people collision device of dodging uses through electric telescopic handle and the cooperation of the rotating sleeve ring, can adjust the vertical position of axis of rotation, when the user demand of co-altitude, can stretch out and draw back through controlling two electric telescopic handle, finally makes the whole height of robot obtain adjusting, makes it can be in different place normal use, can adapt to the not environment of co-altitude, increases its flexibility when using, the user demand of satisfying people that can be fine.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

Fig. 1 is a schematic structural view of an exterior of a collision avoidance apparatus of a cleaning robot according to the present invention;

fig. 2 is a schematic structural diagram of the interior of a collision avoidance device of a cleaning robot according to the present invention;

FIG. 3 is a schematic view of the interior of the avoidance structure shown in FIG. 2;

fig. 4 is an enlarged schematic view of the portion a shown in fig. 3.

In the figure, 1-shell, 2-avoiding structure, 21-device box, 22-rotating motor, 23-infrared sensor, 24-driving motor, 25-driving gear, 26-rotating shaft, 27-driven gear, 28-rotating shaft, 29-first bevel gear, 210-second bevel gear, 211-rolling wheel, 212-supporting rod, 213-sliding piece, 214-a moving groove, 215-a sliding rod, 216-a supporting spring, 217-a rotating lantern ring, 218-an electric telescopic rod, 219-a rotating base, 220-an adjusting groove, 3-a garbage can, 4-a garbage bucket, 5-a suction pump, 6-a dust suction pipe fitting, 7-a water tank, 8-a mopping assembly, 9-a control valve and 10-a control assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: the utility model provides a cleaning machines people bumps and dodges device, includes casing 1, be provided with on casing 1 and dodge structure 2, dodge structure 2 including device case 21, rotation motor 22 and infrared sensor 23, the inside of device case 21 is provided with driving motor 24, the one end fixedly connected with driving gear 25 of driving motor 24 output shaft, the internal rotation of device case 21 is connected with axis of rotation 26, driven gear 27 has been cup jointed to the surface of axis of rotation 26, driven gear 27's outside with the outside intermeshing of driving gear 25, the middle fixedly connected with dwang 28 at device case 21 top, first conical gear 29 has been cup jointed to the outside of dwang 28, the one end fixedly connected with second conical gear 210 of rotation motor 22 output shaft, the outside of second conical gear 210 with the outside intermeshing of first conical gear 29, both ends of axis of rotation 26 just are located respectively the outside both sides of casing 1 all articulate has rolling wheel 211, one side of rolling wheel 211 articulates there are four bracing pieces 212, the one end of bracing piece 212 articulates there is slider 213, shifting chute 214 has all been seted up to the both sides of axis of rotation 26 surface, fixedly connected with slide bar 215 between the both sides of shifting chute 214 internal surface, the outside of slider 213 cup joint in slide bar 215's outside, the both sides of slide bar 215 surface just are located respectively the both sides of slider 213 all have cup jointed supporting spring 216, the outside both sides of axis of rotation 26 have all cup jointed the lantern ring 217 of rotating, the outside top fixedly connected with electric telescopic handle 218 of lantern ring 217 of rotating.

The rotating motor 22 is fixedly arranged at the bottom of the garbage can 3, the driving motor 24 is fixed with the rotating shaft 26 through a fixing piece, the fixing piece is rotatably connected with the outer part of the rotating shaft 26 and cannot influence the normal rotation of the rotating shaft 26, the driving motor 24 and the rotating motor 22 are both connected with an external power supply and are controlled to operate through the control assembly 10, the infrared sensor 23 is in signal connection with the control assembly 10 and is used for detecting the distance between objects outside the robot, after the robot exceeds a safe distance, a signal is sent to the control assembly 10 immediately, the driving motor 24 is controlled to stop rotating through the control assembly 10 and is controlled to start the rotating motor 22, finally the rolling wheel 211 stops rotating to realize the direction adjustment of the robot and then continues to move towards a safe direction, the rotating shaft 26 can rotate in the device box 21, the driven gear 27 is fixedly connected with the outer part of the rotating shaft, and the driven gear 27 can be, and then the rotating shaft 26 can drive two rolling wheels 211 to roll simultaneously, and then the robot can move, the first bevel gear 29 is adapted to the second bevel gear 210, the second bevel gear 210 drives the first bevel gear 29 to rotate by rotating the motor 22, and finally the device box 21 can rotate, so as to realize the change of the angle of the rotating base 219, so that the rolling wheels 211 can move in different directions, the four support rods 212 are respectively located at the upper and lower and front and back four positions of the inner side of the rolling wheels 211 and are symmetrically distributed, the rolling wheels 211 are articulated with the rotating shaft 26 in a universal spherical manner, and two ends of the support rods 212 are respectively articulated with the rolling wheels 211 and the sliding parts 213 in a universal spherical manner, when the rotating shaft 26 drives the rolling wheels 211 to rotate, so that the support rods 212 can always play a stable supporting and buffering role on the rolling wheels 211, the buffer damping device is used for providing support for the rolling wheel 211 and the rotating shaft 26, the sliding part 213 can move in the horizontal direction outside the sliding rod 215, the support spring 216 provides elastic support for the sliding part 213, the support rod 212, the support spring 216 and the sliding part 213 are matched for use to form a buffer damping device, so that a certain buffer effect is achieved between the rotating shaft 26 and the rolling wheel 211, when the rolling wheel 211 rolls, if the rolling wheel 211 rolls on uneven ground, the rolling wheel is acted by the vertical direction, the support rod 212 is driven to rotate, the sliding part 213 can be pulled to slide on the outer surface of the sliding rod 215 through the rotation of the support rod 212, and the support spring 216 is simultaneously pressed, and through the matching arrangement between the support spring 216 and the sliding part 213, the acting force generated during moving can be reduced, so that the robot can keep a relatively stable state during running, and the running on uneven ground cannot be influenced to a large extent, the safety protection effect of the robot is improved when the robot is used, the phenomenon that the robot is toppled due to shaking in a large degree is avoided, the cleaning robot can be well adapted to different ground environments when the cleaning robot is used, the flexibility and the adaptability of the cleaning robot when the cleaning robot is used are improved, the rotating sleeve ring 217 is rotatably connected with the outer part of the rotating shaft 26, the two electric telescopic rods 218 are respectively positioned at the left side and the right side of the device box 21, a power supply is arranged outside, the stretching and contracting of the cleaning robot are controlled by the control assembly 10, the vertical position of the rotating shaft 26 can be adjusted by matching with the rotating sleeve ring 217, when the use requirements of different heights exist, the stretching and contracting of the two electric telescopic rods 218 can be controlled, the rotating shaft 26 can drive the rolling wheels 211 to move in the vertical direction, the whole height of the robot can be adjusted, the cleaning robot can be, the flexibility is increased when the device is used, and the use requirements of people can be well met.

The garbage can is characterized in that a garbage can 3 is fixedly connected to the inside of the shell 1, a garbage hopper 4 is movably connected to the inside of the garbage can 3, and one side of the garbage hopper 4 penetrates through the inside of the shell 1 and extends to the outside of the shell 1.

The rotating motor 22 is fixedly installed at the bottom of the dustbin 3, and the top end of the rotating rod 28 is rotatably connected with the bottom of the dustbin 3.

A rotating base 219 is fixedly connected to the bottom of the device box 21, and the bottom of the device box 21 penetrates through the inside of the housing 1 and extends to the bottom of the housing 1.

The top of the electric telescopic rod 218 is fixedly connected with one side of the device box 21, adjusting grooves 220 are formed in both sides of the device box 21, and the outer portion of the rotating shaft 26 is slidably connected with the inner portions of the adjusting grooves 220.

The adjustment groove 220 is provided to be fitted with the rotation shaft 26 so that the rotation shaft 26 can be stably moved in the vertical direction.

The inside of casing 1 is provided with suction pump 5, suction pump 5 input intercommunication has dust absorption pipe fitting 6, the output of suction pump 5 with the inside of dustbin 3 is through the output tube intercommunication.

The suction pump 5 is externally connected with a power supply, the operation of the suction pump is controlled by the control component 10, the bottom of the dust suction pipe fitting 6 extends to the bottom of the rotating base 219, the dust suction pipe fitting 6 is provided with a suction head and a pipeline which are in a rotating connection relationship, and the suction head and the pipeline rotate along with the rotation of the rotating base 219 without blocking the rotating base 219.

One side of the inside of the shell 1 is fixedly connected with a water tank 7, the bottom of the water tank 7 is communicated with a floor mopping assembly 8, and a control valve 9 is arranged on the floor mopping assembly 8.

The mopping assembly 8 consists of a pipeline and a clamp for clamping sponge, the pipeline is rotatably connected with the clamp, and the pipeline rotates along with the rotation of the rotating base 219 without blocking the rotating base 219.

The infrared sensor 23 is fixedly installed on one side of the outside of the shell 1, and the top of the shell 1 is provided with the control assembly 10.

The working principle is as follows:

after the robot exceeds a safe distance, a danger signal is detected through the infrared sensor 23, a signal is immediately sent to the control assembly 10, the control assembly 10 controls the driving motor 24 to stop rotating, the rotating motor 22 to start, finally, the rolling wheels 211 stop rotating, the rotating motor 22 rotates, so that the second conical gear 210 drives the first conical gear 29 to rotate, finally, the device box 21 can rotate, further the angle of the rotating base 219 is changed, the direction of the robot is changed, then, the driving motor 24 is started again, the driving gear 25 can drive the driven gear 27 to rotate, further, the rotating shaft 26 can simultaneously drive the two rolling wheels 211 to roll simultaneously, and the robot can move to continue moving towards a safe direction;

if the robot rolls on uneven ground, the robot is acted in the vertical direction to further drive the supporting rod 212 to rotate, the sliding piece 213 can be pulled to slide on the outer surface of the sliding rod 215 through the rotation of the supporting rod 212, the supporting spring 216 is simultaneously extruded, and the acting force generated during moving can be reduced through the matching arrangement between the supporting spring 216 and the sliding piece 213, so that the robot can keep a relatively stable state during running, and the robot cannot be influenced to a greater extent when running on uneven ground;

when the user demand of co-altitude, can stretch out and draw back through controlling two electric telescopic handle 218, and then make axis of rotation 26 can drive the wheel 211 that rolls and remove in vertical direction, and then make the whole height of robot obtain adjusting, make it can be in different places normal use.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a cleaning machines people collision device of dodging, includes casing (1), its characterized in that: be provided with on casing (1) and dodge structure (2), dodge structure (2) including device case (21), rotation motor (22) and infrared sensor (23), the inside of device case (21) is provided with driving motor (24), the one end fixedly connected with driving gear (25) of driving motor (24) output shaft, the internal rotation of device case (21) is connected with axis of rotation (26), driven gear (27) have been cup jointed to the surface of axis of rotation (26), the outside of driven gear (27) with the outside intermeshing of driving gear (25), the middle fixedly connected with dwang (28) at device case (21) top, first conical gear (29) have been cup jointed to the outside of dwang (28), the one end fixedly connected with second conical gear (210) of rotation motor (22) output shaft, the outside of the second bevel gear (210) is meshed with the outside of the first bevel gear (29), two ends of the rotating shaft (26) are respectively positioned at two sides of the outside of the shell (1) and are hinged with rolling wheels (211), one side of each rolling wheel (211) is hinged with four supporting rods (212), one end of each supporting rod (212) is hinged with a sliding piece (213), two sides of the outer surface of the rotating shaft (26) are respectively provided with a moving groove (214), a sliding rod (215) is fixedly connected between two sides of the inner surface of the moving groove (214), the outside of each sliding piece (213) is sleeved on the outside of the corresponding sliding rod (215), two sides of the outer surface of each sliding rod (215) are respectively positioned at two sides of each sliding piece (213) and are respectively sleeved with supporting springs (216), and two sides of the outside of the rotating shaft (26) are respectively sleeved with rotating lantern, the top of the outer part of the rotating lantern ring (217) is fixedly connected with an electric telescopic rod (218).

2. The cleaning robot collision avoidance device according to claim 1, wherein: the garbage can is characterized in that a garbage can (3) is fixedly connected to the inside of the shell (1), a garbage hopper (4) is movably connected to the inside of the garbage can (3), and one side of the garbage hopper (4) penetrates through the inside of the shell (1) and extends to the outside of the shell (1).

3. The cleaning robot collision avoidance device according to claim 2, wherein: the rotary motor (22) is fixedly installed at the bottom of the dustbin (3), and the top end of the rotary rod (28) is rotatably connected with the bottom of the dustbin (3).

4. The cleaning robot collision avoidance device according to claim 1, wherein: the bottom of the device box (21) is fixedly connected with a rotating base (219), and the bottom of the device box (21) penetrates through the inside of the shell (1) and extends to the bottom of the shell (1).

5. The cleaning robot collision avoidance device according to claim 1, wherein: the top of the electric telescopic rod (218) is fixedly connected with one side of the device box (21), adjusting grooves (220) are formed in the two sides of the device box (21), and the outer portion of the rotating shaft (26) is connected with the inner portions of the adjusting grooves (220) in a sliding mode.

6. The cleaning robot collision avoidance device according to claim 2, wherein: the garbage can is characterized in that a suction pump (5) is arranged inside the shell (1), the input end of the suction pump (5) is communicated with a dust suction pipe fitting (6), and the output end of the suction pump (5) is communicated with the inside of the garbage can (3) through an output pipe.

7. The cleaning robot collision avoidance device according to claim 1, wherein: one side fixedly connected with water tank (7) inside casing (1), the bottom intercommunication of water tank (7) has mopping subassembly (8), be provided with control flap (9) on mopping subassembly (8).

8. The cleaning robot collision avoidance device according to claim 1, wherein: the infrared sensor (23) is fixedly installed on one side of the outer portion of the shell (1), and a control assembly (10) is arranged on the top of the shell (1).