CN114617497B - Multidirectional indoor cleaning vehicle - Google Patents

Multidirectional indoor cleaning vehicle Download PDF

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Publication number
CN114617497B
CN114617497B CN202210326240.5A CN202210326240A CN114617497B CN 114617497 B CN114617497 B CN 114617497B CN 202210326240 A CN202210326240 A CN 202210326240A CN 114617497 B CN114617497 B CN 114617497B
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CN
China
Prior art keywords
cleaning
dust
connecting rod
sliding
lifting
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CN202210326240.5A
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Chinese (zh)
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CN114617497A (en
Inventor
梁凯歌
王学林
李智成
刘婉莹
魏长虹
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Hohai University HHU
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Hohai University HHU
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Priority to CN202210326240.5A priority Critical patent/CN114617497B/en
Publication of CN114617497A publication Critical patent/CN114617497A/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Cleaning In General (AREA)

Abstract

The invention discloses a multidirectional indoor cleaning vehicle, which comprises a travelling mechanism, wherein a lifting mechanism is arranged on a bottom plate of the travelling mechanism, a rotating mechanism is arranged on a lifting table of the lifting mechanism, a cleaning mechanism is arranged on a steering table of the rotating mechanism, and a dust collection mechanism is arranged on the cleaning mechanism; the travelling mechanism is started, so that the cleaning vehicle can move towards the cleaning surface; after the cleaning vehicle moves to the corresponding position, starting the lifting mechanism, wherein the lifting mechanism can enable the rotating mechanism, the cleaning mechanism and the dust collection mechanism to ascend or descend to the corresponding height; after the lifting mechanism enables the cleaning mechanism to be at a corresponding height, the rotating mechanism is started, and the rotating mechanism can enable the cleaning mechanism to rotate to the side where the cleaning surface is located; the rotating mechanism enables the cleaning mechanism to rotate to the side where the cleaning surface is located, and then the cleaning mechanism is started, so that the cleaning mechanism is in contact with the cleaning surface and cleans the cleaning surface, and the cleaning surface is a ceiling, a floor or a wall; the dust collection mechanism is started, and dust lifted by the cleaning mechanism can be collected by the dust collection mechanism through suction.

Description

Multidirectional indoor cleaning vehicle
Technical Field
The invention belongs to the technical field of cleaning vehicles, and particularly relates to a multidirectional indoor cleaning vehicle.
Background
At present, the ceilings and walls of large indoor places need to be cleaned regularly, and the ceilings and walls of the places are cleaned by manpower, however, the manual cleaning is difficult and the danger is high.
With the improvement of living standard, people gradually prefer to use robots to complete cleaning work. Most of the conventional indoor cleaning robots can only clean floors and cannot clean places such as ceilings and walls which are difficult to clean, so that a multi-directional indoor cleaning vehicle capable of cleaning floors, walls and ceilings is needed.
Disclosure of Invention
The invention aims to provide a multidirectional indoor cleaning vehicle, which solves the technical problems that the manual cleaning difficulty is high, the danger is high, and the existing indoor cleaning robot cannot clean ceilings and walls in the prior art.
The invention solves the technical problems by adopting the scheme that:
the multidirectional indoor cleaning vehicle comprises a travelling mechanism, wherein a lifting mechanism is arranged on a bottom plate of the travelling mechanism, a rotating mechanism is arranged on a lifting table of the lifting mechanism, a cleaning mechanism is arranged on a steering table of the rotating mechanism, and a dust collection mechanism is arranged on the cleaning mechanism; the travelling mechanism is started, so that the cleaning vehicle can move towards the cleaning surface; after the cleaning vehicle moves to the corresponding position, starting the lifting mechanism, wherein the lifting mechanism can enable the rotating mechanism, the cleaning mechanism and the dust collection mechanism to ascend or descend to the corresponding height; after the lifting mechanism enables the cleaning mechanism to be at a corresponding height, the rotating mechanism is started, and the rotating mechanism can enable the cleaning mechanism to rotate to the side where the cleaning surface is located; the rotating mechanism enables the cleaning mechanism to rotate to the side where the cleaning surface is located, and then the cleaning mechanism is started, so that the cleaning mechanism is in contact with the cleaning surface and cleans the cleaning surface, and the cleaning surface is a ceiling, a floor or a wall; the dust collection mechanism is started, and dust lifted by the cleaning mechanism can be collected by the dust collection mechanism through suction.
When the ceiling is cleaned, firstly, starting the lifting mechanism to enable the cleaning mechanism to rise to the vicinity of the ceiling, then starting the cleaning mechanism to enable the cleaning mechanism to be in contact with the ceiling and clean the ceiling, then starting the travelling mechanism to enable the cleaning mechanism to move along the ceiling along with the travelling mechanism, and cleaning the area where the cleaning mechanism moves; when the ceiling is cleaned, the cleaning surface is an area of the ceiling which is in the moving direction of the travelling mechanism and can be contacted with the cleaning mechanism.
When the wall is cleaned, the travelling mechanism is started firstly, the cleaning vehicle moves to the vicinity of the wall, then the rotating mechanism is started, the cleaning mechanism rotates to the side where the cleaning surface is located, then the cleaning mechanism is started, the cleaning mechanism is in contact with the wall and cleans the wall, then the lifting mechanism is started, the lifting mechanism is moved downwards or upwards, the cleaning mechanism is driven to move downwards or upwards along the wall, the area where the cleaning mechanism moves is cleaned, and when the wall is cleaned, the cleaning surface is the area which is positioned on the wall in the moving direction of the lifting mechanism and can be in contact with the cleaning mechanism.
When the floor is cleaned, firstly, the lifting mechanism is completely retracted, the rotating mechanism is started to enable the cleaning mechanism to rotate towards the side where the cleaning surface is located, then the cleaning mechanism is started to enable the cleaning mechanism to be in contact with the floor and clean the floor, then the travelling mechanism is started to enable the cleaning mechanism to move along the floor along with the travelling mechanism, and the area where the cleaning mechanism moves is cleaned; when the floor is cleaned, the cleaning surface is an area which is positioned on the floor in the moving direction of the travelling mechanism and can be contacted with the cleaning mechanism.
Further, an annular plate parallel to the bottom plate is arranged above the bottom plate, cushion blocks for supporting the annular plate are fixed on four corners of the annular plate, and the cushion blocks are fixed on the upper surface of the bottom plate; be equipped with a dust receiver in the annular plate, the dust receiver does not have the roof, and the activity is provided with the filter screen that prevents dust and raise dust receiver in the dust receiver, and the lateral wall of dust receiver, its upper end all turns over an annular baffle that turns over outward to form, and the dust receiver passes through annular baffle and places on the annular plate, and dust that dust absorption mechanism collected through the suction can be through the dust pipe discharge to the dust receiver in.
The dust collecting device is characterized in that the dust collecting device is used for supporting the annular plate through the cushion block, the dust collecting box is used for collecting dust absorbed by the dust collecting mechanism, the dust collecting box can be placed on the annular plate through the cooperation of the annular baffle and the annular plate, dust falling into the dust collecting box can be prevented from being lifted out of the dust collecting box through the filter screen, the filter screen is movably arranged in the dust collecting box, an opening for passing through the dust conveying pipe is formed in the filter screen, after the dust collecting box is full of dust, a user firstly takes out the dust conveying pipe from the filter screen, then takes out the dust collecting box, takes out the filter screen from the dust collecting box, and cleans dust in the dust collecting box.
Further, the lifting mechanism comprises two scissor assemblies and two first driving assemblies, the two scissor assemblies are arranged on the annular plate and are symmetrically arranged by taking a central shaft of the annular plate in the vertical direction as a symmetrical axis, the lifting table is arranged at the upper ends of the two scissor assemblies, and the lifting table is arranged along the horizontal direction; the two first driving components are arranged on the bottom plate, the output ends of the two first driving components are respectively connected with one scissor component, and the two first driving components are started simultaneously, so that the two scissor components and the lifting table can ascend or descend.
Through setting up first drive assembly for drive the fork subassembly, make the fork subassembly pack up or open, through setting up two fork subassemblies, can make the elevating platform rise or descend through the fork subassembly.
Further, the scissor assembly includes a plurality of scissor units; each shear fork unit comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are connected in an X-shaped rotation mode through a first rotating shaft, the first rotating shaft is arranged along the horizontal direction, and a plurality of shear fork units are connected end to form a shear fork assembly; between two adjacent scissors units, a first connecting rod of an upper scissors unit is rotationally connected with a second connecting rod of a lower scissors unit, and the second connecting rod of the upper scissors unit is rotationally connected with the first connecting rod of the lower scissors unit; each shear fork assembly is provided with two sliding parts, each sliding part comprises a first sliding rail and a first sliding block arranged in the first sliding rail in a sliding manner, and the two sliding parts are sequentially marked as a first sliding part and a second sliding part; the lower end of the first connecting rod of the lowest shear fork unit is rotationally connected with the first sliding block of the first sliding piece, the output end of the first driving component is rotationally connected with the first sliding block of the first sliding piece, the first sliding rail of the first sliding piece is arranged on the annular plate, and the lower end of the second connecting rod of the lowest shear fork unit is rotationally connected with the annular plate; the upper end of the first connecting rod of the uppermost shear fork unit is rotationally connected with the first sliding block of the second sliding piece, the first sliding rail of the second sliding piece is arranged on the lower surface of the lifting table, and the upper end of the second connecting rod of the uppermost shear fork unit is rotationally connected with the lower surface of the lifting table; a plurality of third connecting rods are arranged between the two scissor assemblies, and the two first rotating shafts at the same horizontal height are connected into a whole through one third connecting rod.
By arranging the scissor unit, when the lower end of the first connecting rod approaches to the lower end of the second connecting rod, the lower end of the first connecting rod rotates around the first rotating shaft, so that the upper end of the first connecting rod and the upper end of the second connecting rod approach to each other, the upper end of the whole scissor unit moves upwards integrally, and otherwise moves downwards; the plurality of shearing fork units are connected end to end, and the whole shearing fork assembly can be retracted or expanded by pushing or pulling the first connecting rod of the lowest shearing fork unit; the upper end or the lower end of the first connecting rod is connected with the corresponding first sliding block through the first sliding piece and the second sliding piece, and when the whole scissor assembly is retracted or expanded, the upper end or the lower end of the first connecting rod can move on the corresponding first sliding rail along with the first sliding block, so that the lifting of the lifting platform is realized; the output end of the first driving component can drive the first sliding block of the first sliding piece, so that the first sliding block and the lower end of the first connecting rod move along the corresponding first sliding rail together, lifting of the lifting platform is realized, and the two scissor assemblies can be connected into a whole through the third connecting rod.
Further, the first drive assembly includes first motor, and first motor sets up on the bottom plate, and the output shaft of first motor sets up along the horizontal direction, is equipped with output gear on the output shaft of first motor, rotates on output gear's the non-centre of a circle position and is provided with the rocker, and the one end that output gear was kept away from to the rocker rotates to be connected with the connecting rod, and the one end that the connecting rod was kept away from to the connecting rod rotates with the first slider of first slider to be connected.
Through setting up first motor, make first motor can drive output gear, rocker and connecting rod in proper order, the connecting rod can promote or the pulling first slider as the output of first drive assembly, and after the first slider removed, can promote or the pulling first connecting rod of the below shear fork unit, makes whole shear fork subassembly pack up or open.
Further, the rotary mechanism comprises a second motor, the second motor is arranged on the lower surface of the lifting platform, an output shaft of the second motor is arranged in the vertical direction and is rotationally connected with the lifting platform, an output shaft of the second motor extends out of the lifting platform and is fixedly connected with a steering platform above the lifting platform, the steering platform is parallel to the lifting platform, and the cleaning mechanism is arranged on the steering platform.
By providing the second motor and the steering stage, the steering stage can be rotated by starting the second motor.
Further, the cleaning mechanism comprises a second driving assembly and a cleaning assembly, and the second driving assembly comprises a second sliding rail; the steering table is provided with a third motor, an output shaft of the third motor is provided with a threaded rod, the output shaft of the third motor and the threaded rod are arranged in the vertical direction, the threaded rod is provided with an undercarriage, and the threaded rod is mutually perpendicular to the undercarriage; the landing gear is a rod-shaped body, a threaded hole in threaded connection with the threaded rod is formed in the landing gear, two ends of the landing gear are respectively provided with a second sliding block in a rotating mode, the two second sliding blocks are respectively arranged in a second sliding rail in a sliding mode, one ends of the two second sliding rails are respectively connected with the steering table in a rotating mode, a fourth connecting rod is arranged at the other ends of the two second sliding rails, and the fourth connecting rod is fixedly connected with the two second sliding rails and perpendicular to the two second sliding rails; a cleaning assembly capable of cleaning the cleaning surface is disposed on the fourth connecting rod.
The third motor is rotated positively or reversely, the undercarriage can move along the threaded rod, when the undercarriage moves upwards or downwards, the second sliding block is driven to move upwards or downwards, the second sliding block drives the second sliding rail, the second sliding rail rotates around one end of the second sliding rail, the other end of the second sliding rail and the fourth connecting rod lift up or fall down together, the cleaning assembly can be arranged on the fourth connecting rod through the fourth connecting rod, the length of the fourth connecting rod can be prolonged, the working face of the cleaning assembly can be prolonged, and the working efficiency of the cleaning assembly is improved.
When the ground is cleaned, firstly, the lifting mechanism is completely retracted, the rotating mechanism is started, the cleaning mechanism rotates to the side where the cleaning surface is located, then the second driving assembly is started, the landing gear is located at the lower portion of the threaded rod, the cleaning assembly is in contact with the ground, then the cleaning assembly is started to clean the ground, then the travelling mechanism is started, the cleaning assembly moves along the ground along with the travelling mechanism, and the area where the cleaning assembly moves is cleaned.
When the wall is cleaned, the travelling mechanism is started firstly, so that the cleaning vehicle moves to the vicinity of the wall, then the rotating mechanism is started, so that the cleaning mechanism rotates to the side where the cleaning surface is located, then the second driving assembly is started, so that the cleaning assembly is in contact with the wall, then the cleaning assembly is started, the wall is cleaned, then the lifting mechanism is started, so that the lifting mechanism moves downwards or upwards, and the cleaning assembly is driven to move downwards or upwards along the wall, so that the area where the cleaning assembly moves is cleaned.
When the ceiling is cleaned, the lifting mechanism is firstly lifted to enable the cleaning assembly to be lifted to the vicinity of the ceiling, then the second driving assembly is started, the landing gear is positioned on the upper portion of the threaded rod, the cleaning assembly is enabled to be in contact with the ceiling, then the cleaning assembly is started to clean the ceiling, then the travelling mechanism is started, the cleaning assembly moves along the ceiling along with the travelling mechanism, and the area where the cleaning assembly moves is cleaned.
Further, the cleaning assembly comprises two mounting plates which are oppositely arranged at two ends of the fourth connecting rod and are perpendicular to the fourth connecting rod, and the whole mounting plate is L-shaped when being observed from the direction perpendicular to the mounting plates; a cleaning cylinder is rotatably arranged between the two mounting plates and is positioned at one end of the mounting plate far away from the fourth connecting rod; the fourth motor is installed in the outside of mounting panel, and the output shaft and the mounting panel of fourth motor rotate to stretch into the pivot fixed connection of mounting panel inboard and clean drum, through starting the fourth motor, can make clean drum rotate, clean the clean face.
Through setting up the mounting panel for install clean drum, clean drum rotates and sets up between two mounting panels, when cleaning ground or ceiling, starts second drive assembly, and the mounting panel that is L shape can make clean drum easier with ground or ceiling contact, through setting up the fourth motor for drive clean drum and rotate, clean the clean face that clean drum contacted.
Further, be fixed with the fixed plate between two mounting panels, the fixed plate is close to in clean drum, and the fixed plate is close to the interval and is provided with a plurality of dust absorption hoods on one side of clean drum, and the one end of every dust absorption hood is through pipeline and dust absorption pipe intercommunication, and the other end of dust absorption pipe is equipped with the dust absorption pump, and the other end of dust absorption pipe is connected with the dust absorption end of dust absorption pump, and the dust delivery end of dust absorption pump is connected with the one end of dust delivery pipe, and the other end of dust delivery pipe leads to the dust receiver.
Through setting up the fixed plate for install the suction hood, the one end of every suction hood passes through pipeline and dust absorption union coupling and communicates, and the dust absorption pipe is kept away from the one end of dust absorption pump and is blocked, and dust absorption mechanism includes suction hood, dust absorption pipe, dust absorption pump, dust conveying pipe and relevant pipeline, and dust absorption mechanism can be collected the dust that clean mechanism raised through the dust absorption pump, and the dust loops through suction hood, relevant pipeline, dust absorption pipe, dust absorption pump and dust conveying pipe, falls into in the dust receiver.
Further, the travelling mechanism comprises four wheels and two fifth motors, wherein the four wheels are arranged below the bottom plate, the connecting lines of the four wheels at the installation positions on the bottom plate can form a diamond, two adjacent wheels, one wheel is a universal wheel, and the other wheel is a driving wheel; the two universal wheels are respectively fixed at corresponding positions on the lower surface of the bottom plate; the two driving wheels are respectively arranged on the output shafts of the fifth motors, the output shafts of the two fifth motors are all arranged along the horizontal direction, and the two fifth motors are respectively arranged on the corresponding positions of the lower surface of the bottom plate.
Through setting up two action wheels on the diagonal of diamond, when two wheels rotate to same direction, running gear moves forward or backward, and when two wheels rotate to opposite direction, running gear turns in place, can make running gear can nimble turn like this.
The beneficial effects of the invention are as follows:
1. the cleaning device comprises a cleaning surface, a rotating mechanism, a cleaning mechanism and a dust collection mechanism, wherein the cleaning surface is arranged on the cleaning surface; through setting up clean mechanism, can clean ceiling, floor or wall simultaneously under elevating system and rotary mechanism's cooperation, so this cleaning cart has overcome the great and higher dangerous drawback of manual cleaning ceiling and wall degree of difficulty, has overcome indoor cleaning robot and can not clean the drawback of ceiling and wall.
Drawings
Fig. 1 shows a schematic overall structure of the present invention.
Fig. 2 shows an enlarged view at a in fig. 1.
Fig. 3 shows a front view of the present invention.
Parts, components and numbers in the figures: the cleaning device comprises a travelling mechanism 1, a bottom plate 2, a rocker 3, a connecting rod 4, a first connecting rod 5, a second connecting rod 6, a third connecting rod 7, a lifting platform 8, a steering platform 9, a fourth connecting rod 10, a driving wheel 11, a cushion block 12, a first sliding piece 13, a dust storage box 14, a cleaning cylinder 15, a dust hood 16, a fixed plate 17, a mounting plate 18, a second sliding rail 19, a third motor 20, a threaded rod 21, a landing gear 22, an annular plate 23 and a universal wheel 24.
Detailed Description
The following detailed description of the invention, given in conjunction with the accompanying drawings, will clearly and fully describe the technical solutions of the invention, it being evident that the described embodiments are merely preferred embodiments of the invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
as shown in fig. 1, a multi-azimuth indoor cleaning vehicle comprises a travelling mechanism 1, wherein a lifting mechanism is arranged on a bottom plate 2 of the travelling mechanism 1, a rotating mechanism is arranged on a lifting table 8 of the lifting mechanism, a cleaning mechanism is arranged on a steering table 9 of the rotating mechanism, and a dust collection mechanism is arranged on the cleaning mechanism; the travelling mechanism 1 is started, so that the cleaning vehicle can move towards the cleaning surface; after the cleaning vehicle moves to the corresponding position, starting the lifting mechanism, wherein the lifting mechanism can enable the rotating mechanism, the cleaning mechanism and the dust collection mechanism to ascend or descend to the corresponding height; after the lifting mechanism enables the cleaning mechanism to be at a corresponding height, the rotating mechanism is started, and the rotating mechanism can enable the cleaning mechanism to rotate to the side where the cleaning surface is located; the rotating mechanism enables the cleaning mechanism to rotate to the side where the cleaning surface is located, and then the cleaning mechanism is started, so that the cleaning mechanism is in contact with the cleaning surface and cleans the cleaning surface, and the cleaning surface is a ceiling, a floor or a wall; the dust collection mechanism is started, and dust lifted by the cleaning mechanism can be collected by the dust collection mechanism through suction.
A ring-shaped plate 23 parallel to the bottom plate 2 is arranged above the bottom plate 2, cushion blocks 12 for supporting the ring-shaped plate 23 are fixed on four corners of the ring-shaped plate 23, and the cushion blocks 12 are fixed on the upper surface of the bottom plate 2; be equipped with a dust receiver 14 in the annular plate 23, dust receiver 14 does not have the roof, the activity is provided with the filter screen that prevents dust and raise dust receiver 14 in the dust receiver 14, in this embodiment, be fixed with a backup pad that is the cross in the casing, the backup pad sets up along the horizontal direction, the filter screen is placed in the backup pad, be equipped with the opening on the filter screen, the dust conveying pipe stretches into in the dust receiver 14 through this opening, the lateral wall of dust receiver 14, its upper end all turns over outward and forms a baffle that is annular, dust receiver 14 is placed on annular plate 23 through annular baffle, dust that dust absorption mechanism collected through the suction can be discharged into dust receiver 14 through the dust conveying pipe.
The lifting mechanism comprises two scissor assemblies and two first driving assemblies, the two scissor assemblies are arranged on the annular plate 23 and are symmetrically arranged by taking a central shaft of the annular plate 23 in the vertical direction as a symmetrical axis, the lifting table 8 is arranged at the upper ends of the two scissor assemblies, and the lifting table 8 is arranged along the horizontal direction; the two first driving components are arranged on the bottom plate 2, the output ends of the two first driving components are respectively connected with one scissor component, and the two first driving components are started simultaneously, so that the two scissor components and the lifting table 8 can ascend or descend.
The scissors assembly comprises 3 scissors units; each shear fork unit comprises a first connecting rod 5 and a second connecting rod 6, the first connecting rod 5 and the second connecting rod 6 are connected in an X-shaped rotation mode through a first rotating shaft, the first rotating shaft is arranged in the horizontal direction, and a plurality of shear fork units are connected end to form a shear fork assembly; between two adjacent scissor units, a first connecting rod 5 of an upper scissor unit is rotationally connected with a second connecting rod 6 of a lower scissor unit, and the second connecting rod 6 of the upper scissor unit is rotationally connected with the first connecting rod 5 of the lower scissor unit; each shear fork assembly is provided with two sliding parts, each sliding part comprises a first sliding rail and a first sliding block arranged in the first sliding rail in a sliding manner, and the two sliding parts are sequentially marked as a first sliding part 13 and a second sliding part; the lower end of the first connecting rod 5 of the lowest scissor unit is rotationally connected with the first sliding block of the first sliding piece 13, the output end of the first driving component is rotationally connected with the first sliding block of the first sliding piece 13, the first sliding rail of the first sliding piece 13 is arranged on the annular plate 23, and the lower end of the second connecting rod 6 of the lowest scissor unit is rotationally connected with the annular plate 23; the upper end of the first connecting rod 5 of the uppermost shear fork unit is rotationally connected with the first sliding block of the second sliding piece, the first sliding rail of the second sliding piece is arranged on the lower surface of the lifting table 8, and the upper end of the second connecting rod 6 of the uppermost shear fork unit is rotationally connected with the lower surface of the lifting table 8; a plurality of third connecting rods 7 are arranged between the two scissor assemblies, and the two first rotating shafts on the same horizontal height are connected into a whole through one third connecting rod 7.
The first driving assembly comprises a first motor, the first motor is arranged on the bottom plate 2, an output shaft of the first motor is arranged along the horizontal direction, an output gear is arranged on the output shaft of the first motor, a rocker 3 is rotatably arranged at the non-circle center position of the output gear, one end of the rocker 3, which is far away from the output gear, is rotatably connected with a connecting rod 4, and one end of the connecting rod 4, which is far away from the rocker 3, is rotatably connected with a first sliding block of the first sliding piece 13.
The rotary mechanism comprises a second motor, the second motor is arranged on the lower surface of the lifting table 8, an output shaft of the second motor is arranged in the vertical direction and is rotationally connected with the lifting table 8, the output shaft of the second motor extends out of the lifting table 8 and is fixedly connected with a steering table 9 above the lifting table 8, the steering table is parallel to the lifting table, and the cleaning mechanism is arranged on the steering table 9.
As shown in fig. 2, the cleaning mechanism comprises a second drive assembly and a cleaning assembly, the second drive assembly comprising a second slide rail 19; the steering table 9 is provided with a third motor 20, an output shaft of the third motor 20 is provided with a threaded rod 21, the output shaft of the third motor and the threaded rod are arranged in the vertical direction, the threaded rod 21 is provided with a landing gear 22, and the threaded rod 21 and the landing gear 22 are mutually perpendicular; the landing gear 22 is a rod-shaped body, a threaded hole in threaded connection with the threaded rod is formed in the landing gear 22, two ends of the landing gear 22 are respectively provided with a second sliding block in a rotating mode, the two second sliding blocks are respectively arranged in a second sliding rail 19 in a sliding mode, one ends of the two second sliding rails 19 are respectively connected with the steering table 9 in a rotating mode, a fourth connecting rod 10 is arranged at the other ends of the two second sliding rails 19, and the fourth connecting rod 10 is fixedly connected with the two second sliding rails 19 and is perpendicular to the two second sliding rails; a cleaning assembly capable of cleaning the cleaning surface is provided on the fourth connecting rod 10.
As shown in fig. 1 and 3, the cleaning assembly comprises two mounting plates 18, wherein the two mounting plates 18 are oppositely arranged at two ends of the fourth connecting rod 10 and are perpendicular to the fourth connecting rod 10, and the whole mounting plates are L-shaped when being observed from the direction perpendicular to the mounting plates 18; a cleaning cylinder 15 is rotatably arranged between the two mounting plates 18, and the cleaning cylinder 15 is positioned at one end of the mounting plate 18 far away from the fourth connecting rod 10; the fourth motor is installed in the outside of mounting panel 18, and the output shaft and the mounting panel 18 of fourth motor rotate to stretch into the pivot fixed connection of mounting panel 18 inboard and clean drum, through starting the fourth motor, can make clean drum rotate, clean the clean face.
A fixing plate 17 is fixed between the two mounting plates and is close to the cleaning cylinder 15, 3 dust suction hoods 16 are arranged on one side, close to the cleaning cylinder 15, of the fixing plate 17 at intervals, one end of each dust suction hood is communicated with a dust suction pipe through a pipeline, a dust suction pump is arranged at the other end of each dust suction pipe, the other end of each dust suction pipe is connected with a dust suction end of the dust suction pump, a dust conveying end of the dust suction pump is connected with one end of the dust conveying pipe, and the other end of the dust conveying pipe leads to the dust storage box 14.
The travelling mechanism 1 comprises four wheels and two fifth motors, wherein the four wheels are arranged below the bottom plate, the connecting lines of the four wheels at the installation positions on the bottom plate 2 can form a diamond, two adjacent wheels, one wheel is a universal wheel 24, and the other wheel is a driving wheel 11; the two universal wheels 24 are respectively fixed at corresponding positions on the lower surface of the bottom plate 2; the two driving wheels 11 are respectively arranged on the output shafts of a fifth motor, the output shafts of the two fifth motors are all arranged along the horizontal direction, and the two fifth motors are respectively arranged on the corresponding positions of the lower surface of the bottom plate 2.
Working principle:
when the floor is cleaned, firstly, the lifting mechanism is completely retracted, the rotating mechanism is started to enable the cleaning mechanism to rotate towards the side where the cleaning surface is located, then the second driving assembly is started, the landing gear 22 is located at the lower portion of the threaded rod 21, the cleaning cylinder 15 of the cleaning assembly is in contact with the floor, then the cleaning assembly is started to clean the floor, then the travelling mechanism 1 is started, the cleaning assembly moves along the floor along with the travelling mechanism 1, and the area where the cleaning assembly moves is cleaned.
When the wall is cleaned, the travelling mechanism is started firstly to enable the cleaning vehicle to move to the vicinity of the wall, then the rotating mechanism is started to enable the cleaning mechanism to rotate to the side where the cleaning surface is located, then the second driving component is started to enable the cleaning cylinder 15 of the cleaning component to be in contact with the wall, then the cleaning component is started to clean the wall, then the lifting mechanism is started to enable the lifting mechanism to move downwards or upwards, and the cleaning component is driven to move downwards or upwards along the wall to clean the area where the cleaning component moves.
When the ceiling is cleaned, the lifting mechanism is firstly lifted to enable the cleaning assembly to be lifted to the vicinity of the ceiling, then the second driving assembly is started, the landing gear 22 is positioned on the upper portion of the threaded rod 21, the cleaning cylinder 15 of the cleaning assembly is in contact with the ceiling, then the cleaning assembly is started to clean the ceiling, then the travelling mechanism is started, the cleaning assembly moves along the ceiling along with the travelling mechanism, and the area where the cleaning assembly moves is cleaned.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (8)

1. The multi-azimuth indoor cleaning vehicle is characterized by comprising a travelling mechanism (1), wherein a lifting mechanism is arranged on a bottom plate (2) of the travelling mechanism (1), a rotating mechanism is arranged on a lifting table (8) of the lifting mechanism, a cleaning mechanism is arranged on a steering table (9) of the rotating mechanism, and a dust collection mechanism is arranged on the cleaning mechanism;
the cleaning mechanism comprises a second driving assembly and a cleaning assembly, wherein the second driving assembly comprises a second sliding rail (19); the steering table (9) is provided with a third motor (20), an output shaft of the third motor (20) is provided with a threaded rod (21), the output shaft of the third motor and the threaded rod are arranged in the vertical direction, the threaded rod (21) is provided with a landing gear (22), and the threaded rod (21) is mutually perpendicular to the landing gear (22);
the landing gear (22) is a rod-shaped body, a threaded hole in threaded connection with the threaded rod is formed in the landing gear (22), two ends of the landing gear (22) are respectively provided with a second sliding block in a rotating mode, the two second sliding blocks are respectively arranged in a second sliding rail (19) in a sliding mode, one ends of the two second sliding rails (19) are respectively connected with the steering table (9) in a rotating mode, a fourth connecting rod (10) is arranged at the other ends of the two second sliding rails (19), and the fourth connecting rod (10) is fixedly connected with the two second sliding rails (19) and perpendicular to the two second sliding rails;
a cleaning assembly capable of cleaning the cleaning surface is arranged on the fourth connecting rod (10); the cleaning assembly comprises two mounting plates (18), the two mounting plates (18) are oppositely arranged at two ends of the fourth connecting rod (10) and are perpendicular to the fourth connecting rod (10), and the whole mounting plates are L-shaped when being observed from the direction perpendicular to the mounting plates (18); a cleaning cylinder (15) is rotatably arranged between the two mounting plates (18), and the cleaning cylinder (15) is positioned at one end of the mounting plate (18) far away from the fourth connecting rod (10); a fourth motor is arranged on the outer side of the mounting plate (18), an output shaft of the fourth motor is rotationally connected with the mounting plate (18) and extends into the inner side of the mounting plate (18) to be fixedly connected with a rotating shaft of the cleaning cylinder, and the cleaning cylinder can be rotated to clean a cleaning surface by starting the fourth motor;
the travelling mechanism (1) is started, so that the cleaning vehicle can move towards the cleaning surface;
after the cleaning vehicle moves to the corresponding position, starting the lifting mechanism, wherein the lifting mechanism can enable the rotating mechanism, the cleaning mechanism and the dust collection mechanism to ascend or descend to the corresponding height; after the lifting mechanism enables the cleaning mechanism to be at a corresponding height, the rotating mechanism is started, and the rotating mechanism can enable the cleaning mechanism to rotate to the side where the cleaning surface is located; the rotating mechanism enables the cleaning mechanism to rotate to the side where the cleaning surface is located, and then the cleaning mechanism is started, so that the cleaning mechanism is in contact with the cleaning surface and cleans the cleaning surface, and the cleaning surface is a ceiling, a floor or a wall;
the dust collection mechanism is started, and dust lifted by the cleaning mechanism can be collected by the dust collection mechanism through suction.
2. The multi-azimuth indoor cleaning vehicle according to claim 1, wherein an annular plate (23) parallel to the bottom plate (2) is arranged above the bottom plate (2), cushion blocks (12) for supporting the annular plate (23) are fixed on four corners of the annular plate (23), and the cushion blocks (12) are fixed on the upper surface of the bottom plate (2);
be equipped with a dust receiver (14) in annular board (23), dust receiver (14) do not have the roof, and the activity is provided with the filter screen that prevents dust and raise dust receiver (14) in dust receiver (14), and the lateral wall of dust receiver (14), its upper end all turn over to form a baffle that is annular outward, and dust receiver (14) are placed on annular board (23) through annular baffle, and dust that dust absorption mechanism collected through the suction can be discharged to dust receiver (14) through the dust conveying pipe.
3. The multi-azimuth indoor cleaning vehicle according to claim 2, wherein the lifting mechanism comprises two scissor assemblies and two first driving assemblies, the two scissor assemblies are arranged on the annular plate (23) and are symmetrically arranged by taking a central axis of the annular plate (23) in the vertical direction as a symmetry axis, the lifting table (8) is arranged at the upper ends of the two scissor assemblies, and the lifting table (8) is arranged in the horizontal direction;
the two first driving components are arranged on the bottom plate (2), the output ends of the two first driving components are respectively connected with one scissor component, and the two first driving components are started simultaneously, so that the two scissor components and the lifting table (8) can be lifted or lowered.
4. A multi-directional indoor cleaning vehicle according to claim 3, wherein the scissor assembly comprises a plurality of scissor units;
each shear fork unit comprises a first connecting rod (5) and a second connecting rod (6), the first connecting rod (5) and the second connecting rod (6) are connected in an X-shaped rotation mode through a first rotating shaft, the first rotating shaft is arranged in the horizontal direction, and a plurality of shear fork units are connected end to form a shear fork assembly;
between two adjacent scissor units, a first connecting rod (5) of an upper scissor unit is rotationally connected with a second connecting rod (6) of a lower scissor unit, and the second connecting rod (6) of the upper scissor unit is rotationally connected with the first connecting rod (5) of the lower scissor unit;
each shear fork assembly is provided with two sliding parts, each sliding part comprises a first sliding rail and a first sliding block arranged in the first sliding rail in a sliding manner, and the two sliding parts are sequentially marked as a first sliding part (13) and a second sliding part;
aiming at the lowest scissor unit, the lower end of a first connecting rod (5) is rotationally connected with a first sliding block of a first sliding piece (13), the output end of a first driving component is rotationally connected with the first sliding block of the first sliding piece (13), a first sliding rail of the first sliding piece (13) is arranged on an annular plate (23), and the lower end of a second connecting rod (6) is rotationally connected with the annular plate (23);
for the uppermost shear fork unit, the upper end of a first connecting rod (5) is rotationally connected with a first sliding block of a second sliding piece, a first sliding rail of the second sliding piece is arranged on the lower surface of a lifting table (8), and the upper end of a second connecting rod (6) of the uppermost shear fork unit is rotationally connected with the lower surface of the lifting table (8);
a plurality of third connecting rods (7) are arranged between the two scissor assemblies, and the two first rotating shafts on the same horizontal height are connected into a whole through one third connecting rod (7).
5. The multi-azimuth indoor cleaning vehicle according to claim 4, wherein the first driving assembly comprises a first motor, the first motor is arranged on the bottom plate (2), an output shaft of the first motor is arranged in the horizontal direction, an output gear is arranged on the output shaft of the first motor, a rocker (3) is rotatably arranged at a non-center position of the output gear, one end of the rocker (3) away from the output gear is rotatably connected with a connecting rod (4), and one end of the connecting rod (4) away from the rocker (3) is rotatably connected with a first sliding block of the first sliding piece (13).
6. The multi-azimuth indoor cleaning vehicle according to claim 5, wherein the rotating mechanism comprises a second motor, the second motor is mounted on the lower surface of the lifting platform (8), an output shaft of the second motor is arranged in the vertical direction and is rotationally connected with the lifting platform (8), an output shaft of the second motor extends out of the lifting platform (8) and is fixedly connected with a steering platform (9) above the lifting platform (8), the steering platform is parallel to the lifting platform, and the cleaning mechanism is arranged on the steering platform (9).
7. A multi-azimuth indoor cleaning vehicle according to claim 1, characterized in that a fixing plate (17) is fixed between two mounting plates, the fixing plate is close to the cleaning cylinder (15), a plurality of dust suction hoods (16) are arranged on one side of the fixing plate (17) close to the cleaning cylinder (15) at intervals, one end of each dust suction hood is communicated with a dust suction pipe through a pipeline, the other end of each dust suction pipe is provided with a dust suction pump, the other end of each dust suction pipe is connected with a dust suction end of the dust suction pump, a dust conveying end of each dust suction pump is connected with one end of each dust conveying pipe, and the other end of each dust conveying pipe is communicated with a dust storage box (14).
8. The multi-azimuth indoor cleaning vehicle according to claim 7, wherein the travelling mechanism (1) comprises four wheels and two fifth motors, wherein the four wheels are arranged below the base plate, the connecting lines of the four wheels at the installation positions on the base plate (2) can form a diamond, two adjacent wheels, one wheel is a universal wheel (24), and the other wheel is a driving wheel (11);
the two universal wheels (24) are respectively fixed at corresponding positions on the lower surface of the bottom plate (2);
the two driving wheels (11) are respectively arranged on the output shafts of the fifth motors, the output shafts of the two fifth motors are arranged along the horizontal direction, and the two fifth motors are respectively arranged on the corresponding positions of the lower surface of the bottom plate (2).
CN202210326240.5A 2022-03-29 2022-03-29 Multidirectional indoor cleaning vehicle Active CN114617497B (en)

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Application Number Priority Date Filing Date Title
CN202210326240.5A CN114617497B (en) 2022-03-29 2022-03-29 Multidirectional indoor cleaning vehicle

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Application Number Priority Date Filing Date Title
CN202210326240.5A CN114617497B (en) 2022-03-29 2022-03-29 Multidirectional indoor cleaning vehicle

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CN114617497B true CN114617497B (en) 2023-04-25

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Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102631174A (en) * 2012-05-11 2012-08-15 广西大学 Wall surface cleaner for ceiling
CN103658122B (en) * 2013-07-03 2016-03-09 胡雄华 Lifting type pipeline cleaning robot
CN103565368B (en) * 2013-10-17 2015-12-02 陕西科技大学 A kind of multi-functional automatic cleaning apparatus
CN104644062B (en) * 2015-01-06 2017-03-01 徐州工业职业技术学院 Multifunctional domestic cleans car
CN207912641U (en) * 2017-08-28 2018-09-28 杭州卫康辐射防护工程有限公司 A kind of architectural decoration indoor wall cleaning device
CN109288466B (en) * 2018-11-01 2020-11-06 上海市诺旸节能科技有限公司 Electromechanical engineering workshop environmental protection dust collector
CN213155638U (en) * 2020-07-31 2021-05-11 黄宗友 Door and window scrubbing and lifting mechanism for outer wall of low-rise building
CN112690687B (en) * 2020-11-28 2022-12-09 深圳市创居乐技术有限公司 Intelligent household robot with automatic door and window cleaning function
CN214678815U (en) * 2021-01-15 2021-11-12 广东金基建设工程有限公司 House outer wall cleaning device

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