CN117266068B - Telescopic cleaning manipulator applied to cleaning robot - Google Patents
Telescopic cleaning manipulator applied to cleaning robot Download PDFInfo
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- CN117266068B CN117266068B CN202311540214.3A CN202311540214A CN117266068B CN 117266068 B CN117266068 B CN 117266068B CN 202311540214 A CN202311540214 A CN 202311540214A CN 117266068 B CN117266068 B CN 117266068B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 112
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 70
- 239000000428 dust Substances 0.000 claims abstract description 20
- 238000001125 extrusion Methods 0.000 claims description 24
- 238000007667 floating Methods 0.000 claims description 21
- 230000006698 induction Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 241000282414 Homo sapiens Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a telescopic cleaning manipulator applied to a cleaning robot, which relates to the technical field of manipulators and comprises the following components: the vehicle body is provided with a driving device at the bottom to drive the vehicle body to change the position; the dust collection structure is arranged in the vehicle body and used for collecting dust and garbage, the front end of the robot is provided with a cleaning structure which can extend outwards, and the cleaning structure comprises two brush bodies capable of moving in different directions; the sensing component is arranged on the inner side of the vehicle body and exposed on the outer side, and monitors the surrounding environment of the robot; the adjusting structure is positioned at the head of the car body and is connected with the dust collecting structure. The invention can extend the cleaning structure in the use process, so that the cleaning structure can extend to the bottom of the automobile or the bottom of the seat to clean the garbage, and the garbage at the bottom of the automobile can be cleaned under the condition that the position of the robot is not changed.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a telescopic cleaning manipulator applied to a cleaning robot.
Background
The outdoor garbage robot is intelligent equipment capable of automatically cleaning, recycling and managing garbage. They typically use a variety of sensors and artificial intelligence techniques to perceive the environment, plan paths, avoid obstacles, and perform tasks.
A garbage robot is an intelligent device that can identify, classify, and recycle garbage using artificial intelligence techniques. They can function in different situations and links, for example:
garbage collection front end: the garbage robot can automatically patrol in public places such as streets, parks, squares and the like, pick up scattered garbage and put the garbage into corresponding garbage cans in a classified manner.
And (3) a garbage transfer station: the garbage robot can finely sort garbage after the garbage reaches the transfer station, separate recyclable materials from non-recyclable materials, improve recovery rate and reduce treatment cost.
Garbage disposal end: the garbage robot can sort the processed garbage again in a garbage disposal plant or a landfill, extract valuable substances, and reduce pollution and waste.
The Chinese patent application No. CN201610221829.3 discloses a telescopic full-automatic cleaning robot suitable for expressways and a working method, and the telescopic full-automatic cleaning robot comprises a multi-stage telescopic mechanism, a chassis moving platform, a machine vision navigation and positioning mechanism, a laser directional speed measuring matrix, a high-speed dust collection system, a powerful cleaning mechanism, a control unit and a power supply system. The vehicle can travel on the emergency parking road, not only can clean the garbage on the emergency parking road, but also can clean the garbage on the premise of not obstructing the running of other traffic lanes or vehicles on the passing lane.
When the garbage robot is applied to public places, the garbage robot can be influenced by various factors, such as a seat base and vehicles, and when the garbage robot is applied to larger public places, a larger dust collecting box is generally required to collect dust and garbage, the garbage robot has larger volume, and when garbage exists under the seat and the vehicles, the garbage robot cannot enter the bottom of the seat or the vehicles to treat the garbage, and the garbage can only be treated after the vehicles are moved away, so that the public places cannot be cleaned timely.
Disclosure of Invention
One of the objects of the present invention is to provide a telescopic cleaning manipulator applied to a cleaning robot, which can change a cleaning structure according to different road conditions, extend the cleaning structure to a vehicle bottom or a seat bottom, clean the road, improve the applicability of the outdoor garbage robot, and clean the robot at a position where the robot cannot enter.
In order to achieve the above purpose, the invention is realized by the following technical scheme: a retractable cleaning robot for a cleaning robot, comprising:
the vehicle body is provided with a driving device at the bottom to drive the vehicle body to change the position;
the dust collection structure is arranged in the vehicle body and used for collecting dust and garbage, the front end of the robot is provided with a cleaning structure which can extend outwards, and the cleaning structure comprises two brush bodies capable of moving in different directions;
the sensing component is arranged on the inner side of the vehicle body and exposed on the outer side, and monitors the surrounding environment of the robot;
the adjusting structure is positioned at the head position of the vehicle body and connected with the dust collecting structure, the adjusting structure can change the state of the brush body, the head position of the vehicle body is configured as a power supply module for supplying power to the robot, and the power supply module is integrated in the vehicle body and connected with the vehicle body.
In one or more embodiments of the present invention, the cleaning structure includes:
the telescopic end of the extension rod is provided with a mounting frame and pushes the position of the mounting frame to move along the telescopic direction of the extension rod, the outer side of the mounting frame is provided with a fixing frame, and an adjusting structure is arranged between the fixing frame and the mounting frame to adjust the position of the fixing frame;
the rotary table is positioned at the lower part of the fixed frame, the middle part of the rotary table is provided with a cleaning motor, the cleaning motor and the rotary table are fixedly connected with the fixed frame, the inner side of the rotary table is provided with a rotatable cleaning brush, the cleaning brush comprises a brush body, and the cleaning motor drives the cleaning brush to rotate;
the cleaning roller is rotatably arranged in the middle section of the vehicle body, and the cleaning roller is provided with a driving motor to control the cleaning roller.
In one or more embodiments of the present invention, the cleaning structure includes:
the connecting rod, but both ends swing joint mount and mounting bracket respectively, connecting rod middle part configuration telescopic link, the telescopic link is fixed in the mounting bracket inboard, and the telescopic link flexible end is connected the connecting rod and is promoted the position that the connecting rod changed.
In one or more embodiments of the present invention, the brush body is composed of two parts, wherein one part is:
the brush head is fixedly sleeved at the output end of the cleaning motor and is driven to rotate by the cleaning motor;
the other part comprises:
the bottom of the fixed block is provided with an elastic plate, the bottom of the elastic plate is provided with bristles extending downwards, and adjusting blocks are uniformly arranged between the fixed blocks at intervals to form a support for the fixed blocks;
the connecting rod is positioned in the fixed block and extends to the inside of the adjusting block, the connecting rod forms the connection between the fixed block and the adjusting block, the connecting rod is elastically arranged, and a connector is further arranged between the adjusting block and the fixed block to form the connection between the adjusting block and the fixed block;
the extrusion block is arranged in the adjusting block and is contacted with the connecting rod to form extrusion to the connecting rod, and one end of the extrusion block is provided with a supporting spring to form support to the extrusion block.
In one or more embodiments of the present invention, the cleaning brush further includes:
the electromagnetic rod is arranged at the inner side of the fixed block, the electromagnetic rod is arranged at the inner side of the innermost circle of fixed block, the inner side of the brush head is provided with a floating plate, the floating plate is movably arranged at the inner side of the brush head, and the electromagnetic rod forms magnetic attraction to the floating plate;
the friction head is arranged at one end of the electromagnetic rod, which is close to the floating plate, and the friction head is attached to the floating plate to increase the friction force of the contact of the floating plate.
In one or more embodiments of the present invention, the turntable includes:
the cleaning brush is arranged in the fixed disc and can rotate relative to the fixed disc, a guide groove is arranged in the fixed disc, the guide groove is communicated with the fixed disc, and the guide groove is tangent to the fixed disc;
an arc plate extends from the inside of the fixed disc to the outside of the fixed disc, one end of the arc plate extending to the inside of the fixed disc is provided with a magnetic plate, the magnetic plate limits the arc plate, the arc plate is prevented from being separated from the fixed disc, and an electromagnet is arranged at the upper part of the magnetic plate and is fixed in the fixed disc and magnetically attracted to the magnetic plate;
the limiting head is fixed on the upper part of the fixed block, the roller is movably sleeved on the outer side of the limiting head, and the roller can contact the arc plate.
In one or more embodiments of the present invention, the sensing assembly includes:
the visual sensing module captures the appearance characteristics of the garbage and judges the type and the position of the garbage through an image recognition algorithm;
the sound sensing module is used for simulating human hearing, analyzing sound characteristics and frequency emitted by the garbage to judge the material and state of the garbage;
the electric quantity monitoring module is electrically connected with the power supply module to monitor the electric quantity of the power supply module;
and the position analysis module is used for analyzing the position of the garbage.
In one or more embodiments of the present invention, the adjusting structure includes:
the positioning motor is fixed on the outer side of the fixing frame, the outer side of the positioning motor is provided with an adjusting ring, the adjusting ring and the positioning motor are in meshed transmission through a meshed structure, and the adjusting ring can drive the adjusting block to rotate.
In one or more embodiments of the present invention, the adjusting structure further includes:
the extrusion bulge is arranged in the adjusting ring and forms extrusion of the extrusion block;
the sliding groove is positioned at the inner side of the adjusting ring, and the brush hair passes through the sliding groove.
In one or more embodiments of the present invention, the adjusting structure further includes:
the magnetic block is fixed on the upper surface of the fixed block, one side of the adjusting ring is provided with a magnetic induction module, and the magnetic induction module senses the position of the magnetic block.
The invention provides a telescopic cleaning manipulator applied to a cleaning robot. Compared with the prior art, the method has the following beneficial effects:
1. the invention can extend the cleaning structure in the use process, so that the cleaning structure can extend to the bottom of the automobile or the bottom of the seat to clean the garbage, the garbage at the bottom of the automobile can be cleaned under the condition that the position of the robot is not changed, and the robot cannot enter the bottom of the automobile to clean the garbage due to the position of the automobile.
2. The invention can extend to the bottom of an object in a public place to clean garbage, so that the garbage can be correspondingly adjusted according to the position of the garbage, and can extend to the bottom of a vehicle, and the position of the garbage can be adjusted through the rotation of the brush head, so that the garbage can move towards the vehicle body, and the garbage can be collected into a dust collecting structure in the vehicle body.
3. The cleaning brush is provided with the two brush heads and the brush hair which can be linked independently, can synchronously rotate and clean in the using process, and can also extend the brush hair so as to clean a large range, and after the brush hair extends, the brush head rotates to clean, and the brush hair can form the limitation on garbage, so that the robot can conveniently treat the garbage.
4. Can be according to the position of fixed block and regulating block through adjusting the structure and can adjust the position of regulating block, can make the brush hair can linear type extend after the regulating block is reversed, and the reversal of regulating block can change the state that the brush hair extends, plays different cleaning effects, carries out corresponding clearance according to the position of rubbish.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic illustration of the invention with the outer shell removed;
FIG. 3 is a schematic view of the bottom structure of the present invention;
FIG. 4 is a schematic view of the internal structure of the present invention;
FIG. 5 is a schematic view of a cleaning structure and an adjusting structure according to the present invention;
FIG. 6 is a side view of the cleaning structure and adjustment structure of the present invention;
FIG. 7 is a partial side view of the sweeping and adjustment structure of the present invention;
FIG. 8 is a schematic view of a cleaning brush according to the present invention;
FIG. 9 is an exploded view of the turntable of the present invention;
FIG. 10 is an exploded view of a brush head according to the present invention;
FIG. 11 is a schematic view of the inner side structures of the fixed block and the adjusting block of the present invention;
fig. 12 is a schematic view of a partial structure of the present invention.
In the figure: 1 a vehicle body, 2 a driving device, 3 a dust collection structure, 4 a cleaning structure, 5 a sensing component, 6 an adjusting structure and 7 a power supply module;
41 mounting frames, 42 connecting rods, 43 cleaning motors, 44 telescopic rods, 45 fixing frames, 46 turntables, 47 cleaning brushes, 48 cleaning rollers and 49 extension rods;
471 fixed blocks, 472 adjusting blocks, 473 elastic plates, 474 bristles, 475 connecting rods, 476 extrusion blocks, 477 supporting springs, 478 connectors, 479 brush heads, 4710 electromagnetic rods, 4711 floating plates and 4712 friction heads;
461 fixed disk, 462 guide slot, 463 arc plate, 464 magnetic plate, 465 electromagnet, 466 limit head, 467 roller;
the system comprises a 51 visual sensing module, a 52 sound sensing module, a 53 electric quantity monitoring module and a 54 position analysis module;
61 positioning motor, 62 adjusting ring, 63 extrusion protrusion, 64 meshing structure, 65 chute, 66 magnetic induction module, 67 magnetic block.
Detailed Description
Various embodiments of the invention are disclosed in the accompanying drawings, and for purposes of explanation, numerous practical details are set forth in the following description. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Furthermore, for the purpose of simplifying the drawings, some of the presently available structures and elements are shown in a simplified schematic form, and the same reference numerals will be used throughout the drawings to designate the same or similar elements. And features of different embodiments may be interactively applied, if implementation is possible.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have their ordinary meaning as understood by one of ordinary skill in the art. Furthermore, the definitions of the words and phrases used herein should be understood and interpreted to have a meaning consistent with the understanding of the relevant art and technology. These terms are not to be construed as idealized or overly formal meanings unless expressly so defined.
Referring to fig. 1-12, the present invention provides a telescopic cleaning manipulator for a cleaning robot, which can be used in a position where the robot cannot enter, for example: the garbage is treated at the bottoms of the vehicle bottom and the park seat bottom, and the garbage is cleaned without moving vehicles or waiting for the vehicles to leave.
Characterized by comprising the following steps:
the robot comprises a vehicle body 1, wherein a driving device 2 is arranged at the bottom of the vehicle body 1 to drive the vehicle body 1 to change positions, three wheels of the driving device 2 are arranged, two rear wheels are driven by a driving motor to rotate, a servo motor is arranged on a front wheel to control the steering of the wheels, and the front wheel can enable the robot to complete turning under the driving of the servo motor;
the dust collection structure 3 is arranged in the vehicle body 1 and used for collecting dust and garbage, and comprises a dust collection box, wherein the dust and the garbage are collected in the dust collection box, the front end of the robot is provided with a cleaning structure 4, the cleaning structure 4 can extend outwards, and the cleaning structure 4 comprises two brush bodies capable of realizing different directions;
the induction component 5 is arranged on the inner side of the vehicle body 1 and exposed on the outer side, and the induction component 5 monitors the surrounding environment of the robot;
the adjusting structure 6 is positioned at the head position of the vehicle body 1 and connected with the dust collecting structure 3, the adjusting structure 6 can change the state of the brush body, the head position of the vehicle body 1 is configured as a power supply module 7 for supplying power to the robot, and the power supply module 7 is integrated inside the vehicle body 1 and connected with the vehicle body 1.
In this embodiment, two brushes provided with the cleaning structure 4 can form different states to collect and treat garbage after changing the state, so as to ensure that garbage at different positions can be treated, and in the process that the brushes extend outwards, the adjusting structure 6 forms the adjustment of the brushes, and changes the state of one of the brushes, so that the brushes change different states to clean garbage.
In one embodiment, the cleaning structure 4 comprises:
the extension rod 49 extends from the inner side and the outer side of the vehicle body 1 and is fixedly connected with the vehicle body 1, the telescopic end of the extension rod 49 is provided with the mounting frame 41 and pushes the position of the mounting frame 41 to move along the telescopic direction of the extension rod 49, the outer side of the mounting frame 41 is provided with the fixing frame 45, and the position of the fixing frame 45 is adjusted by arranging the adjusting structure 6 between the fixing frame 45 and the mounting frame 41;
the rotary table 46 is positioned at the lower part of the fixed frame 45, the cleaning motor 43 is arranged in the middle of the rotary table 46, the cleaning motor 43 and the rotary table 46 are fixedly connected with the fixed frame 45, the rotatable cleaning brush 47 is arranged at the inner side of the rotary table 46, the cleaning brush 47 comprises a brush body, and the cleaning motor 43 drives the cleaning brush 47 to rotate;
the cleaning roller 48 is rotatably arranged in the middle section of the vehicle body 1, and the cleaning roller 48 is provided with a driving motor to control the cleaning roller 48.
In the present embodiment, the extension rod 49 is electrically controlled, the extension rod 49 can extend the cleaning brush 47 to the vehicle body 1 or the seat bottom, the extension rod 49 forms control of the extending position of the cleaning brush 47, the adjustment structure 6 forms position adjustment of the fixing frame 45, and the fixing frame 45 can change the height angle position of the cleaning brush 47 after being changed, so that the cleaning brush 47 can be close to the ground for cleaning the ground.
In one embodiment, the cleaning structure 4 comprises:
the two ends of the connecting rod 42 can be respectively and movably connected with the fixing frame 45 and the mounting frame 41, a telescopic rod 44 is arranged in the middle of the connecting rod 42, the telescopic rod 44 is fixed on the inner side of the mounting frame 41, and the telescopic end of the telescopic rod 44 is connected with the connecting rod 42 and pushes the connecting rod 42 to change the position of the connecting rod 42.
In this embodiment, the telescopic rod 44 can control the position of the fixing frame 45 at one end of the connecting rod 42 through the connecting rod 42, the position change of the fixing frame 45 can control the cleaning brush 47, so that the angle position change of the cleaning brush 47 is applicable to the ground in different position areas, thereby cleaning the garbage on the ground, and the adjustment of the cleaning brush 47 can be realized through the cooperation of the adjusting structure 6 and the extending rod 49.
In one embodiment, the brush body is composed of two parts, one of which is:
the brush head 479 is fixedly sleeved at the output end of the cleaning motor 43 and the brush head 479 is driven to rotate by the cleaning motor 43, and the brush hair arranged on the brush head faces downwards;
the other part comprises:
the fixed blocks 471, the bottom of which is provided with an elastic plate 473, the bottom of the elastic plate 473 is provided with bristles 474 extending downwards, and the fixed blocks 471 are uniformly provided with adjusting blocks 472 at intervals to form a support for the fixed blocks 471;
the connecting rod 475 is positioned in the fixing block 471 and extends to the inside of the adjusting block 472, the connecting rod 475 forms the connection between the fixing block 471 and the adjusting block 472, the connecting rod 475 is elastically arranged, and a connector 478 is further arranged between the adjusting block 472 and the fixing block 471 to form the connection between the adjusting block 472 and the fixing block 471;
the extrusion block 476 is disposed inside the adjusting block 472 and contacts the connecting rod 475 to extrude the connecting rod 475, and a supporting spring 477 is disposed at one end of the extrusion block 476 to support the extrusion block 476.
In this embodiment, the two brush bodies are arranged inside and outside, the brush head 479 is arranged inside, the outer side is provided with an outer ring brush body formed by matching the fixed block 471 with the adjusting block 472, the fixed ring and the adjusting block 472 are combined into an arc shape, and after the adjusting block 472 is reversed, the elastic plate 473 arranged at the bottom of the fixed block 471 can form a linear extension, so that corresponding adjustment is performed according to different combination states.
The elastic arrangement of the connecting rod 475 can facilitate connection and stretching between the fixing block 471 and the adjusting block 472, namely, when the connecting rod 475 is not extruded by the extruding block 476, the fixing block 471 and the adjusting block 472 can be separated, and after the connecting rod 475 is extruded by the extruding block 476, the connecting rod 475 is pulled, so that the fixing block 471 can be in close contact with the adjusting block 472, and stability between the fixing block 471 and the adjusting block 472 is ensured.
And one end of the elastic plate 473 is connected with the fixing block 471, and the elastic plate 473 is attached to the bottom wall of the fixing block 471 and is inclined, the upper and lower end surfaces of the adjusting block 472 are respectively inclined surfaces and planes, the inclined surfaces and the bottom wall of the fixing block 471 are in the same plane, after the adjusting block 472 is reversed, the planes form a support for the elastic plate 473, so that the elastic plate 473 is planar, and the angle position of the bristles 474 is changed, when the inclined surfaces are the bottom surfaces of the adjusting block 472, the angles of the bristles 474 are inclined, and when the planes of the adjusting block 472 are the bottom surfaces, the bristles 474 face the ground.
In one embodiment, the cleaning brush 47 further comprises:
an electromagnetic rod 4710 disposed inside the fixed block 471, the electromagnetic rod 4710 being disposed inside the innermost ring of fixed block 471, the brush head 479 being provided with a floating plate 4711 inside, the floating plate 4711 being movably disposed inside the brush head 479, and the electromagnetic rod 4710 forming a magnetic attraction to the floating plate 4711;
the friction head 4712 is disposed at one end of the electromagnetic rod 4710 near the floating plate 4711, and the friction head 4712 is attached to the floating plate 4711 to increase the friction force of the contact of the floating plate 4711.
In this embodiment, the electromagnetic rod 4710 is matched with the floating plate 4711, so that the fixed block 471 can be synchronously rotated in the process that the brush head 479 is driven to rotate by the cleaning motor 43, and the fixed block 471 can not be driven to rotate when the cleaning motor 43 drives the brush head 479 to rotate after the electromagnetic rod 4710 is powered off, and the state that the cleaning motor 43 can drive the brush body to move can be changed according to the position of the electromagnetic rod 4710.
The friction force between the floating plate 4711 and the friction head 4712 can be ensured by the arrangement of the friction head 4712, and the stability of synchronous rotation is ensured.
In one embodiment, the turntable 46 includes:
a fixed disk 461 fixed to the bottom of the fixed frame 45, wherein the cleaning brush 47 is mounted inside the fixed disk 461 and rotatable relative to the fixed disk 461, a guide groove 462 is provided inside the fixed disk 461, the guide groove 462 is provided in communication with the fixed disk 461, and the guide groove 462 is tangential to the fixed disk 461;
an arc plate 463 extending from the inside of the fixed disk 461 to the outside of the fixed disk 461, wherein a magnetic plate 464 is arranged at one end of the arc plate 463 extending to the inside of the fixed disk 461, the magnetic plate 464 limits the arc plate 463 to prevent the arc plate 463 from separating from the fixed disk 461, an electromagnet 465 is arranged at the upper part of the magnetic plate 464, and the electromagnet 465 is fixed in the fixed disk 461 and magnetically attracts the magnetic plate 464;
the limit head 466 is fixed on the upper part of the fixed block 471, the outside of the limit head 466 is movably sleeved with the roller 467, and the roller 467 can contact the arc 463.
In the present embodiment, the electromagnet 465 can change the position of the magnetic plate 464 after being energized, so that the arc plate 463 can be pushed, the arc plate 463 can restrict the position-restricting head 466 after being moved downward, the position-restricting head 466 can be changed into the inside of the guide groove 462 under the guidance of the arc plate 463, and the guide groove 462 restricts the positions of the fixing block 471 and the adjusting block 472, so that the fixing block 471 and the adjusting block 472 can be extended outward.
Wherein, the arc 463 can make the spacing head 466 contact the arc 463 after moving downwards, and the arc 463 leads the fixed block 471 to extend towards the inner side of the guide slot 462, and the arc 463 can break away from the limitation of the spacing head 466 after moving upwards, thereby making the fixed block 471 and the adjusting block 472 limited in the fixed disk 461 and not extending outwards.
In one embodiment, the sensing assembly 5 comprises:
the visual sensing module 51 captures the appearance characteristics of the garbage, such as color, shape, texture, etc., by using a camera, laser, near infrared, etc., and judges the type and position of the garbage by an image recognition algorithm;
the sound sensing module 52 simulates human hearing by using sensors such as a microphone and a sonar, and judges the material and state of the garbage by analyzing the sound characteristics and frequency emitted by the garbage;
the electric quantity monitoring module 53 is electrically connected with the power supply module 7 to monitor the electric quantity of the power supply module 7;
the location analysis module 54 analyzes the location of the trash.
In this embodiment, the visual sensing module 51 and the sound sensing module 52 are used for monitoring garbage and analyzing road conditions, so that the control of the robot can be performed according to different environments around the robot, and the electric quantity monitoring module 53 is used for correspondingly detecting the electric quantity of the power supply module 7, so as to ensure the monitoring stability of the electric quantity.
In one embodiment, the adjustment structure 6 comprises:
the positioning motor 61 is fixed on the outer side of the fixed frame 45, the outer side of the positioning motor 61 is provided with an adjusting ring 62, the adjusting ring 62 and the positioning motor 61 are in meshed transmission through a meshing structure 64, and the adjusting ring 62 can drive the adjusting block 472 to rotate.
In this embodiment, after the adjusting block 472 enters the adjusting ring 62, the adjusting motor 61 drives the adjusting ring 62 to rotate through the engaging structure 64, and the adjusting ring 62 is utilized to change the position of the adjusting block 472, so that the adjusting ring 62 is reversely rotated to form a support for the fixing block 471, the stability of the fixing block 471 is ensured, and the fixing block 471 can stably extend outwards.
In one embodiment, the adjustment structure 6 further comprises:
the extrusion protrusion 63 is disposed inside the adjusting ring 62 and forms extrusion to the extrusion block 476, the extrusion block 476 is separated from extrusion to the connecting rod 475, so that contact between the fixing block 471 and the adjusting block 472 is separated, and the adjusting block 472 can be reversed;
a chute 65 is positioned inside the adjusting ring 62, and bristles 474 are positioned through the chute 65.
In this embodiment, the extrusion protrusion 63 can extrude the extrusion block 476, so that the extrusion block 476 does not extrude the connecting rod 475, and the connecting rod 475 is located in the middle of the adjusting block 472, so that the extrusion block 476 passing through the adjusting ring 62 can be extruded, and thus can be conveniently adjusted by the adjusting ring 62, and the adjusting ring 62 is located in the middle of the guide groove 462 and is limited by the guide groove 462.
In one embodiment, the adjustment structure 6 further comprises:
the magnetic block 67 is fixed on the upper surface of the fixed block 471, the magnetic induction module 66 is arranged on one side of the adjusting ring 62, and the magnetic induction module 66 senses the position of the magnetic block 67.
In this embodiment, the magnetic blocks 67 and the magnetic induction module 66 are configured to monitor the position of the adjusting ring 62, so that the adjusting ring 62 is matched with the position of the adjusting ring 62, and the positioning motor 61 drives the engagement structure 64 to drive the position of the adjusting ring 62 to change, so that the adjusting ring 62 changes the position of the adjusting block 472.
Although the present invention has been described in connection with the above embodiments, it should be understood that the invention is not limited thereto, but may be variously modified and modified by those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is accordingly defined by the appended claims.
Claims (5)
1. Be applied to scalable cleaning machinery hand of cleaning robot, its characterized in that includes:
a vehicle body (1), wherein a driving device (2) is arranged at the bottom of the vehicle body (1) to drive the vehicle body (1) to change positions;
the dust collection structure (3) is arranged in the vehicle body (1) and used for collecting dust and garbage, the front end of the robot is provided with the cleaning structure (4), the cleaning structure (4) can extend outwards, and the cleaning structure (4) comprises two brush bodies capable of realizing movement in different directions;
the induction component (5) is arranged on the inner side of the vehicle body (1) and exposed on the outer side, and the induction component (5) monitors the environment around the robot;
the adjusting structure (6) is positioned at the head position of the vehicle body (1) and is connected with the dust collecting structure (3), the adjusting structure (6) is used for changing the state of the brush body, the head position of the vehicle body (1) is configured as a power supply module (7) for supplying power to the robot, and the power supply module (7) is integrated in the vehicle body (1) and is connected with the vehicle body (1);
the cleaning structure (4) comprises:
the extension rod (49) extends from the inner side to the outer side of the vehicle body (1) and is fixedly connected with the vehicle body (1), the telescopic end of the extension rod (49) is provided with the mounting frame (41) and pushes the position of the mounting frame (41) to move in the telescopic direction of the extension rod (49), the outer side of the mounting frame (41) is provided with the fixing frame (45), and the position of the fixing frame (45) is adjusted by the adjusting structure (6) arranged between the fixing frame (45) and the mounting frame (41);
the rotary table (46) is positioned at the lower part of the fixed frame (45), the middle part of the rotary table (46) is provided with a cleaning motor (43), the cleaning motor (43) and the rotary table (46) are fixedly connected with the fixed frame (45), the inner side of the rotary table (46) is provided with a rotatable cleaning brush (47), the cleaning brush (47) comprises a brush body, and the cleaning motor (43) drives the cleaning brush (47) to rotate;
the cleaning roller (48) is rotatably arranged in the middle section of the vehicle body (1), and the cleaning roller (48) is provided with a driving motor to control the cleaning roller (48);
the two ends of the connecting rod (42) are respectively and movably connected with the fixing frame (45) and the mounting frame (41), a telescopic rod (44) is arranged in the middle of the connecting rod (42), the telescopic rod (44) is fixed on the inner side of the mounting frame (41), and the telescopic end of the telescopic rod (44) is connected with the connecting rod (42) and pushes the connecting rod (42) to change the position of the connecting rod (42);
the brush body comprises two parts, one of which is:
the brush head (479) is fixedly sleeved at the output end of the cleaning motor (43) and is driven by the cleaning motor (43) to rotate;
the other part comprises:
the bottom of the fixing block (471) is provided with an elastic plate (473), the bottom of the elastic plate (473) is provided with bristles (474) extending downwards, and adjusting blocks (472) are uniformly arranged between the fixing blocks (471) at intervals to form a support for the fixing blocks (471);
the connecting rod (475) is positioned in the fixed block (471) and extends towards the inside of the adjusting block (472), the connecting rod (475) forms connection between the fixed block (471) and the adjusting block (472), the connecting rod (475) is elastically arranged, and a connector (478) is further arranged between the adjusting block (472) and the fixed block (471) to form connection between the adjusting block (472) and the fixed block (471);
the extrusion block (476) is arranged in the adjusting block (472) and is in contact with the connecting rod (475) to extrude the connecting rod (475), and a supporting spring (477) is arranged at one end of the extrusion block (476) to support the extrusion block (476);
the cleaning brush (47) further comprises:
an electromagnetic rod (4710) arranged at the inner side of the fixed block (471), wherein the electromagnetic rod (4710) is arranged at the inner side of the innermost circle of fixed block (471), a floating plate (4711) is arranged at the inner side of the brush head (479), the floating plate (4711) is movably arranged at the inner side of the brush head (479), and the electromagnetic rod (4710) forms magnetic attraction to the floating plate (4711);
the friction head (4712) is arranged at one end of the electromagnetic rod (4710) close to the floating plate (4711), and the friction head (4712) is attached to the floating plate (4711) to increase the friction force of the contact of the floating plate (4711);
the turntable (46) comprises:
a fixed disk (461) fixed at the bottom of the fixed disk (45), wherein the cleaning brush (47) is installed inside the fixed disk (461) and can rotate relative to the fixed disk (461), a guide groove (462) is arranged inside the fixed disk (461), the guide groove (462) is communicated with the fixed disk (461), and the guide groove (462) is tangential to the fixed disk (461);
an arc plate (463) extending from the inside of the fixed disk (461) to the outside of the fixed disk (461), wherein a magnetic plate (464) is arranged at one end of the arc plate (463) extending to the inside of the fixed disk (461), the magnetic plate (464) limits the arc plate (463) to prevent the arc plate (463) from separating from the fixed disk (461), an electromagnet (465) is arranged at the upper part of the magnetic plate (464), and the electromagnet (465) is fixed in the fixed disk (461) and magnetically attracts the magnetic plate (464);
the limit head (466) is fixed on the upper part of the fixed block (471), the roller (467) is movably sleeved outside the limit head (466), and the roller (467) can contact the arc plate (463).
2. A telescopic cleaning robot hand for use in a cleaning robot according to claim 1, wherein the sensing assembly (5) comprises:
the visual sensing module (51) captures the appearance characteristics of the garbage and judges the type and the position of the garbage through an image recognition algorithm;
the sound sensing module (52) simulates the hearing of human beings, analyzes the sound characteristics and the frequency emitted by the garbage to judge the material and the state of the garbage;
the electric quantity monitoring module (53) is electrically connected with the power supply module (7) to monitor the electric quantity of the power supply module (7);
and a position analysis module (54) for analyzing the position of the garbage.
3. A telescopic cleaning manipulator for use in a cleaning robot according to claim 2, wherein the adjustment structure (6) comprises:
the positioning motor (61) is fixed on the outer side of the fixed frame (45), the adjusting ring (62) is arranged on the outer side of the positioning motor (61), the adjusting ring (62) and the positioning motor (61) are in meshed transmission through the meshing structure (64), and the adjusting ring (62) can drive the adjusting block (472) to rotate.
4. A telescopic cleaning robot hand for use in a cleaning robot according to claim 3, wherein the adjustment structure (6) further comprises:
a pressing protrusion (63) disposed inside the adjusting ring (62) and forming a press to the pressing block (476);
the sliding groove (65) is positioned at the inner side of the adjusting ring (62), and the bristle (474) passes through the sliding groove (65).
5. A telescopic cleaning robot hand for use in a cleaning robot according to claim 4, wherein the adjustment structure (6) further comprises:
the magnetic block (67) is fixed on the upper surface of the fixed block (471), the magnetic induction module (66) is arranged on one side of the adjusting ring (62), and the magnetic induction module (66) senses the position of the magnetic block (67).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311540214.3A CN117266068B (en) | 2023-11-20 | 2023-11-20 | Telescopic cleaning manipulator applied to cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311540214.3A CN117266068B (en) | 2023-11-20 | 2023-11-20 | Telescopic cleaning manipulator applied to cleaning robot |
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| Publication Number | Publication Date |
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| CN117266068A CN117266068A (en) | 2023-12-22 |
| CN117266068B true CN117266068B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311540214.3A Active CN117266068B (en) | 2023-11-20 | 2023-11-20 | Telescopic cleaning manipulator applied to cleaning robot |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101421053A (en) * | 2006-02-10 | 2009-04-29 | 坦南特公司 | Cleaning apparatus having a functional generator, and method for producing electrochemically activated cleaning liquid |
| CN106691313A (en) * | 2015-11-15 | 2017-05-24 | 天津名轩科技有限公司 | Intelligent vacuum cleaner |
| CN109662659A (en) * | 2016-12-16 | 2019-04-23 | 云鲸智能科技（东莞）有限公司 | Clean robot and cleaning robot system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL3047772T3 (en) * | 2015-01-20 | 2017-07-31 | Eurofilters Holding N.V. | Robot vacuuming cleaner |
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2023
- 2023-11-20 CN CN202311540214.3A patent/CN117266068B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101421053A (en) * | 2006-02-10 | 2009-04-29 | 坦南特公司 | Cleaning apparatus having a functional generator, and method for producing electrochemically activated cleaning liquid |
| CN106691313A (en) * | 2015-11-15 | 2017-05-24 | 天津名轩科技有限公司 | Intelligent vacuum cleaner |
| CN109662659A (en) * | 2016-12-16 | 2019-04-23 | 云鲸智能科技（东莞）有限公司 | Clean robot and cleaning robot system |
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| Publication number | Publication date |
|---|---|
| CN117266068A (en) | 2023-12-22 |
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