CN206548430U - A kind of Multifunctional cleaning robot - Google Patents
A kind of Multifunctional cleaning robot Download PDFInfo
- Publication number
- CN206548430U CN206548430U CN201621087235.XU CN201621087235U CN206548430U CN 206548430 U CN206548430 U CN 206548430U CN 201621087235 U CN201621087235 U CN 201621087235U CN 206548430 U CN206548430 U CN 206548430U
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- China
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- cleaning robot
- multifunctional cleaning
- collision
- driving arm
- baroceptor
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- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses it is a kind of can cross over gap Multifunctional cleaning robot, including：Main frame body case and the vacuum generating device located at main body enclosure, baroceptor, activity collision, wireless signal obstacles detecting system, the driving wheel combination of the left and right sides, control system, power-supply system and the wiper located at main body outer casing bottom, when tilted interface works, wiper constitutes negative pressure cavity with vacuum generating device and the base of main frame body case, baroceptor is by detecting the change value of pressure situation of negative pressure cavity, feed back to control system and judge whether Multifunctional cleaning robot is by gap or vacant state, provide follow-up action command；When gentle working interface works, vacuum generating device and baroceptor are all stopped, by activity collision and wireless signal obstacles detecting system come disturbance in judgement with vacantly.The utility model is realized across the gap between the interface that is connected, and its cleaning function is extended into the hard adsorbed the need for all inclinations are connected without rib compared with smooth interface and the gentle working interface that need not be adsorbed.
Description
Technical field
The utility model is related to a kind of household cleaning machine people field.
Background technology
With the raising of scientific and technological level, people increasingly tend to using Intelligent cleaning robot come clear instead of being accomplished manually
Clean work, window wiping robot is exactly one kind of current Intelligent cleaning robot, but window wiping robot in the market is all
It is that can only clean one piece of window, it is being connected together, there is apertured glass and can not clean, and due to wiping the frequency of window usually
Rate is not natively high so that the share that the market of window wiping robot is occupied is minimum, has greatly limited to its application and popularizations.
Therefore, designing a can clean glass, even more multi-function clean robot that polylith links together and be
Industry technical problem urgently to be resolved hurrily.
The content of the invention
The utility model provides one kind for above problems of the prior art can clean divided glass, band wall
The more smooth tilted interface for needing to adsorb of wall, hard and the Multifunctional cleaning machine for the gentle working interface that need not be adsorbed of brick
Device people.
The utility model proposes scheme be to devise a kind of Multifunctional cleaning robot, including：Main frame body case and set
In the vacuum generating device of main body enclosure, baroceptor, movable collision, wireless signal obstacles detecting system, left and right
Driving wheel combination, control system, power-supply system and the wiper located at main body outer casing bottom of both sides.
There are two kinds of mode of operations in Multifunctional cleaning robot：Wall cleaning mode and floor cleaning pattern：
Under wall cleaning mode, Multifunctional cleaning robot needs to adsorb on working interface, and wiper occurs with vacuum
Device and the base of main frame body case constitute negative pressure cavity, and baroceptor is by detecting the change value of pressure situation of negative pressure cavity, instead
Control system of feeding simultaneously judges whether Multifunctional cleaning robot is by gap or vacant state, and to provide follow-up work
Instruct, judge whether to encounter rib obstacle with activity collision, whole working condition vacuum generating device is constantly in operating
State, wireless signal obstacles detecting system is constantly in off working state；
Under floor cleaning pattern, Multifunctional cleaning robot is operated on the working interface that need not be adsorbed, now very
Empty generating means and baroceptor are all stopped, and wireless signal obstacles detecting system is now in working condition, by activity
Collision and wireless signal obstacles detecting system carry out disturbance in judgement and hanging, and provide follow-up work instruction.
The utility model is realized across the gap between the interface that is connected, and its cleaning function is extended into all inclination nothings
The hard that rib is adsorbed the need for connecting is compared with smooth interface and the gentle working interface that need not be adsorbed.
The driving wheel combination includes the combination of symmetrical left driving wheel and right driving for being arranged at both sides in the middle of main frame bottom
Wheel combination, the left driving wheel combination includes：Left driving arm, the drive motor for being arranged at left driving arm sidepiece, it is arranged at
One end is connected in motor shaft inside left driving arm driving pulley, be arranged at the other end inside left driving arm from
The axle of movable belt pulley, connection driven pulley and left driving arm, is embedded in bearing, the connection driving pulley at connection driven pulley two ends
The timing belt of axle, the bearing for being embedded in connection belt wheel one end, connection driving pulley and driven pulley with left driving arm；
The left driving arm is made up of left socle, driving arm lid, driving arm sealing note.
The right driving wheel combines, symmetrical configuration identical with left driving wheel composite configuration.
The vacuum generating device includes：Blower motor, wind page, fan supporter, fan shroud, blower motor and control system
Connection.
The baroceptor is connected with negative pressure cavity, and baroceptor is connected with control system.
The activity collision includes being arranged at Multifunctional cleaning robot front end, including collides support, is arranged on collision branch
Two jiaos of directive wheel, setting and the collision wheel of front end and both sides on collision support on frame.
The activity collision includes also may be disposed at Multifunctional cleaning robot rear and front end and structure is identical.
The wireless signal obstacles detecting system includes preceding object detection means and hanging detection means, wireless signal production
Raw mode can for infrared ray, ultrasonic wave etc. are common in the market can R-T unit.
Compared with prior art, the utility model, which can only clean one block of glass and be improved to cleanable polylith, links together
The glass blocked without rib, and by functions expanding to all more smooth work planar interfaces of hard being connected without rib.
Brief description of the drawings
The utility model is described in detail with reference to embodiment and accompanying drawing, wherein：
Fig. 1 is the front schematic view of Multifunctional cleaning robot；
Fig. 2 is the bottom schematic view of Multifunctional cleaning robot；
Fig. 3 is the interior layout figure of Multifunctional cleaning robot；
Fig. 4 is the sectional view of Multifunctional cleaning robot；
Fig. 5 is the vacuum generating device sectional view of Multifunctional cleaning robot；
Fig. 6 is the left driving wheel combination diagram of Multifunctional cleaning robot；
Fig. 7 is the left driving wheel assembled sectional view one of Multifunctional cleaning robot；
Fig. 8 is the left driving wheel assembled sectional view two of Multifunctional cleaning robot；
Fig. 9 is the right driving wheel combination diagram of Multifunctional cleaning robot；
Figure 10 is the right driving wheel assembled sectional view one of Multifunctional cleaning robot；
Figure 11 is the right driving wheel assembled sectional view two of Multifunctional cleaning robot；
Figure 12 recharges schematic diagram for the wall of Multifunctional cleaning robot.
Embodiment
As shown in Figure 1, 2, 3, the utility model proposes can cross over gap Multifunctional cleaning robot, including：It is main
Body fuselage 1 and driving wheel combination 2, vacuum generating device 7, baroceptor 61, activity located at main body enclosure are touched
Hit 4, wireless signal obstacles detecting system, control system, power-supply system and the wiper 80 located at the bottom of main frame body case 1；Institute
Stating wireless signal obstacles detecting system includes preceding object detection means 5 and hanging detection means 3.
As shown in Figure 1,3, the main frame body case constitutes shell body, hand by cover 11, middle shell 12, base 13 from top to bottom
Handle 14 and handle 15 it is embedded with face-piece, control panel combination 16 is also disposed on face-piece 11, power switch 17 and DC charging
Socket 18 is arranged at the sidepiece of host housing body 1, and the periphery of base 13 is close to VELCRO 131.
As shown in figure 1, according to the demand of actual working environment of the present utility model, appearance design of the present utility model is one
Individual rectangle form.
As shown in figure 3, base 13 is provided with baroceptor 61, the baroceptor 61 is connected with negative pressure cavity 75, institute
Baroceptor 61 is stated to be connected with control system.
As shown in Fig. 2,5, wiper 80 constitutes negative pressure cavity 75 with vacuum generating device 7 and base 13；By the interface that is connected
Between when, by baroceptor 61 detect negative pressure cavity 75 change value of pressure situation, feed back to control system and judge many work(
Can cleaning robot whether be by gap or vacant state, and to provide follow-up action command.
As shown in Fig. 2 described driving wheel combination includes left driving wheel combination 20, right driving wheel combination 201；
As shown in Fig. 6,7,8, the left driving wheel combination 20 includes：Left driving arm 22, drive motor 21, it is connected to drive
The axle 27 of driving pulley 25, tape spool wheel 26, connection driven pulley 26 and left driving arm 22 on the dynamic axle of motor 21, the company of being embedded in
Connect the bearing 23 at the two ends of driven pulley 26, the axle 28 of connection belt wheel 25 and left driving arm 22, be embedded in connection belt wheel 25 one end
Bearing 23, connection driving pulley 25 and the timing belt 24 of driven pulley 26, drive motor 21 be connected with control system；
The left driving arm 22 is made up of left socle 221, driving arm lid 222, driving arm sealing note 223.
As shown in Fig. 9,10,11, the right driving wheel combination 201 includes：Right driving arm 29, drive motor 21, connection
The axle 27 of driving pulley 25, tape spool wheel 26, connection driven pulley 26 and right driving arm 29 on the axle of drive motor 21, is embedded
Bearing 23, the axle 28 of connection belt wheel 25 and right driving arm 29 at connection driven pulley 26 two ends, it is embedded in connection belt wheel 25
The bearing 23 of one end, the timing belt 24 of connection driving pulley 25 and driven pulley 26, drive motor 21 are connected with control system；
The right driving arm 29 is made up of right support 291, driving arm lid 222, driving arm sealing note 223.
It is identical, symmetrical that 20 topology layouts are combined in the right driving wheel combination 201 with left driving wheel.
The present embodiment drive part uses toothed belt transmission mode to drive Multifunctional cleaning robot, but not
It is only limitted to drive using toothed belt transmission mode, it would however also be possible to employ existing other ripe actuation techniques, such as crawler haulage skill
Art, gear transmission technology, belt transmission technology etc..
As shown in figure 5, the vacuum generating device includes：Motor 71, motor bracket 72, motor bracket lid 73 and it is assemblied in
Wind page 74 on the axle of motor 71 is constituted, and motor 71 is connected with control system.
As shown in Figure 3,4, the activity collision 4 described in the present embodiment, is distributed in Multifunctional cleaning robot front and back end, ties
Structure is identical, including：Collision support 41, be arranged on collision support on two jiaos directive wheel 44, set with collision support on front end and
The collision wheel 42 of both sides.
As shown in Figure 2,3, preceding object detection means 5 is arranged on middle shell 12 and is distributed in rear and front end, hanging detection
Device 3 is distributed on base 13.
As shown in Figure 3,4, control PCB43 is arranged on the base 13 of the inner side of collision wheel 42 in activity collision 4, control
PCB43 is connected with control system.
As shown in Fig. 1,12, cradle 10 is adsorbed or is fixed on working interface, is supported and is protected Multifunctional cleaning machine
Device people does not fall out in off working state, and is charged to Multifunctional cleaning robot.
Respectively there are two charging columns 91 Multifunctional cleaning robot rear and front end, when clean robot returns to cradle 10,
It can be charged with the contact cradle 10 of charging column 91 of either end.
As shown in Fig. 1,4, the control panel combination 16 is included, display support 161, display PCB162, display board 163,
Display PCB162 is connected with control system.
As shown in figure 3, the power-supply system includes：Battery 90, charging column 91, working power 17, DC charging socket 18,
Each all it is connected respectively with control system.
As shown in figure 4, wiper 80 is attached on VELCRO 131, wiper 80 constitutes negative with vacuum generating device 7 and base 13
Chamber 75 is pressed, wiper 80 is breathable, so the pressure of negative pressure cavity 75 and the size of wiper 80 and the contact surface of air have
Close, the gas leakage of the side of wiper 80 be can be neglected, and after being attached on clean interface, wiper 80 is essentially with air contact surfaces
Zero, clean interface is air tight, therefore now pressure value is reaches maximum pressure value, while the absorption of Multifunctional cleaning robot is existed
On clean interface, at the gap between crossing interface, due to wiper 80 and air contact surfaces increase, the air leakage of wiper 80 adds
Greatly, pressure value is produced and diminished, and feed back to control system, and the change value of pressure formed after the gas leakage by wiper 80 weighs seam
The size of gap, judges whether that gap can be crossed, and is judgment standard by default limit pressure, more past can judge
For gap, it is impossible to which the judgement crossed is hanging, and corresponding actions instruction is provided, Multifunctional cleaning robot is carrying out wall cleaning
When, adsorptive pressure whenever will ensure that Multifunctional cleaning robot can not drop from clean interface.
Operation principle, the switch of Multifunctional cleaning robot side working power 17 is opened, and first selects Multifunctional cleaning machine
The mode of operation of people：
When selecting wall cleaning mode, now vacuum generating device 7 starts running, and baroceptor 61 enters work shape
State, then by start key, left driving wheel combination 20, right driving wheel combination 201 are started working, and according to default path planning mode
Wall cleaning is carried out, when barrier is encountered in Multifunctional cleaning robot movable collision 4, control is touched in activity collision 4
PCB43, control PCB43 conductings produce signal and feed back to control system, and it is dynamic to control Multifunctional cleaning robot to carry out next step
Make, when Multifunctional cleaning robot needs to cross gap between wall or be hanging, pass through the pressure change feelings of negative pressure cavity 75
Condition judges to be gap or hanging, feeds back to control system, control system sends instruction, crosses gap or recession is turned to, whole
Individual working condition vacuum generating device 7 is constantly in operating condition, and wireless signal obstacles detecting system is constantly in inoperative shape
State；
When selecting ground cleaning mode, vacuum generating device 7 and baroceptor 61 are all in off working state, wireless communication
Number obstacle detection system is now in working condition, excellent by preceding object detection means 5 when Multifunctional cleaning robot ambulation
First judge whether front has obstacle, when preceding object detection means 5 can not judge preceding object, before the collision of activity collision 4
Square obstacle, and produce signal and feed back to control system, relevant work instruction is provided, multifunctional wiping is judged by hanging detection means 3
Wipe whether hanging in front of robot ambulation, and produce signal and feed back to control system, and provide relevant work instruction.
Cradle 10 is adsorbed or is fixed on working interface, when the complete working interface of Multifunctional cleaning robot cleaner or
In the case that battery electric power is not enough, Multifunctional cleaning robot is returned on cradle 10 and charged in time, and cradle 10 is supported
And protect Multifunctional cleaning robot not fallen down in off working state from working interface.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (8)
1. a kind of Multifunctional cleaning robot that may span across gap, including main frame body case and located at the true of main body enclosure
Empty generating means, baroceptor, movable collision, the driving wheel combination of the left and right sides, control system, power-supply system and it is located at
The wiper of main body outer casing bottom, it is characterised in that：Also include wireless signal obstacles detecting system；The wireless signal obstacles inspection
Examining system includes preceding object detection means and hanging detection means；The wiper and vacuum generating device and main frame body case
Base constitutes negative pressure cavity.
2. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：Profile is a rectangle form.
3. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：The driving wheel combination includes being arranged at master
The combination of symmetrical left driving wheel and right driving wheel combination of both sides in the middle of motor spindle；
The left driving wheel combination includes：Left driving arm, the drive motor for being arranged at left driving arm sidepiece, it is arranged at left drive
Driving pulley that dynamic internal stent one end is connected in motor shaft, the driven belt for being arranged at the other end inside left driving arm
The axle of wheel, connection driven pulley and left driving arm, is embedded in the bearing, connection driving pulley and a left side at connection driven pulley two ends
The axle of driving arm, the bearing for being embedded in connection belt wheel one end, the timing belt for connecting driving pulley and driven pulley；
The left driving arm is made up of left socle, driving arm lid, driving arm sealing note.
4. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：The vacuum generating device includes：Blower fan
Motor, wind page, fan supporter, fan shroud, blower motor are connected with control system.
5. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：Cradle adsorbs or is fixed on work circle
On face, support and protect Multifunctional cleaning robot not fallen out in off working state, and carried out to Multifunctional cleaning robot
Charging.
6. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：Described activity collision, is distributed in many work(
Energy cleaning robot front and back end, structure is identical, including：Collision support, be arranged on collision support on two jiaos directive wheel, set with
Collide the collision wheel of front end and both sides on support.
7. Multifunctional cleaning robot as claimed in claim 6, it is characterised in that：The activity collision includes also may be disposed at
Multifunctional cleaning robot rear and front end and structure is identical.
8. Multifunctional cleaning robot as claimed in claim 1, it is characterised in that：Baroceptor is connected with negative pressure cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087235.XU CN206548430U (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087235.XU CN206548430U (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206548430U true CN206548430U (en) | 2017-10-13 |
Family
ID=60369555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621087235.XU Active CN206548430U (en) | 2016-09-29 | 2016-09-29 | A kind of Multifunctional cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206548430U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110863664A (en) * | 2018-08-27 | 2020-03-06 | 柳雪梅 | Wall grabbing device of automatic wall surface cleaning equipment |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN112690690A (en) * | 2020-12-30 | 2021-04-23 | 北京福玛特科技有限公司 | Glass wiping robot |
-
2016
- 2016-09-29 CN CN201621087235.XU patent/CN206548430U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110863664A (en) * | 2018-08-27 | 2020-03-06 | 柳雪梅 | Wall grabbing device of automatic wall surface cleaning equipment |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN112690690A (en) * | 2020-12-30 | 2021-04-23 | 北京福玛特科技有限公司 | Glass wiping robot |
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