CN113349681B

CN113349681B - Robot with obstacle removing mechanism

Info

Publication number: CN113349681B
Application number: CN202110661550.8A
Authority: CN
Inventors: 付家林; 沈华刚; 朱永刚; 郑喜贵; 刘军
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2022-04-29
Anticipated expiration: 2041-06-15
Also published as: CN113349681A

Abstract

The invention relates to the technical field of robots, in particular to a robot with an obstacle clearing mechanism, which comprises a robot assembly, wherein the robot assembly is provided with a rotating groove, the interior of the rotating groove is movably connected with a chain, the front side end surface of the robot assembly is provided with a plurality of retracting grooves, the interior of the retracting grooves is movably connected with obstacle clearing rollers through connecting shafts, a transmission gear meshed with the chain is fixed on the rotating shaft, the robot assembly is rotatably connected with a micro cylinder, a structure that the micro cylinder extends into the retracting grooves to be abutted against the obstacle clearing rollers and pushes the obstacle clearing rollers out of the retracting grooves is formed, the rear side end surface of the robot assembly is provided with a driving groove, a driving unit for driving the chain to rotate is fixed in the driving groove, the robot assembly is provided with a pair of tensioning grooves, and the tensioning units for tensioning the chain are movably connected in the tensioning grooves, the invention can clean the articles on the walking track of the robot to the outside of the track, and has wide application prospect in the technical field of robots.

Description

Robot with obstacle removing mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a robot with an obstacle clearing mechanism.

Background

Along with the increasing intellectualization of human life, the application of the sweeping robot is more and more common, and the sweeping robot can automatically complete the cleaning work of the ground under the control of artificial intelligence. In order to enable the sweeping robot to work along a wall or around other objects (such as table legs, chair legs, or a fan bracket, etc.) so as to perform better sweeping on the position where a wall foot or other objects are in contact with the ground, a distance measuring sensor is generally arranged on the side surface of the sweeping robot, and the distance between the sweeping robot and the wall or other objects can be measured through the distance measuring sensor, so that the sweeping robot can keep a distance working state with the wall or other objects when in operation. For the objects which are not easy to move, the sweeping robot needs to detour to sweep the ground, but for some movable objects (such as small cartons, shoes and the like), the walking track of the sweeping robot needs to be swept, so that the sweeping robot can sweep the ground fully, however, the existing sweeping robot does not have the obstacle clearing device, so that the sweeping robot cannot sweep the ground better, and therefore a sweeping robot for solving the problems is needed.

Disclosure of Invention

In order to solve the problem that the floor sweeping robot cannot sufficiently sweep the ground due to the existence of movable objects on the walking track of the existing floor sweeping robot, the invention provides a machine with an obstacle clearing mechanism.

The invention adopts the technical scheme that the robot assembly comprises a robot assembly, wherein an annular rotating groove is formed in the side end face of the robot assembly, a chain is arranged in the rotating groove, a plurality of retraction grooves communicated with the rotating groove are formed in the front side end face of the robot assembly in the walking direction, barrier removing rollers are movably connected in the retraction grooves through rotating shafts, transmission gears are fixed on the rotating shafts and are meshed with the chain, a rotating groove is formed in the robot assembly, a rotating unit is fixed in the rotating groove, a micro cylinder is fixed on the rotating unit, a plurality of communication holes communicated with the rotating groove and the retraction grooves are formed in the robot assembly, the micro cylinder extends into the retraction grooves through the communication holes and is abutted against the barrier removing rollers to push the barrier removing rollers out of the retraction grooves, a driving groove communicated with the rotating groove is formed in the rear side end face of the walking direction of the robot assembly, the utility model discloses a robot assembly, including drive groove, tensioning groove, barrier detection module, central processing module, rotation unit and drive unit, the drive inslot is fixed with drive chain pivoted drive unit, set up a pair of intercommunication on the robot assembly of drive groove both sides and rotate the tensioning groove in the groove, tensioning inslot swing joint has the tensioning unit who is used for the tensioning chain with chain engaged with, the front side end face of robot assembly is fixed with barrier detection module, barrier detection module electric connection has central processing module, central processing module and rotation unit and drive unit electric connection, barrier detection module, central processing module, rotation unit and drive unit and the battery electric connection of robot assembly.

Preferably, receive and release the upper and lower terminal surface in groove and all set up the first spout that vertical cross-section is the T type, sliding connection has first slide in the first spout, the interior bottom of first spout and first slide are kept away from receive and release groove open-ended end fixing have receive and release the spring, the open-ended end fixing that the rotation groove was kept away from to first slide has the gag lever post, receive and release the spring housing and establish outside the gag lever post, the one end vertical fixation that first slide is close to the rotation groove opening part has a first connecting rod, the one end that first slide was kept away from to first connecting rod runs through first spout and extends to the rotation inslot to be fixed with first connecting seat, interference connection has first bearing in the first connecting seat, the both ends interference connection of axis of rotation is in first bearing.

Preferably, the drive unit includes driving motor, driving gear, second slide, second connecting rod, second connecting seat and second bearing, driving motor fixes in the drive groove, driving gear and driving motor's output shaft fixed connection, the second spout that the vertical cross-section is the T type is seted up to the up end in drive groove, second slide sliding connection is in the second spout, second connecting rod vertical fixation is close to the one end of drive groove opening part at the second slide, the one end that the second slide was kept away from to the second connecting rod runs through the second spout and extends to in the drive groove to with second connecting seat fixed connection, second bearing interference is connected in the second connecting seat, the tip interference of driving motor's output shaft is connected in the second bearing.

Preferably, the tensioning unit includes tensioning gear, connecting axle, third slide, tensioning spring, third connecting rod, third connecting seat and third bearing, the tensioning gear is fixed on the connecting axle, the third spout that the perpendicular cross-section is the T type is all seted up to the upper and lower both ends face in tensioning groove, third slide sliding connection is in the third spout, tensioning spring's both ends are fixed respectively and are kept away from tensioning groove open-ended tip at the interior bottom of third spout and third slide, third connecting rod vertical fixation is in the one end that the third slide is close to tensioning groove opening part at the third slide, the one end that the third slide was kept away from to the third connecting rod runs through the third spout and extends to the tensioning groove to with third connecting seat fixed connection, third bearing interference connection is in the third connecting seat, the both ends interference connection of connecting axle is in the third bearing.

Preferably, the rotation unit includes a rotation motor, a support shaft and a turntable, a fixing groove is formed in the inner bottom of the rotation groove, the rotation motor is fixed in the rotation groove, the rotation motor is fixedly connected with the turntable in the rotation groove through the support shaft, and the micro cylinder is fixed in the rotation groove along the radial direction of the turntable and partially protrudes out of the turntable.

Preferably, a miniature air pump is fixed on the turntable, an air inlet and an air outlet of the miniature air pump are respectively communicated with an air exhaust pipe and an air delivery pipe, and the miniature air pump is communicated with the miniature air cylinder through the air delivery pipe.

Preferably, the end fixing that the carousel was kept away from to the micro cylinder has the rotation head, the rotation head stretches to receive and release the inslot at the micro cylinder and back and hinders with the roller of removing obstacles inconsistent, the rotation head includes closing cap and ball, the one end of rotating unit is kept away from at miniature air pump is fixed to the closing cap, a plurality of rolling grooves have been seted up on the terminal surface of the one end that the carousel was kept away from to miniature air pump, ball swing joint is in the rolling groove, set up the spacing hole that corresponds with the rolling groove on the closing cap, the ball part extends outside the closing cap and hinders with the roller of removing obstacles through the stopper.

Preferably, the lower end of the end face of the front side in the walking direction of the robot assembly is provided with a placement groove, and the obstacle detection module is fixed in the placement groove.

Preferably, the central processing module is electrically connected with the rotating motor, the driving motor and the micro air pump, and the obstacle detection module, the central processing module, the rotating motor, the driving motor and the micro air pump are electrically connected with a battery of the robot assembly.

The technical scheme of the invention can achieve the following beneficial effects: (1) through the matching of the rotating groove and the chain, the chain can conveniently rotate in the rotating groove in the robot assembly when the obstacle does not need to be cleaned, and the influence on the normal walking of the sweeping robot is avoided; (2) through the matching of the obstacle clearing roller, the rotary table, the micro cylinder and the rotating motor, the obstacle clearing roller can be conveniently pushed out of the retraction groove through the micro cylinder, so that obstacles can be conveniently transmitted out of the walking track of the sweeping robot, and the sweeping robot is prevented from being influenced to fully sweep the ground; (3) through the matching of the driving motor, the driving gear, the transmission gear and the chain, the driving motor drives the driving gear to rotate, the driving gear drives the transmission gear to rotate through the chain, and then the transmission gear drives the obstacle clearing roller to rotate, so that the obstacle clearing roller cleans the articles on the walking track of the sweeping robot out of the track; (4) through the matching of the tensioning gear and the chain, the obstacle clearing roller is ejected out of the retraction groove to realize the deformation of the chain, so that the obstacle clearing roller can still be driven by the chain to rotate through the transmission gear, and an obstacle can be conveniently cleared outside the walking track of the sweeping robot; (5) the obstacle detection module is used for detecting whether an obstacle exists in front of the walking track of the sweeping robot or not through the obstacle detection module and the central processing module, then the central processing module sends an instruction to the rotating motor and the driving motor to enable the rotating motor to work, the rotating motor drives the turntable to rotate, the micro air cylinder is further rotated to a communication hole corresponding to a retraction slot closest to the obstacle, meanwhile, the driving motor drives the driving gear to rotate, the driving gear drives the transmission gear to rotate through a chain, the manual obstacle clearing roller rotates, then the micro air pump sends an instruction to enable the micro air pump to work, the micro air cylinder extends into the corresponding retraction slot to push the obstacle clearing roller out of contact with the obstacle, and the obstacle is cleared outside the walking track of the sweeping robot; the technical scheme of the invention has wide application prospect in the technical field of robots.

Drawings

Fig. 1 is a cross-sectional view of a robot with a clearance mechanism according to the present invention.

Fig. 2 is an enlarged view of the area a in fig. 1.

Fig. 3 is an enlarged view of the region B in fig. 1.

Fig. 4 is an enlarged view of the region C in fig. 1.

FIG. 5 is a schematic diagram of the internal structure of the retraction slot of the robot with the obstacle clearing mechanism.

Fig. 6 is a schematic structural diagram of the interior of a driving groove of the robot with the obstacle clearing mechanism.

Fig. 7 is a schematic structural diagram of the interior of a tensioning groove of the robot with the obstacle clearing mechanism.

Fig. 8 is a schematic diagram of the internal structure of a rotating groove of the robot with the obstacle clearing mechanism.

Wherein, 1, a robot assembly, 2, a placing groove, 3, an obstacle detection module, 4, a rotating groove, 5, a receiving groove, 6, a first sliding groove, 7, a first sliding plate, 8, a receiving spring, 9, a limiting rod, 10, a first connecting rod, 11, a first connecting seat, 12, a first bearing, 13, a rotating shaft, 14, a transmission gear, 15, a chain, 16, a wrecker roller, 17, a rotating groove, 18, a rotating disc, 19, a fixing groove, 20, a rotating motor, 21, a supporting shaft, 22, a micro cylinder, 23, a communicating hole, 24, a sealing cover, 25, a rolling groove, 26, a limiting hole, 27, a ball, 28, a driving groove, 29, a driving motor, 30, a driving gear, 31, a second sliding groove, 32, a second sliding plate, 33, a second connecting rod, 34, a second connecting seat, 35, a second bearing, 36, a tensioning groove, 37, a third sliding groove, 38, a third sliding plate, 39 and a tensioning spring, 40. third connecting seat, 41, third bearing, 42, connecting axle, 43, tensioning gear, 44, miniature air pump, 45, air pipe, 46, exhaust tube, 47, third connecting rod.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance in the description of the present invention, it being noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The robot with the obstacle clearing mechanism shown in fig. 1-8 comprises a robot assembly 1, wherein an annular rotating groove 4 is formed in the side end face of the robot assembly 1, a chain 15 is arranged in the rotating groove 4, so that the chain 15 can rotate in the rotating groove 4 conveniently, the situation that the chain 15 is exposed on the outer side face of the robot assembly 1 when the chain 15 does not rotate is avoided, the robot assembly 1 is influenced to clean the ground fully, and meanwhile, the attractiveness of the robot assembly 1 is avoided being influenced. The front end face of the walking direction of the robot assembly 1 is provided with a plurality of retraction grooves 5 communicated with the rotating grooves 4, the retraction grooves 5 are movably connected with obstacle clearing rollers 16 through rotating shafts 13, the obstacle clearing rollers 16 can conveniently extend out of the retraction grooves 5 to clear obstacles on the walking track of the sweeping robot, and the influence on the normal walking of the sweeping robot is avoided. The outer surface of the obstacle removing roller 16 is rough, for example, a plurality of protrusions or a plurality of grooves are fixed on the outer surface, and rough gauze or the like is fixed on the outer surface of the obstacle removing roller through screws, so that the friction force between the obstacle removing roller 16 and an obstacle can be increased, and the obstacle can be conveniently cleaned out of the walking track of the sweeping robot through the rotation of the obstacle removing roller 16. The rotating shaft 13 is welded or connected with a transmission gear 14 in an interference mode, the transmission gear 14 is meshed with a chain 15, the transmission gear 14 is driven to rotate through rotation of the chain 15, and then the manual transmission gear 14 rotates through the rotating shaft 13 and the obstacle clearing roller 16. A rotating groove 17 is formed in the robot assembly 1, a rotating unit is arranged in the rotating groove 17, and the rotating unit is fixedly detachably connected with a micro cylinder 22 through a bolt, so that the micro cylinder 22 is driven to rotate through the rotating unit. The robot assembly 1 is internally provided with a plurality of communicating holes 23 which are communicated with the rotating grooves 17 and the storage grooves 5, so that a structure that a micro cylinder 22 extends to the storage grooves 5 through the communicating holes 23 and is abutted against the obstacle clearing roller 16 to push the obstacle clearing roller 16 out of the storage grooves 5 is formed, the obstacle clearing roller 16 closest to the obstacle is pushed out of the storage grooves 5 through the micro cylinder 22, and then the obstacle clearing roller 16 rotates to clear the obstacle out of the walking track of the sweeping robot. The rear end face of the robot assembly 1 in the traveling direction is provided with a driving groove 28 communicated with the rotating groove 4, and a driving unit for driving the chain 15 to rotate is arranged in the driving groove 28, so that the driving unit can drive the chain 15 to rotate in the rotating groove 4, and further the chain 15 rotates to drive the transmission gear 14 to rotate. The robot assembly 1 on both sides of the driving groove 28 is provided with a pair of tensioning grooves 36 communicated with the rotating groove 4, and a tensioning unit which is engaged with the chain 15 and is used for tensioning the chain 15 is movably connected in the tensioning grooves 36, so that the chain 15 can be tensioned through the tensioning unit, and the driving unit and the transmission gear 14 can be engaged with the chain 15 all the time. The front end face of the robot assembly 1 is fixed with the obstacle detection module 3, so that the obstacles on the walking track of the sweeping robot can be conveniently detected through the obstacle detection module 3, and a signal is sent when the walking track of the sweeping robot and the obstacles are detected. The obstacle detection module 3 is electrically connected with a central processing module, the central processing module is electrically connected with the rotating unit and the driving unit, so that the obstacle detection module 3 sends signals to the central processing unit when detecting that the walking track of the sweeping robot is an obstacle, the central processing unit processes the signal information, and the rotating unit and the driving unit send signals to enable the rotating unit and the driving unit to work. The obstacle detection module 3, the central processing module, the rotating unit and the driving unit are electrically connected with the battery of the robot assembly 1, so that the battery of the robot assembly 1 can conveniently provide power for the operation of the obstacle detection module 3, the central processing module, the rotating unit and the driving unit.

As shown in fig. 1, 2 and 5, the robot with the obstacle clearing mechanism has the first chutes 6 with T-shaped vertical sections formed on the upper and lower end surfaces of the retraction slot 5, and the first chutes 6 are slidably connected with the first sliding plate 7, so that the first sliding plate 7 can slide in the first chutes 6. The inner bottom of the first sliding groove 6 and the end, far away from the opening of the retraction groove 5, of the first sliding plate 7 are fixedly welded with the retraction spring 8, the first sliding plate 7 is convenient to limit through the retraction spring 8, the first sliding plate 7 is prevented from being separated from the first sliding groove 6, and meanwhile the retraction spring 8 is utilized to enable the first sliding plate 7 to generate restoring force. First slide 7 is kept away from the open-ended tip welded fastening who rotates groove 4 and is had a gag lever post 9, receive and releases 8 covers of spring and establish outside gag lever post 9, is convenient for inject first slide 7 through gag lever post 9, avoids first slide 7 too much to the interior bottom of first spout 6 to slide, and then drives clearance roller 16 and receive and release the interior bottom of groove 5 and contradict, influences clearance roller 16's normal rotation. First slide 7 is close to the one end vertical weld who rotates 4 openings in groove and is fixed with first connecting rod 10, the one end that first slide 7 was kept away from to first connecting rod 10 runs through first spout 6 and extends to in rotating groove 4, and welded fastening has first connecting seat 11, interference connection has first bearing 12 in the first connecting seat 11, the both ends interference connection of axis of rotation 13 is last, in two lower first bearings 12, make to link together first connecting seat 11 and first slide 7 through first connecting rod 10 and form a whole, be convenient for realize the simultaneous movement, utilize first bearing 12 to be convenient for support simultaneously and connect axis of rotation 13, make axis of rotation 13 can be along with a removal of first slide 7, do not influence the normal rotation of axis of rotation 13 simultaneously, and then make clearance roller 16 can remove along first spout 6 along with a first slide 7.

As shown in fig. 1 and 8, the robot with the obstacle clearing mechanism includes a rotating motor 20, a supporting shaft 21 and a turntable 18, a fixing groove 19 is formed at the inner bottom of the rotating groove 17, the rotating motor 20 is detachably connected in the rotating groove 17 through a bolt, and the rotating motor 20 is conveniently placed through the fixing groove 19. The rotating motor 20 is connected with the rotating disc 18 in the rotating groove 17 through the supporting shaft 21, so that the rotating motor 20 drives the supporting shaft 21 to rotate, the supporting shaft 21 drives the rotating disc 18 to rotate, and the rotating disc 18 drives the micro cylinder 22 to rotate. The micro cylinder 22 is fixed in the rotation groove 17 along the radial direction of the turntable 18, and partially protrudes out of the turntable 18, so that the micro cylinder 22 can rotate together with the turntable 18 in the rotation groove 17. Can dismantle through bolt fastening on the carousel 18 and be connected with miniature air pump 44, the air inlet and the gas outlet of miniature air pump 44 communicate respectively has exhaust tube 46 and gas-supply pipe 45, and miniature air pump 44 is linked together through gas-supply pipe 45 with miniature cylinder 22 for miniature air pump 44 is inflated in to miniature cylinder 22 through gas-supply pipe 45 and is aerifyd, and then realizes the extension of miniature cylinder 22, utilizes exhaust tube 46 to make things convenient for miniature air pump 44 to extract the air from the external world simultaneously.

As shown in fig. 1, 3 and 8, in the robot with the obstacle clearing mechanism, a rotating head is fixedly inserted into the end part of the micro cylinder 22 far away from the turntable 18, and the rotating head abuts against the obstacle clearing roller 16 after the micro cylinder 22 extends into the accommodating groove 5, so that the friction between the micro cylinder 22 and the obstacle clearing roller 16 is reduced through the rotating head, and the micro cylinder 22 pushes the obstacle clearing roller 16 out of the accommodating groove 5 without affecting the normal rotation of the obstacle clearing roller 16. The rotating head comprises a sealing cover 24 and a ball 27, a plurality of rolling grooves 25 are formed in the end face of one end, away from the turntable 18, of the miniature air pump 44, and the ball 27 is movably connected in the rolling grooves 25, so that the ball 27 can roll in the rolling grooves 25 conveniently. The sealing cover 24 is provided with a limiting hole 26 corresponding to the rolling groove 25, and the ball 27 partially extends out of the sealing cover 24 through the limiting block and is abutted against the obstacle clearing roller 16, so that the ball 27 can rotate in the rolling groove 25 and the limiting hole 26 to reduce the friction between the end part of the micro cylinder 22 and the obstacle clearing roller 16. The cover 24 is fixedly inserted at one end of the micro air pump 44 far away from the rotating unit, so that the ball 27 is limited by the cover 24, the ball 27 is prevented from being separated from the rolling groove 25, and the relative rotation of the ball 27 and the obstacle clearing roller 16 is not influenced.

As shown in fig. 1 and 6, the robot with the obstacle clearing mechanism includes a driving unit including a driving motor 29, a driving gear 30, a second sliding plate 32, a second connecting rod 33, a second connecting seat 34 and a second bearing 35, the driving motor 29 is detachably connected in the driving slot 28 by screws, the driving gear 30 is in interference connection with an output shaft of the driving motor 29, and the rotating gear is engaged with the chain 15 in the rotating slot 4, so that the driving motor 29 rotates to drive the rotating gear to rotate, and the driving gear 30 drives the chain 15 to rotate in the rotating slot 4. The upper end face of the driving groove 28 is provided with a second sliding groove 31 with a T-shaped vertical section, and the second sliding plate 32 is slidably connected in the second sliding groove 31, so that the second sliding plate 32 can conveniently slide in the second sliding groove 31. The second connecting rod 33 is vertically welded and fixed at one end of the second sliding plate 32 close to the opening of the driving groove 28, one end of the second connecting rod 33 far away from the second sliding plate 32 penetrates through the second sliding groove 31 and extends into the driving groove 28, and is fixedly connected with the second connecting seat 34 in a welding manner, the second bearing 35 is connected in the second connecting seat 34 in an interference manner, the end portion of the output shaft of the driving motor 29 is connected in the second bearing 35 in an interference manner, so that the second connecting seat 34 is connected with the second sliding plate 32 through the second connecting rod 33 to form a whole, meanwhile, the output shaft of the driving motor 29 is limited by the second bearing 35, the driving motor 29 is prevented from inclining, and the driving motor 29 and the driving gear 30 are stably meshed with the chain 15.

As shown in fig. 1 and 7, the robot with the obstacle clearing mechanism includes a tensioning gear 43, a connecting shaft 42, a third sliding plate 38, a tensioning spring 39, a third connecting rod 47, a third connecting seat 40 and a third bearing 41, wherein the tensioning gear 43 is welded or interference-connected to the connecting shaft 42, so that the tensioning gear 43 and the connecting shaft 42 are connected into a whole to realize simultaneous rotation. The upper and lower end faces of the tensioning groove 36 are both provided with third sliding grooves 37 with T-shaped vertical sections, and the third sliding plate 38 is slidably connected in the third sliding grooves 37, so that the third sliding plate 38 can conveniently slide in the third sliding grooves 37. The two ends of the tension spring 39 are respectively welded and fixed on the inner bottom of the third sliding chute 37 and the end of the third sliding plate 38 far away from the opening of the tension chute 36, so that the third sliding plate 38 is limited by the tension spring 39, the third sliding plate 38 is prevented from being separated from the third sliding chute 37, meanwhile, the tension spring 39 is utilized to enable the third sliding plate 38 to generate restoring force, and the tension gear 43 can always tension the chain 15. The third connecting rod 47 is vertically welded and fixed at one end of the third sliding plate 38 close to the opening of the tensioning groove 36, one end of the third connecting rod 47 far away from the third sliding plate 38 penetrates through the third sliding groove 37 and extends into the tensioning groove 36 and is fixedly connected with the third connecting seat 40 in a welding manner, the third bearing 41 is connected in the third connecting seat 40 in an interference manner, two ends of the connecting shaft 42 are connected in the third bearing 41 in an interference manner, the third connecting seat 40 and the third sliding plate 38 are connected together through the third connecting rod 47 to form a whole, the simultaneous movement is convenient to realize, meanwhile, the third bearing 41 is convenient to support and limit the connecting shaft 42, the connecting shaft 42 can move along with the third sliding plate 38, and the rotation of the connecting shaft 42 and the tensioning gear 43 is not influenced.

As shown in fig. 1, in the robot with the obstacle clearing mechanism, a placing groove 2 is formed in the lower end of the front end face of the robot assembly 1 in the traveling direction, and the obstacle detecting module 3 is detachably connected in the placing groove 2 through a screw, so that the obstacle detecting module 3 can conveniently and comprehensively detect the traveling track front of the sweeping robot. The obstacle detection module 3 is an infrared sensor commonly used by sweeping robots in the market, and the central processing module is a common singlechip in the market. The central processing module is electrically connected with the rotating motor 20, the driving motor 29 and the micro air pump 44, so that the central processing module can control the rotating motor 20, the driving motor 29 and the micro air pump 44 to work conveniently. The obstacle detection module 3, the central processing module, the rotating motor 20, the driving motor 29 and the micro air pump 44 are electrically connected with a battery of the robot assembly 1, so that electric energy can pass through the battery conveniently.

When the device is used, the barrier removing roller 16 is contracted in the retraction groove 5 in the initial state, the telescopic cylinder is in the initial state, the rotating motor 20, the driving motor 29 and the micro air pump 44 are in the standby state, and the barrier removing process is as follows: in the driving process, when the obstacle detection module 3 detects that an obstacle exists in front of the walking track of the sweeping robot, the obstacle detection module 3 sends a signal to the central processing module, the central processing module analyzes and processes the signal information, judges which obstacle clearing roller 16 is short of the obstacle, and then sends an instruction to the rotating motor 20, the rotating motor 20 works to drive the turntable 18 to rotate, the micro air cylinder 22 rotates to the corresponding communication hole 23, then the central processing module sends an instruction to the micro air pump 44, the micro air pump 44 works to provide the air pumping pipe 46 to pump air, and the air pumping pipe 45 conveys the air to the micro air cylinder 22, so that the micro air cylinder 22 extends, the communication hole 23 extends into the accommodating groove 5 to abut against the obstacle clearing roller 16, the obstacle clearing roller 16 is pushed to the outside of the accommodating groove 5, and during the period, the rotating shaft 13 connected with the obstacle clearing roller 16 pushes the first bearing 12, The first connecting seat 11, the first connecting rod 10 and the first sliding plate 7 slide in the first sliding groove 6 towards the opening direction of the retraction groove 5, the first sliding plate 7 pulls the retraction spring 8 to enable the first spring to extend until the obstacle clearing roller 16 is pushed out of the retraction groove 5, during the period, along with the movement of the obstacle clearing roller 16 towards the outside of the retraction groove 5, the chain 15 extends towards the outside of the rotating groove 4 along with the transmission gear 14, at the moment, the chain 15 is tensioned, the chain 15 presses other transmission gears 14, the transmission gear 14 drives other rotating shafts 13 to move towards the retraction groove 5, the rotating shaft 13 pushes the first bearing 12, the first connecting seat 11, the first connecting rod 10 and the first sliding plate 7 to slide towards the inner direction of the retraction groove 5 in the first sliding groove 6, and presses the retraction spring 8 to enable the retraction spring 8 to contract until the limiting rod 9 is abutted against the inner bottom of the first sliding groove 6, and meanwhile, the chain 15 presses the tensioning gear 43, the tensioning gear 43 drives the connecting shaft 42 to move, the connecting shaft 42 pushes the third bearing 41, the third connecting seat 40, the third connecting rod 47 and the third sliding plate 38 to slide in the third sliding groove 37 towards the inner direction of the tensioning groove 36, meanwhile, the tensioning spring 39 is pressed to contract, meanwhile, the central processing module sends an instruction to the driving motor 29, the driving motor 29 works to drive the driving gear 30 to rotate, the driving gear 30 drives the transmission gear 14 to rotate through the chain 15, the transmission gear 14 drives the obstacle clearing roller 16 to rotate through the rotating shaft 13, then, the obstacle clearing robot approaches to an obstacle along with the approaching of the obstacle clearing robot, when the obstacle clearing roller 16 contacts with the obstacle, the obstacle clearing roller 16 rotates to enter the obstacle clearing track of the obstacle clearing robot and cleans the obstacle clearing roller 16 until the obstacle clearing roller 16 does not contact with the obstacle;

when the obstacle detection module 3 detects that an obstacle exists in front of the walking track of the sweeping robot for a long time, the central processing module firstly sends a stop instruction to the micro air pump 44, the micro air cylinder 22 contracts, during the period, the first sliding plate 7 pulls the first bearing 12, the first connecting seat 11 and the first connecting rod 10 to slide towards the inner direction of the retracting groove 5 in the first sliding groove 6 under the elastic force action of the retracting spring 8, during the period, the chain 15 retracts towards the rotating groove 4 along with the transmission gear 14 along with the movement of the obstacle clearing roller 16 towards the retracting groove 5, at the moment, the chain 15 is loosened, under the elastic force action of the retracting springs 8 in other retracting grooves 5, the first sliding plate 7 pushes the first bearing 12, the first connecting seat 11, the first connecting rod 10 and slides towards the opening direction of the retracting groove 5 in the first sliding groove 6 until the micro air cylinder 22 completely contracts into the rotating groove 17, then repeating the obstacle clearing process until the obstacle detection module 3 detects that no obstacle exists in front of the walking track of the sweeping robot, and controlling the rotating motor 20, the driving motor 29 and the micro air pump 44 to stop working by the central processing module until the obstacle clearing roller 16 is retracted into the accommodating groove 5, so that the obstacle clearing work is finished;

when the obstacle detection module 3 detects that no obstacle exists in front of the walking track of the sweeping robot for a long time, the central processing module controls the rotating motor 20, the driving motor 29 and the micro air pump 44 to stop working until the obstacle clearing roller 16 is retracted into the belt retraction groove 5, and then controls the sweeping robot to turn.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The robot with the obstacle clearing mechanism comprises a robot assembly (1) and is characterized in that an annular rotating groove (4) is formed in the side end face of the robot assembly (1), a chain (15) is arranged in the rotating groove (4), a plurality of retraction grooves (5) communicated with the rotating groove (4) are formed in the front side end face of the walking direction of the robot assembly (1), an obstacle clearing roller (16) is movably connected into the retraction grooves (5) through a rotating shaft (13), a transmission gear (14) is fixed on the rotating shaft (13), the transmission gear (14) is meshed with the chain (15), a rotating groove (17) is formed in the robot assembly (1), a rotating unit is fixed in the rotating groove (17), a micro air cylinder (22) is fixed on the rotating unit, a plurality of communicating rotating grooves (17) and communicating holes (23) of the retraction grooves (5) are formed in the robot assembly (1), the robot assembly comprises a micro cylinder (22), a communication hole (23), a retraction groove (5), a barrier removing roller (16), a driving groove (28) communicated with a rotating groove (4), a driving unit for driving a chain (15) to rotate, a pair of tensioning grooves (36) communicated with the rotating groove (4), a tensioning unit engaged with the chain (15) and used for tensioning the chain (15), an obstacle detection module (3), and a central processing module, wherein the micro cylinder (22) extends into the retraction groove (5) through the communication hole (23) and is abutted against the barrier removing roller (16), the driving groove (28) is formed in the rear end face of the walking direction of the robot assembly (1), the tensioning grooves (36) are formed in the robot assembly (1) and are communicated with the rotating groove (4), the tensioning units engaged with the chain (15) and used for tensioning the chain (15) are movably connected in the tensioning grooves (36), the obstacle detection module (3) is electrically connected with the central processing module, the central processing module is electrically connected with the rotating unit and the driving unit, and the obstacle detection module (3), the central processing module, the rotating unit and the driving unit are electrically connected with a battery of the robot assembly (1).

2. The robot with the obstacle clearing mechanism according to claim 1, wherein the upper end surface and the lower end surface of the retraction groove (5) are both provided with a first sliding groove (6) with a T-shaped vertical section, the first sliding groove (6) is connected with a first sliding plate (7) in a sliding manner, a retraction spring (8) is fixed at the inner bottom of the first sliding groove (6) and the end part of the first sliding plate (7) far away from the opening of the retraction groove (5), a limiting rod (9) is fixed at the end part of the first sliding plate (7) far away from the opening of the rotating groove (4), the retraction spring (8) is sleeved outside the limiting rod (9), a first connecting rod (10) is vertically fixed at one end of the first sliding plate (7) near the opening of the rotating groove (4), one end of the first connecting rod (10) far away from the first sliding plate (7) extends into the rotating groove (4) through the first sliding groove (6), and be fixed with first connecting seat (11), interference connection has first bearing (12) in first connecting seat (11), the both ends interference connection of axis of rotation (13) is in first bearing (12).

3. The robot with the obstacle clearing mechanism according to claim 1, wherein the driving unit comprises a driving motor (29), a driving gear (30), a second sliding plate (32), a second connecting rod (33), a second connecting seat (34) and a second bearing (35), the driving motor (29) is fixed in the driving groove (28), the driving gear (30) is fixedly connected with an output shaft of the driving motor (29), a second sliding groove (31) with a T-shaped vertical section is formed in the upper end face of the driving groove (28), the second sliding plate (32) is slidably connected in the second sliding groove (31), the second connecting rod (33) is vertically fixed at one end of the second sliding plate (32) close to the opening of the driving groove (28), one end of the second connecting rod (33) far away from the second sliding plate (32) extends into the driving groove (28) through the second sliding groove (31), and is fixedly connected with a second connecting seat (34), the second bearing (35) is connected in the second connecting seat (34) in an interference manner, and the end part of the output shaft of the driving motor (29) is connected in the second bearing (35) in an interference manner.

4. The robot with the obstacle clearing mechanism according to claim 1, wherein the tensioning unit comprises a tensioning gear, a connecting shaft (42), a third sliding plate (38), a tensioning spring (39), a third connecting rod (47), a third connecting seat (40) and a third bearing (41), the tensioning gear is fixed on the connecting shaft (42), third sliding grooves (37) with T-shaped vertical sections are formed in the upper end surface and the lower end surface of the tensioning groove (36), the third sliding plate (38) is slidably connected in the third sliding grooves (37), two ends of the tensioning spring (39) are respectively fixed at the inner bottom of the third sliding grooves (37) and the end of the third sliding plate (38) far away from the opening of the tensioning groove (36), the third connecting rod (47) is vertically fixed at one end of the third sliding plate (38) close to the opening of the tensioning groove (36), and one end of the third connecting rod (47) far away from the third sliding plate (38) extends to the tensioning groove (36) through the third sliding grooves (37) The connecting shaft is fixedly connected with a third connecting seat (40), the third bearing (41) is connected in the third connecting seat (40) in an interference mode, and two ends of the connecting shaft (42) are connected in the third bearing (41) in an interference mode.

5. The robot with the obstacle clearing mechanism according to claim 1, wherein the rotating unit comprises a rotating motor (20), a supporting shaft (21) and a rotating disc (18), a fixing groove (19) is formed at the inner bottom of the rotating groove (17), the rotating motor (20) is fixed in the rotating groove (17), the rotating motor (20) is fixedly connected with the rotating disc (18) in the rotating groove (17) through the supporting shaft (21), and the micro cylinder (22) is fixed in the rotating groove (17) along the radial direction of the rotating disc (18) and partially protrudes out of the rotating disc (18).

6. The robot with the obstacle clearing mechanism according to claim 5, wherein a micro air pump (44) is fixed on the turntable (18), an air inlet and an air outlet of the micro air pump (44) are respectively communicated with an air exhaust pipe (46) and an air conveying pipe (45), and the micro air pump (44) is communicated with the micro air cylinder (22) through the air conveying pipe (45).

7. Robot with obstacle clearing away mechanism according to claim 5, characterized in that the end of the micro cylinder (22) remote from the turntable (18) is fixed with a rotating head, the rotating head is abutted against the obstacle clearing roller (16) after the micro cylinder (22) extends into the storage groove (5), the rotating head comprises a sealing cover (24) and a ball (27), the sealing cover (24) is fixed at one end of the micro air pump (44) far away from the rotating unit, a plurality of rolling grooves (25) are arranged on the end surface of one end of the micro air pump (44) far away from the turntable (18), the ball (27) is movably connected in the rolling groove (25), the sealing cover (24) is provided with a limit hole (26) corresponding to the rolling groove (25), the ball (27) partially extends out of the cover (24) through a limiting block and is abutted against the obstacle clearing roller (16).

8. The robot with the obstacle clearing mechanism according to claim 1, wherein a placement groove (2) is formed in the lower end of the front end face of the robot assembly (1) in the walking direction, and the obstacle detecting module (3) is fixed in the placement groove (2).

9. The robot with obstacle clearing mechanism according to claim 3, 5 or 6, wherein the central processing module is electrically connected with the rotating motor (20), the driving motor (29) and the micro air pump (44), and the obstacle detecting module (3), the central processing module, the rotating motor (20), the driving motor (29) and the micro air pump (44) are electrically connected with a battery of the robot assembly (1).