CN114711692B - Full-automatic robot multifunctional base station based on AI interaction accurate positioning - Google Patents
Full-automatic robot multifunctional base station based on AI interaction accurate positioning Download PDFInfo
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- CN114711692B CN114711692B CN202210403533.9A CN202210403533A CN114711692B CN 114711692 B CN114711692 B CN 114711692B CN 202210403533 A CN202210403533 A CN 202210403533A CN 114711692 B CN114711692 B CN 114711692B
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- dust box
- rotating shaft
- robot body
- base station
- supporting rod
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- 230000003993 interaction Effects 0.000 title claims abstract description 14
- 239000000428 dust Substances 0.000 claims abstract description 139
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000004804 winding Methods 0.000 claims description 22
- 230000017105 transposition Effects 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000005012 migration Effects 0.000 claims 1
- 238000013508 migration Methods 0.000 claims 1
- 238000010408 sweeping Methods 0.000 abstract description 11
- 230000009471 action Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 239000002184 metal Substances 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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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
- A47L11/40—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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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- Manipulator (AREA)
Abstract
The invention discloses a full-automatic robot multifunctional base station based on AI interaction accurate positioning, and particularly relates to the field of sweeping robots. According to the invention, the box taking mechanism is rotated in forward and reverse directions, the sliding cover is extruded and rubbed, the sliding cover is enabled to slide along the sliding rail on the circumferential side of the robot body to be opened and closed under the action of friction force, then the first dust box is horizontally taken out or installed from the robot body through the telescopic manipulator, and the dust box can be automatically taken out from the robot and a new dust box can be automatically installed into the robot body through the control of the base station.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a full-automatic robot multifunctional base station based on AI interaction and accurate positioning.
Background
The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into a dust box of the dust collector, so that the function of cleaning the ground is completed; the sweeping robot is generally matched with the base station, and the existing base station is generally only used for charging the sweeping robot and does not have other functions.
After a period of use, the robot sweeps floor, can store a large amount of stains and rubbish in its inside dirt box, consequently often need clear up the dirt box, and current clearance mode is through user's dismantlement dirt box, manual cleaning dirt box has increased user's burden, and the dismantlement of dirt box is also inconvenient for some user operations moreover.
Disclosure of Invention
The invention provides a full-automatic robot multifunctional base station based on AI interaction accurate positioning, which aims to solve the problems that: the existing robot base station is inconvenient to automatically take out the dust box inside the sweeping robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: the multifunctional base station comprises a base station and a robot body, wherein the base station comprises a frame body, a positioning receiving plate is arranged on one side of the bottom of the frame body and used for receiving the robot body, an electromagnet and a visual target are arranged at the top of the positioning receiving plate, the electromagnet is used for fixing the robot body, and the visual target is used for guiding the robot body;
the sliding cover is arranged at the opening at one side of the robot body, the sliding cover is arranged along the circumference side of the robot body in a sliding manner, the dust box I is arranged in the robot body close to the sliding cover in a sliding manner, the dust box I vertically slides towards the frame body, the box taking mechanism is arranged in the frame body and rotates around the first axis, the sliding cover is pushed to slide and open along the circumference side of the robot body, and the dust box I is taken out from the robot body into the frame body.
In a preferred embodiment, the motor is fixedly installed at the top of the inner cavity of the frame body, the output end of the motor is fixedly connected with the rotating shaft, the box taking mechanism comprises a first telescopic rod and a second telescopic rod, the first telescopic rod and the second telescopic rod are fixedly installed on the shaft wall of the rotating shaft, the first telescopic rod and the second telescopic rod are vertically arranged, the end part of the first telescopic rod, which is far away from the rotating shaft, is fixedly connected with a collision head, the first telescopic rod rotates around the rotating shaft, the contact is propped against the outer side of the sliding cover, the sliding cover is pushed to slide back and forth along the circumferential side of the robot body, the end part of the second telescopic rod, which is far away from the rotating shaft, is fixedly connected with a hook head, one side, which is close to the sliding cover, of the dust box is integrally formed with an ear block, the hook head is matched with the ear block, the second telescopic rod rotates around the rotating shaft, the hook head drives the hook head to pull the dust box to horizontally move away from the robot body, and then rotates into the frame body along with the second telescopic rod.
Through adopting above-mentioned technical scheme, the sliding closure is opened to the conflict head, and hook head cooperation ear piece rotates the flexible first follow robot body inside of pulling out of dust box.
In a preferred embodiment, a receiving plate is arranged in the frame body, a dust box II is placed at the top of the receiving plate, a lifting piece is fixedly installed at the bottom of the receiving plate, the lifting piece is fixedly installed at the bottom of an inner cavity of the frame body and drives the receiving plate to vertically move, the dust box II is conveyed to the opening of the robot body, a hook head and an ear block are square, a telescopic rod II rotates reversely around a rotating shaft, the hook head is separated from the ear block, the telescopic rod II drives the hook head to push the dust box II to horizontally move to the installation position in the robot body, the telescopic rod I rotates around the rotating shaft, and a contact is propped against the outer side of a sliding cover to push the sliding cover to slide and reset along the circumference of the robot body.
By adopting the technical scheme, the second dust box is lifted to a high position, so that the second dust box is convenient to install subsequently.
In a preferred embodiment, a rope winding part is arranged on the shaft wall of the rotating shaft, a locking rope is wound on the rope winding part, one end of the locking rope, which is far away from the rope winding part, is fixedly connected with the bottom of the bearing plate, the rotating shaft rotates, the rope winding part is driven to wind or loosen the locking rope, and the bearing plate is pulled to vertically reciprocate.
By adopting the technical scheme, the locking rope is wound or loosened, so that the position of the dust box is changed.
In a preferred embodiment, a transposition mechanism is arranged in the frame body, the transposition mechanism comprises a first support rod and a second support rod, the first support rod rotates around a third axis, the second support rod rotates around a second axis, and the first support rod and the second support rod rotate to be horizontal and bear the first dust box.
By adopting the technical scheme, the first support rod and the second support rod are in a converted form and bear the first dust box, so that the hook head and the ear block are convenient to separate.
In a preferred embodiment, the transposition mechanism further comprises a connecting rod, the connecting rod is fixedly sleeved on the shaft wall of the rotating shaft, and two ends of the connecting rod are respectively and movably connected with the first supporting rod and the second supporting rod.
In a preferred embodiment, a chute is formed in one side of the first supporting rod, a sliding block is arranged in the chute in a sliding mode, a telescopic rod III is movably connected to one side of the sliding block, one end of the telescopic rod III, which is far away from the sliding block, is fixedly connected with the end portion of the connecting rod, two telescopic rods IV are connected to one side of the second supporting rod, a gear is fixedly connected to the end portion of one telescopic rod IV, a through groove is formed in one side, which is close to the second supporting rod, of the connecting rod, an arc-shaped tooth portion is formed in the groove top of the through groove, the gear is meshed with the tooth portion, and the end portion of the other telescopic rod IV is hinged to the second supporting rod and the connecting rod respectively.
In a preferred embodiment, two limiting blocks are fixedly mounted on the inner wall of the frame body, a first matched column is fixedly connected to one side of the first supporting rod, a second matched column is fixedly connected to one side of the second supporting rod, the two limiting blocks are respectively in movable fit with the first matched column and the second matched column, the rotating shaft rotates to drive the first supporting rod and the second supporting rod to rotate, the first matched column and the second matched column are respectively in limiting fit with the two limiting blocks, the rotating shaft continues to rotate, the first ends of the connecting rods drive the first supporting rod to rotate around a third axis, and the second supporting rod is driven to rotate around a second axis.
By adopting the technical scheme, the transposition mechanism rotates forward along with the rotating shaft, the first support rod and the second support rod form a support structure and bear the first dust box, the transposition mechanism rotates reversely along with the rotating shaft, the first support rod and the second support rod clamp the first dust box, and the first dust box is pushed to transpose.
In a preferred embodiment, a blanking table is fixedly connected to the inner wall of the frame body, a notch is formed in one side of the blanking table, the receiving plate is located under the notch, the rotating shaft reversely rotates, the first supporting rod and the second supporting rod horizontally rotate to be vertical, the first dust box falls onto the blanking table, the rotating shaft continuously reversely rotates, the first supporting rod and the second supporting rod are driven to push the first dust box, the first dust box is pushed to the notch, and the first dust box falls onto the upper surface of the receiving plate.
Through adopting above-mentioned technical scheme, bracing piece one and bracing piece two clip dirt box one, promote dirt box one and replace, form the flow of continuity, improved the degree of automation of whole dismouting dirt box.
In a preferred embodiment, a dust collection system is arranged in the frame body, and an air suction inlet of the dust collection system faces the notch to suck the dirt falling in the first dust box on the upper surface of the receiving plate.
The invention has the technical effects and advantages that:
1. according to the invention, the visual targets on the base station are identified through the camera so as to control the floor sweeping robot to stop on the positioning receiving plate on the base station in an accurate gesture, and when the robot body stops on the positioning receiving plate, the electromagnet is in attraction locking with the metal block, so that the positioning precision and the fixing effect of the robot body and the base station are improved;
2. according to the invention, the box taking mechanism is rotated in forward and reverse directions, the sliding cover is extruded to be rubbed, the sliding cover is enabled to slide along the sliding rail on the circumferential side of the robot body to be opened and closed under the action of friction force, the first dust box is horizontally taken out or installed from the robot body through the telescopic manipulator, the first dust box can be automatically taken out from the robot through the control of the base station, and a new dust box can be automatically installed in the robot body through the control of the base station, so that the function of the base station is increased, and the user is greatly facilitated through the automatic box taking and installation modes of the base station;
3. according to the invention, the first support rod and the second support rod form a support structure through the forward rotation of the transposition mechanism along with the rotating shaft, the first dust box is borne by the support rod, the transposition mechanism is reversed along with the rotating shaft, the first dust box is clamped by the support rod and the second dust box, and the first dust box is pushed to be transposed, so that a continuous moving process is formed, and the automation degree of the whole dust box dismounting is improved.
Drawings
Fig. 1 is a schematic view of the appearance of a base station according to the present invention;
FIG. 2 is a schematic diagram of a side view of the sweeping robot in a base station;
FIG. 3 is a schematic top view of the robot of the present invention in an initial state during a dust box change;
FIG. 4 is a schematic top view of the invention when the hook head is mated with the dust box during the replacement of the dust box;
FIG. 5 is a schematic top view of the invention with the second telescopic rod pulled out of the dust box during replacement of the dust box;
FIG. 6 is a schematic top view of the invention with the dust box moved into the housing during a dust box change;
FIG. 7 is a schematic view showing a first state change of the dust box in the frame body according to the present invention;
FIG. 8 is a schematic view of a second state change of the dust box of the present invention inside the housing;
FIG. 9 is a schematic perspective view of a box taking structure according to the present invention;
FIG. 10 is a schematic side view of the indexing mechanism of the present invention;
FIG. 11 is a schematic top view of the indexing mechanism of FIG. 10 according to the present invention;
FIG. 12 is a schematic side view of the adapter plate and the second dust box of the present invention.
The reference numerals are: 1. a base station; 11. a frame body; 111. a motor; 112. a blanking table; 1121. a notch; 113. a dust collection system; 114. a limiting block; 12. positioning a receiving plate; 121. an electromagnet; 122. a visual target; 2. a robot body; 21. a sliding cover; 22. a first dust box; 221. ear pieces; 2201. a second dust box; 23. a metal block; 3. a rotating shaft; 31. a rope winding part; 4. a box taking mechanism; 41. a first telescopic rod; 42. a contact; 43. a second telescopic rod; 44. a hook head; 5. a transposition mechanism; 51. a first support rod; 511. a first matching column is arranged; 512. a chute; 513. a slide block; 52. a second support rod; 521. a second matching column; 53. a connecting rod; 531. a tooth portion; 54. a telescopic rod III; 55. a telescopic rod IV; 551. a gear; 6. a receiving plate; 61. a lifting member; 62. a locking rope; y, a first axis; x1, second axis; x2, a third axis; m, bearing surface.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
Examples
Referring to fig. 1-8 of the specification, a full-automatic robot multifunctional base station based on AI interaction accurate positioning comprises a base station 1 and a robot body 2, wherein the base station 1 comprises a frame 11, a positioning receiving plate 12 is arranged on one side of the bottom of the frame 11, the positioning receiving plate 12 is used for receiving the robot body 2, an electromagnet 121 and a visual target 122 are mounted on the top of the positioning receiving plate 12, the electromagnet 121 is used for fixing the robot body 2, and the visual target 122 is used for guiding the robot body 2;
the floor sweeping robot body is of a flat cylinder structure, a sliding cover 21 is arranged at an opening (a detaching position opposite to a first dust box 22) on one side of the robot body 2, the sliding cover 21 is arranged in a sliding manner along the circumference of the robot body 2, the first dust box 22 is arranged in the robot body 2 in a sliding manner close to the sliding cover 21, the first dust box 22 vertically slides towards the frame 11, a box taking mechanism 4 is arranged in the frame 11, the box taking mechanism 4 rotates around a first axis y, the sliding cover 21 is pushed to slide and open along the circumference of the robot body 2, and the first dust box 22 is taken out of the robot body 2 into the frame 11.
The robot body 2 and the base station 1 are electrically connected through contact plug cooperation, the bottom of the robot body 2 is provided with a vertical downward camera, the camera recognizes a visual target 122 on the base station 1, so that the sweeping robot is controlled to stop on a positioning receiving plate 12 on the base station 1 in an accurate posture, a metal block 23 is further installed at the bottom of the robot body 2, when the robot body 2 stops on the base station 1, the electromagnet 121 is electrified, the electromagnet 121 is locked with the metal block 23 in an attracting mode, and the positioning precision and the fixing effect of the robot body 2 and the base station 1 are improved.
In this embodiment, the implementation scenario specifically includes: the robot body 2 and the base station 1 are electrically connected, the electromagnet 121 is electrified and is in suction locking with the metal block 23, so that the robot body 2 is stably fixed on the positioning receiving plate 12;
when the base station 1 needs to open the sliding cover 21 and take out the first dust box 22, the box taking mechanism 4 rotates to squeeze the sliding cover 21, the sliding cover 21 slides along the sliding rail on the circumference side of the robot body 2 to be opened under the action of friction force, the first dust box 22 is horizontally taken out from the robot body 2 through the telescopic manipulator, the first dust box 22 is moved into the frame 11, the whole process of taking out the first dust box 22 is completed, and the problem that the first dust box in the robot is required to be manually detached is solved through an automatic box taking mode of the base station 1.
As shown in fig. 2-9, a motor 111 is fixedly installed at the top of an inner cavity of a frame body 11, the output end of the motor 111 is fixedly connected with a rotating shaft 3, a box taking mechanism 4 comprises a first telescopic rod 41 and a second telescopic rod 43, the first telescopic rod 41 and the second telescopic rod 43 are fixedly installed on the shaft wall of the rotating shaft 3, the first telescopic rod 41 and the second telescopic rod 43 are vertically arranged, an abutting head 42 is fixedly connected to the end part of the first telescopic rod 41, which is far away from the rotating shaft 3, the abutting head 42 abuts against the outer side of a sliding cover 21, the sliding cover 21 is pushed to slide reciprocally along the circumferential side of a robot body 2, the end part of the second telescopic rod 43, which is far away from the rotating shaft 3, is fixedly connected with a hook 44, one side of the first dust box 22, which is close to the sliding cover 21, is integrally formed with an ear piece 221, the hook 44 is matched with the ear piece 221, the second telescopic rod 43 rotates around the rotating shaft 3, the hook 44 drives the hook 44 to drive the hook 44 to move horizontally in the direction of the frame body 11, the first dust box 22 moves horizontally away from the robot body 2, and then rotates along with the second telescopic rod 43 into the frame body 11;
the abutting contact 42 is of a corrugated tooth structure, tooth grooves corresponding to the corrugated teeth are formed in the outer surface of the sliding cover 21, so that the abutting contact 42 can conveniently contact the surface of the sliding cover 21 to drive the sliding cover 21 to slide; the first telescopic rod 41 and the second telescopic rod 43 are rod pieces capable of independently driving the telescopic rods; the rotating shaft 3 is coaxial with the first axis y;
it should be noted that, when the rotating shaft 3 rotates clockwise, the first telescopic rod 41 and the second telescopic rod 43 rotate around the first axis y along with the rotating shaft 3, firstly, the contact 42 abuts against the outer side of the sliding cover 21 to push the sliding cover 21 to open the opening on the side surface of the robot body 2, when the second telescopic rod 43 moves to the opening, the hook head 44 is inserted into the hole of the ear block 221 to form a lap joint, then, the second telescopic rod 43 controls itself to shorten, the ear block 221 is pulled by the hook head 44 to drive the first dust box 22 to move horizontally towards the frame 11, so that the first dust box 22 is pulled out from the inside of the robot body 2, then rotates along with the second telescopic rod 43, and moves the first dust box 22 into the frame 11 through the cooperation of the hook head 44 and the ear block 221 (i.e. the position of the first dust box 22 is indicated by dotted line in fig. 9).
As shown in fig. 7-9 and 12, a receiving plate 6 is arranged in the frame 11, a dust box II 2201 is arranged at the top of the receiving plate 6, a lifting piece 61 is fixedly arranged at the bottom of the receiving plate 6, the lifting piece 61 is fixedly arranged at the bottom of an inner cavity of the frame 11, the lifting piece 61 drives the receiving plate 6 to vertically move, the dust box II 2201 is conveyed to an opening of the robot body 2, the hook head 44 and the ear 221 are square, the telescopic rod II 43 reversely rotates around a rotating shaft 3, the hook head 44 is separated from the ear 221, the telescopic rod II 43 drives the hook head 44 to push the dust box II 2201 to horizontally move to a mounting position in the robot body 2, the telescopic rod I41 rotates around the rotating shaft 3, and the contact 42 is propped against the outer side of the sliding cover 21 to push the sliding cover 21 to slide and reset along the circumference side of the robot body 2;
it should be noted that, the first dust box 22 is a dust box containing dirt and garbage in the robot body 2, the second dust box 2201 is a new or clean dust box stored in the base station 1, and the purpose of the present invention is to take the first dust box 22 out of the robot body 2 through the base station 1, and then install the second dust box 2201 into the robot body 2; the lifting member 61 may be any one of a spring, an elastic telescopic rod, and a lifting mechanism or device capable of being driven independently;
because the hook head 44 and the ear block 221 are square, when the rotating shaft 3 rotates positively, the hook head 44 is convenient to be matched with the ear block 221 to hook the ear block 221, the first dust box 22 is driven to move correspondingly, and in the moving process of the first dust box 22, the first dust box 22 is good in stability, and the situations of being unfavorable for accurate positioning such as offset or rotation do not occur, when the rotating shaft 3 rotates reversely, the hook head 44 can be quickly separated from the ear block 221, and the hook head 44 can conveniently perform subsequent actions.
It should be further noted that, the rotating shaft 3 rotates forward, and the first dust box 22 is moved into the frame 11 by the cooperation of the hook head 44 and the ear block 221; the rotating shaft 3 is reversed again, the hook head 44 is separated from the ear block 221, when the telescopic rod II 43 moves to the position opposite to the opening of the robot body 2 (namely, the telescopic rod II 43 is positioned at the position of fig. 5), the lifting piece 61 is driven by the self elastic force or power to drive the bearing plate 6 and the dust box II 2201 to move upwards, the dust box II 2201 moves to the same horizontal plane with the opening of the robot body 2, and then the telescopic rod II 43 stretches to push the dust box II 2201 into the robot body 2 and install the dust box II in place; then, the rotating shaft 3 continues to reversely rotate and reset, the first telescopic rod 41 reversely rotates along with the rotating shaft, the abutting head 42 is in contact with the sliding cover 21 again, and the sliding cover 21 is driven to reversely slide by the rotation of the first telescopic rod 41 so as to be clamped with the opening at the robot body 2 again.
As shown in fig. 9 and 12, a rope winding part 31 is arranged on the shaft wall of the rotating shaft 3, a locking rope 62 is wound on the rope winding part 31, one end of the locking rope 62 away from the rope winding part 31 is fixedly connected with the bottom of the bearing plate 6, the rotating shaft 3 rotates, the rope winding part 31 is driven to wind or loosen the locking rope 62, and the bearing plate 6 is pulled to vertically reciprocate;
the rope winding part 31 is movably arranged coaxially with the rotating shaft 3, the rope winding part 31 is movably connected with the rotating shaft 3 through a pawl ratchet structure, when the rotating shaft 3 rotates forward, the rope winding part 31 is gradually tightened along with the rotating shaft 3, and when the rotating shaft 3 rotates backward, the pawl ratchet structure of the rope winding part 31 and the rotating shaft 3 is released, and the rope winding part 31 rapidly releases the locking rope 31.
It should be noted that, when the lifting member 61 is a spring, the spring should be in a compressed state before the first dust box 22 is detached and conveyed to the corresponding position of the frame 11; therefore, in the forward rotation process of the rotating shaft 3, the rotating shaft 3 always drives the rope winding part 31 to tighten the locking rope 62, so that the spring is compressed, and in the reverse rotation process of the rotating shaft 3, the rotating shaft 3 drives the rope winding part 31 to loosen the locking rope 62, so that the spring is deformed in a recovery manner, the dust box II 2201 is lifted to a high position, and the dust box II 2201 is lifted to the high position before the telescopic rod II 43 moves to the robot body 2;
when the lifting member 61 is an independently driven lifting mechanism and device (e.g., a lifting cylinder), the locking rope 62 and the rope winding part 31 are not required to be arranged, and the dust box two 2201 is lifted to the high position by the independent lifting of the lifting member 61.
As shown in fig. 7, 8, 10 and 11, the frame 11 is provided therein with a transposition mechanism 5, the transposition mechanism 5 includes a first support rod 51 and a second support rod 52, the first support rod 51 rotates around a third axis x2, the second support rod 52 rotates around a second axis x1, the first support rod 51 and the second support rod 52 rotate to be horizontal, the first dust box 22 is carried, and the surfaces of the first support rod 51 and the second support rod 52 are both planes.
When the first dust box 22 is conveyed to the side face of the frame 11, the hook head 44 hooks the ear piece 221, so that the first dust box 22 is in a suspended state, the first support rod 51 is driven to rotate around the third axis x2, the second support rod 52 is driven to rotate around the second axis x1 for 90 degrees, and the first dust box is rotated from a vertical state to a horizontal state, so that the first dust box 22 is carried, and the hook head 44 is conveniently separated from the ear piece 221 when being reversed.
As shown in fig. 11, the transposition mechanism 5 further comprises a connecting rod 53, the connecting rod 53 is fixedly sleeved on the shaft wall of the rotating shaft 3, and two ends of the connecting rod 53 are respectively and movably connected with the first supporting rod 51 and the second supporting rod 52.
As shown in fig. 10 and 11, a sliding groove 512 is formed in one side of the first supporting rod 51, a sliding block 513 is slidably arranged in the sliding groove 512, a third telescopic rod 54 is movably connected to one side of the sliding block 513, one end of the third telescopic rod 54, which is far away from the sliding block 513, is fixedly connected with the end portion of the connecting rod 53, a fourth telescopic rod 55 is connected to one side of the second supporting rod 52, a gear 551 is fixedly connected to the end portion of the fourth telescopic rod 55, a through groove is formed in one side of the connecting rod 53, which is close to the second supporting rod 52, an arc-shaped tooth portion 531 is formed in the top of the through groove, the gear 551 is meshed with the tooth portion 531, and the end portion of the fourth telescopic rod 55 is hinged with the second supporting rod 52 and the connecting rod 53 respectively (and the hinged mode at the hinged positions of the two ends of the fourth telescopic rod 55 is a universal ball joint).
As shown in fig. 7, 8, 10 and 11, two limiting blocks 114 are fixedly installed on the inner wall of the frame 11, one side of the first supporting rod 51 is fixedly connected with a first matching column 511, one side of the second supporting rod 52 is fixedly connected with a second matching column 521, the two limiting blocks 114 are respectively and movably matched with the first matching column 511 and the second matching column 521, the rotating shaft 3 rotates to drive the first supporting rod 51 and the second supporting rod 52 to rotate, the first matching column 511 and the second matching column 521 are respectively and cooperatively limited with the two limiting blocks 114, the rotating shaft 3 continues to rotate, the two ends of the connecting rod 53 drive the first supporting rod 51 to rotate around a third axis x2, and the second supporting rod 52 is driven to rotate around a second axis x 1;
the central axes of the circular grooves of the two limiting blocks 114 are respectively a second axis x2 and a third axis x2.
As shown in fig. 7-9, a blanking table 112 is fixedly connected to the inner wall of the frame 11, a notch 1121 is formed in one side of the blanking table 112, the receiving plate 6 is located right below the notch 1121, the rotating shaft 3 rotates reversely, the first supporting rod 51 and the second supporting rod 52 rotate horizontally to be vertical, the first dust box 22 falls onto the blanking table 112, the rotating shaft 3 continues to rotate reversely, the first supporting rod 51 and the second supporting rod 52 are driven to push the first dust box 22, the first dust box 22 is pushed to the notch 1121, and the first dust box 22 falls onto the upper surface of the receiving plate 6;
the upper surface of the bearing plate 6 is a bearing surface m, and the plane a and the plane b are all state planes for conveniently showing the position relationship and the state of the first dust box 22 in the frame 11;
as shown in fig. 8, the first dust box 22 falling on the receiving surface m is reversely rotated along with the rotating shaft 3, is clamped by the first support rod 51 and the second support rod 52 in a vertical state, is reversely pushed along with the second support rod 52 around the rotating shaft 3, slides on the blanking table 112, and finally falls on the receiving plate 6 at the notch 1121; at this time, the lifting member 61 can be only a lifting mechanism and a device having an autonomous driving, such as a lifting cylinder.
As shown in fig. 7 and 8, a dust collection system 113 is provided in the frame 11, and the suction inlet of the dust collection system 113 faces the notch 1121 to suck the dirt in the first dust box 22 on the upper surface of the receiving plate 6.
In this embodiment, the implementation scenario specifically includes:
stopping the flow of the bit:
the robot body 2 and the base station 1 are electrically connected, the electromagnet 121 is electrified and is in suction locking with the metal block 23, so that the robot body 2 is stably fixed on the positioning receiving plate 12;
the process of taking out the first dust box 22:
the motor 111 drives the rotating shaft 3 to rotate forward (clockwise), the telescopic rod I41 and the telescopic rod II 43 rotate around the first axis y along with the rotating shaft 3, the abutting head 42 firstly abuts against the outer side of the sliding cover 21 to push the sliding cover 21 to open an opening on the side face of the robot body 2, then the telescopic rod II 43 moves to the opening, the hook head 44 is inserted into a hole of the ear block 221 to form lap joint, then the telescopic rod II 43 controls the telescopic rod II to shorten, the ear block 221 is pulled by the hook head 44 to pull the dust box I22 out of the robot body 2, at the moment, the matching post I511 and the matching post II 521 are respectively contacted and matched with the two limiting blocks 114, the dust box I22 rotates along with the telescopic rod II 43, the dust box I22 moves along with the sliding of the telescopic rod II through the matching of the hook head 44, meanwhile, the sliding block 513 slides in the sliding groove 512 to drive the supporting rod I51 to rotate clockwise around the third axis x2, the connecting rod 53 rotates to drive the tooth part 531 to match the gear 551, so that the supporting rod II 52 rotates anticlockwise around the second axis x1, the supporting rod I51 and the supporting rod II 52 rotates 90 degrees, the vertical state is rotated to a horizontal state along with the dust box I22 and the supporting rod II 52;
the process of installing the dust box II 2201 comprises the following steps:
the motor 111 drives the rotating shaft 3 to rotate reversely (anticlockwise), the hook head 44 is separated from the ear block 221, when the second telescopic rod 43 moves to the position opposite to the opening of the robot body 2, the lifting piece 61 is a lifting mechanism and a lifting device which are driven independently, the lifting piece 61 controls the bearing plate 6 and the second dust box 2201 to move upwards to a high position, and at the moment, the second dust box 2201 is flush with the opening on the side surface of the robot body 2; the second telescopic rod 43 is reset and extended, the second dust box 2201 is pushed into the robot body 2, and the second dust box is installed in place; immediately, the rotating shaft 3 continues to reversely rotate and reset, the first telescopic rod 41 reversely rotates along with the rotating shaft, the abutting head 42 is in contact with the sliding cover 21 again, and the sliding cover 21 is driven to reversely slide by the rotation of the first telescopic rod 41 and is clamped with the opening at the robot body 2 again;
the process of moving the first dust box 22 onto the receiving plate 6:
in the forward rotation process of the rotating shaft 3, the first matching column 511 and the second matching column 521 are respectively contacted and matched with the two limiting blocks 114, after the matching, the rotating shaft 3 continuously rotates forward, the connecting rod 53 also rotates along with the rotating shaft, the telescopic rod three 54 drives the sliding block 513 to rotate around the first axis y (the telescopic rod three 54 counteracts the axial displacement of the sliding block), so that the sliding block 513 slides from one end to the other end along the groove of the sliding groove 512, the supporting rod one 51 is driven to rotate clockwise around the third axis x2, the connecting rod 53 rotates to drive the tooth 531 to match the gear 551, the supporting rod two 52 rotates anticlockwise around the second axis x1, the supporting rod one 51 and the supporting rod two 52 can both rotate 90 degrees, the vertical state is changed to the horizontal state, and the dust box one 22 moves to the horizontal supporting rod one 51 and the supporting rod two 52 along with the hook head 44;
in the reversing process of the rotating shaft 3, the first supporting rod 51 and the second supporting rod 52 respectively rotate reversely around the second axis x1 and the third axis x2 and gradually reset, namely the first supporting rod 51 and the second supporting rod 52 are changed from a horizontal state to a vertical state, while the two supporting rods reset and incline to change angles, the first dust box 22 borne above the first supporting rod 51 and the second supporting rod 52 is gradually dropped on the blanking table 112 under the guidance of the two rods, the first dust box 22 is clamped by the two rods, the rotating shaft 3 continuously reverses, and after the first matching column 511 and the second matching column 521 are respectively separated from the two limiting blocks 114, the first supporting rod 51 and the second supporting rod 52 clamp the first dust box 22 to rotate on the blanking table 112 until the first dust box is turned to a notch and falls on the reset bearing plate 6;
the first dust box 22 falls onto the carrying plate 6, the suction inlet of the dust collection system 113 is opposite to the inside of the first dust box 22, garbage and dirt in the first dust box 22 are sucked clean, and after the completion, all mechanisms are reset.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. Full-automatic robot multifunctional base station based on AI mutual accurate location, including basic station (1) and robot body (2), basic station (1) are including support body (11), bottom one side of support body (11) is equipped with location receiving plate (12), location receiving plate (12) are used for receiving robot body (2), its characterized in that: an electromagnet (121) and a visual target (122) are arranged at the top of the positioning receiving plate (12), the electromagnet (121) is used for fixing the robot body (2), and the visual target (122) is used for guiding the robot body (2);
a sliding cover (21) is arranged at an opening at one side of the robot body (2), the sliding cover (21) is arranged in a sliding manner along the circumference side of the robot body (2), a dust box I (22) is arranged in the robot body (2) and close to the sliding cover (21) in a sliding manner, the dust box I (22) vertically slides towards the frame body (11), a box taking mechanism (4) is arranged in the frame body (11), the box taking mechanism (4) rotates around a first axis (y), the sliding cover (21) is pushed to slide and open along the circumference side of the robot body (2), and the dust box I (22) is taken out from the robot body (2) into the frame body (11);
the utility model discloses a dust box, which is characterized in that a motor (111) is fixedly arranged at the top of an inner cavity of a frame body (11), the output end of the motor (111) is fixedly connected with a rotating shaft (3), a box taking mechanism (4) comprises a first telescopic rod (41) and a second telescopic rod (43), the first telescopic rod (41) and the second telescopic rod (43) are fixedly arranged on the shaft wall of the rotating shaft (3), the first telescopic rod (41) and the second telescopic rod (43) are vertically arranged, the end part of the first telescopic rod (41) far away from the rotating shaft (3) is fixedly connected with a collision head (42), the first telescopic rod (41) rotates around the rotating shaft (3), the collision head (42) props against the outer side of a sliding cover (21), the sliding cover (21) is pushed to reciprocate along the circumferential side of a robot body (2), the end part of the second telescopic rod (43) far away from the rotating shaft (3) is fixedly connected with a hook head (44), one side of the dust box (22) close to the sliding cover (21) is integrally formed with an ear block (221), the hook head (44) is matched with the ear block (221), the hook head (221) is horizontally pulled by the hook head (44) to the hook head (43) in a direction of the rotating shaft (43), the first dust box (22) horizontally moves away from the robot body (2) and then rotates into the frame body (11) along with the second telescopic rod (43).
2. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 1, wherein: the inside of support body (11) is equipped with and accepts board (6), dust box two (2201) have been placed at the top of accepting board (6), the bottom fixed mounting who accepts board (6) has lifting part (61), lifting part (61) fixed mounting is in the inner chamber bottom of support body (11), lifting part (61) drive accept board (6) vertical motion, carry dust box two (2201) to robot body (2) opening part, gib head (44) and ear piece (221) are square, telescopic link two (43) revolute pivot (3) counter-rotating, gib head (44) break away from with ear piece (221), telescopic link two (43) drive gib head (44) promote dust box two (2201) horizontal migration to the interior mounted position department of robot body (2), telescopic link one (41) revolute pivot (3) rotate, and conflict head (42) supports and presses the outside of sliding closure (21), and the sliding closure (21) are reset along robot body (2) circumference.
3. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 2, wherein: the rope winding device is characterized in that a rope winding part (31) is arranged on the shaft wall of the rotating shaft (3), a locking rope (62) is wound on the rope winding part (31), one end, far away from the rope winding part (31), of the locking rope (62) is fixedly connected with the bottom of the bearing plate (6), the rotating shaft (3) rotates to drive the rope winding part (31) to wind or loosen the locking rope (62), the bearing plate (6) is pulled to vertically reciprocate, and the lifting piece (61) is a spring.
4. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 2, wherein: be equipped with transposition mechanism (5) in support body (11), transposition mechanism (5) include bracing piece one (51) and bracing piece two (52), bracing piece one (51) rotate around third axis (x 2), bracing piece two (52) rotate around second axis (x 1), bracing piece one (51) and bracing piece two (52) rotate to the level, bear dirt box one (22).
5. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 4, wherein: the transposition mechanism (5) further comprises a connecting rod (53), the connecting rod (53) is fixedly sleeved on the shaft wall of the rotating shaft (3), and two ends of the connecting rod (53) are respectively and movably connected with the first supporting rod (51) and the second supporting rod (52).
6. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 5, wherein: spout (512) have been seted up to one side of bracing piece one (51), the inside slip of spout (512) is equipped with slider (513), one side swing joint of slider (513) has telescopic link three (54), one end and connecting rod (53) end fixed connection that slider (513) were kept away from to telescopic link three (54), one side of bracing piece two (52) is connected with two telescopic link four (55), one telescopic link four (55)'s end fixedly connected with gear (551), logical groove has been seted up to one side that connecting rod (53) is close to bracing piece two (52), curved tooth portion (531) have been seted up on logical groove top, gear (551) and tooth portion (531) meshing, another telescopic link four (55) tip respectively with bracing piece two (52) and connecting rod (53) articulated.
7. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 6, wherein: two limiting blocks (114) are fixedly mounted on the inner wall of the frame body (11), one side of the first supporting rod (51) is fixedly connected with a first matching column (511), one side of the second supporting rod (52) is fixedly connected with a second matching column (521), the two limiting blocks (114) are respectively in movable fit with the first matching column (511) and the second matching column (521), the rotating shaft (3) rotates to drive the first supporting rod (51) and the second supporting rod (52) to rotate, the first matching column (511) and the second matching column (521) are in matched limiting with the limiting blocks (114), the rotating shaft (3) continues to rotate, the two ends of the connecting rod (53) respectively drive the first supporting rod (51) to rotate clockwise around a third axis (x 2), the second supporting rod (52) is driven to rotate anticlockwise around the second axis (x 1), and the round groove central axes of the two limiting blocks (114) are respectively the second axis (x 1) and the third axis (x 2).
8. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 7, wherein: the dust box is characterized in that a blanking table (112) is fixedly connected to the inner wall of the frame body (11), a notch (1121) is formed in one side of the blanking table (112), the bearing plate (6) is located under the notch (1121), the rotating shaft (3) rotates reversely, the first supporting rod (51) and the second supporting rod (52) rotate horizontally to be vertical, the first dust box (22) falls onto the blanking table (112), the rotating shaft (3) continues to rotate reversely, the first supporting rod (51) and the second supporting rod (52) are driven to push the first dust box (22), the first dust box (22) is pushed to the notch (1121) and falls on the upper surface of the bearing plate (6), and the lifting piece (61) is a lifting cylinder.
9. The multifunctional base station of the fully-automatic robot based on the AI interaction accurate positioning of claim 8, wherein: the inside of the frame body (11) is provided with a dust collection system (113), an air suction inlet of the dust collection system (113) is opposite to the notch (1121), and dirt falling into a first dust box (22) on the upper surface of the bearing plate (6) is sucked.
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