CN210673214U

CN210673214U - Dust collection robot

Info

Publication number: CN210673214U
Application number: CN201920098311.4U
Authority: CN
Inventors: 沈晓斌; 王斌锐; 金英连; 谢胜龙
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2020-06-05
Anticipated expiration: 2029-01-21

Abstract

A dust collection robot is characterized in that a driving mechanism comprises a plurality of double-shaft motors, one ends of the double-shaft motors are connected with walking wheels, and the other ends of the double-shaft motors are connected with a transmission mechanism; the transmission mechanism comprises an input end, a power steering assembly and an output end, the input end is connected with the driving mechanism, the power steering assembly is used for converting power input through the input end from the horizontal direction to the vertical direction, the output end is provided with a first transmission shaft, and the power steering assembly outputs power through the first transmission shaft; collision detection means for detecting the force sum position of collision with the obstacle; the controller is used for sending an instruction to the cleaning mechanism according to the detection result of the collision detection device; clean the mechanism, set up on first transmission shaft to clean according to the instruction, the driving motor of dust absorption robot accessible transmission sharing robot walking wheel of this application need not to be equipped with the motor for dust absorption robot's the mechanism of cleaning, has reduced the use quantity of motor under the prerequisite of guaranteeing the robot function, the cost is reduced.

Description

Dust collection robot

Technical Field

The application relates to a robot, in particular to a dust collection robot.

Background

In recent years, with the continuous development of science and technology and the improvement of productivity, service robots are gradually entering the daily lives of people, particularly household dust collection robots. The dust collection robot brings convenience to the life of people, and can replace people to autonomously perform ground cleaning tasks. Generally, a dust collection robot mainly comprises four parts, namely a controller, a sensor, a driver and a cleaning unit, and the core part of the dust collection robot for realizing the functions of the dust collection robot is the cleaning unit. The cleaning mode of the dust collection robot in the current market mainly comprises two modes of ground contact type cleaning and vacuum dust collection, wherein a motor is used as a power source of the dust collection robot, each module of the dust collection robot is provided with an independent motor, and the robot needs to move continuously, so that walking wheels need to be arranged, and each walking wheel also needs to be provided with an independent motor. For this reason, the dust collection robot needs to use a large number of motors, so that the overall cost of the robot increases.

Disclosure of Invention

The technical problem that this application will be solved is to prior art's not enough, provides a dust absorption robot.

The technical problem to be solved by the application is solved by the following technical scheme:

a dust collection robot comprises a driving mechanism, a transmission mechanism, a cleaning mechanism, a controller and a collision detection device;

the driving mechanism comprises a plurality of double-shaft motors, one ends of the double-shaft motors are connected with the travelling wheels, and the other ends of the double-shaft motors are connected with the transmission mechanism;

the transmission mechanism is matched with the driving mechanism and comprises an input end, a power steering assembly and an output end, the input end is connected with the driving mechanism, the power steering assembly is used for converting power input through the input end from a horizontal direction to a vertical direction, the output end is provided with a first transmission shaft, and the power steering assembly outputs power through the first transmission shaft;

the collision detection device is used for detecting the force sum position of collision with the barrier;

the controller is electrically connected with the collision detection device and the cleaning mechanism respectively and used for sending instructions to the cleaning mechanism according to the detection result of the collision detection device;

the cleaning mechanism is arranged on the first transmission shaft and is used for cleaning according to the instruction.

Due to the adoption of the technical scheme, the beneficial effects of the application are as follows:

in the embodiment of this application, because actuating mechanism includes a plurality of biax motors, the walking wheel is connected to biax motor's one end, drive mechanism is connected to the other end, drive mechanism includes the power steering subassembly, the power steering subassembly is used for changing the power of inputing through the input into vertical direction from the horizontal direction, the output is equipped with first transmission shaft, the power steering subassembly cleans the mechanism through the drive of first transmission shaft, make biax motor driven walking wheel simultaneously and clean the mechanism, the driving motor of the dust absorption robot accessible transmission sharing robot walking wheel of this application, it is equipped with the motor to need not to clean the mechanism for dust absorption robot, the use quantity of motor has been reduced under the prerequisite of guaranteeing the robot function, and the cost is reduced.

Drawings

FIG. 1 is a cross-sectional view of one embodiment of a dust extraction robot of the present application without a collision detection device;

FIG. 2 is a schematic diagram showing the dust collection robot without a collision detection device according to an embodiment of the present application with components separated;

FIG. 3 is a schematic structural diagram of a dust collection robot without a collision detection device according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a collision detection apparatus of the present application in one embodiment;

fig. 5 is a schematic structural view of the cleaning robot according to another embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. The present application may be embodied in many different forms and is not limited to the embodiments described in the present embodiment. The following detailed description is provided to facilitate a more thorough understanding of the present disclosure, and the words used to indicate orientation, top, bottom, left, right, etc. are used solely to describe the illustrated structure in connection with the accompanying figures.

One skilled in the relevant art will recognize, however, that one or more of the specific details can be omitted, or other methods, components, or materials can be used. In some instances, some embodiments are not described or not described in detail.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning.

Furthermore, the technical features, aspects or characteristics described herein may be combined in any suitable manner in one or more embodiments. It will be readily appreciated by those of skill in the art that the order of the steps or operations of the methods associated with the embodiments provided herein may be varied. Thus, any sequence in the figures and examples is for illustrative purposes only and does not imply a requirement in a certain order unless explicitly stated to require a certain order.

As shown in fig. 1 to 4, the cleaning robot of the present application, in one embodiment, includes a driving mechanism, a transmission mechanism, a cleaning mechanism, a collision detection device, and a controller (not shown).

The driving mechanism comprises a plurality of double-shaft motors 110, one end of each double-shaft motor 110 is connected with a travelling wheel 120, and the other end of each double-shaft motor 110 is connected with a transmission mechanism; in one embodiment, the road wheels 120 may be omni-wheels.

Drive mechanism, with actuating mechanism cooperation, drive mechanism includes input 210, power steering subassembly and output, and input 210 is connected with actuating mechanism, and the power steering subassembly is used for converting the power of inputing through the input into vertical direction from the horizontal direction, and the output is equipped with first transmission shaft 241, and the power steering subassembly passes through first transmission shaft 241 output power.

And the collision detection device is used for detecting the force sum position of collision with the barrier.

And the controller is electrically connected with the collision detection device and the cleaning mechanism respectively and used for sending instructions to the cleaning mechanism according to the detection result of the collision detection device.

And a cleaning mechanism which is arranged on the first transmission shaft 241, receives the command sent by the controller, and cleans according to the command.

Further, the power steering assembly may include a plurality of transmissions, and in the present embodiment, the power steering assembly may include a first transmission, a second transmission, and a third transmission. The first, second, and third actuators may be provided in the cartridge 260. The first transmission device is used for limiting the power transmission direction and enabling the input power to be transmitted in a single direction, and the first transmission device can be various, and in one embodiment, the first transmission device can be an overrunning clutch 221. And the second transmission device is used for transmitting the power transmitted in one direction along the horizontal direction. In one embodiment, the second transmission means may include a cylindrical gear 231, a second transmission shaft 232, and a first bevel gear 233, the cylindrical gear 231 is disposed above the overrunning clutch 221, and the cylindrical gear 231 and the overrunning clutch 221 are engaged, the cylindrical gear 231 and the first bevel gear 233 are respectively disposed at both ends of the second transmission shaft 232, and the first bevel gear 232 and the third transmission means are engaged. The second transmission device may further include a supporting plate 234, the supporting plate 234 is provided with a mounting hole, and the second transmission shaft 232 is disposed on the supporting plate 234 in a penetrating manner. And the third transmission device is used for transmitting the power transmitted in the horizontal direction out along the vertical direction. In one embodiment, the third transmission device may include a second bevel gear 251, the second bevel gear 251 is sleeved on the first transmission shaft 241, the first transmission shaft 241 is vertically arranged, the second bevel gear 251 is horizontally sleeved on the first transmission shaft 241, and the first bevel gear 233 and the second bevel gear 251 are engaged.

In one embodiment, in the cleaning robot of the present invention, one end of the motor 110 is connected to the omni wheel to drive the cleaning robot to move in any direction, and the other end of the motor 110 is connected to the overrunning clutch 221. The overrunning clutch 221 can limit the power transmission direction and belongs to a one-way transmission device, that is, when the motor 110 inputs power in the forward direction, the overrunning clutch 221 can transmit power outwards, and otherwise, the power is not transmitted. The overrunning clutch 221 can transmit power to the cylindrical gear 231, the cylindrical gear 231 is directly connected with the first bevel gear 233, and the second bevel gear 251 is meshed with the first bevel gear 233 to transmit power.

The robot walking wheel (omniwheel) is connected to the one end of biax motor, and freewheel clutch is connected to the other end, transmits power to cylindrical gear through freewheel clutch, and cylindrical gear's the other end and conical gear are connected, transmits power to another gear through conical gear, has realized the change of direction of transmission of power to use the quantity of increase and decrease power input that conical gear transmission power can be convenient. The suction fan usually requires a higher rotational speed and the floor wiping device requires a lower rotational speed, so that one end of the final bevel gear is directly connected to the suction fan and the other end is connected to the floor wiping device via a speed reducer, which in one embodiment may be a planetary speed reducer.

In one embodiment, the dust collection robot can have three driving mechanisms, and when the dust collection robot has three double-shaft motors, the dust collection robot can move in any direction. The motor of the dust collection robot can have different running conditions in different motion states, namely, the rotation directions of the double-shaft motors are different and the rotating speeds of the three double-shaft motors are different. The overrunning clutch can limit the transmission direction and can not transmit power when the double-shaft motor rotates in the opposite direction, so that the power output shaft of the transmission device always rotates in one direction. When the speeds of the three double-shaft motors are different, the rotating directions of the other two double-shaft motors with lower rotating speeds relative to the double-shaft motor with higher rotating speed can be considered to be opposite, so that the three double-shaft motors can be guaranteed not to be influenced when in operation, and the rotating speed of the output shaft of the transmission mechanism is only related to the double-shaft motor with the highest rotating speed. In any case, the rotation direction of the output shaft of the transmission mechanism can be always kept unchanged, and the dust collection capacity is considered to be stronger when the moving speed of the dust collection robot is higher, namely the efficiency is also higher when the moving speed is higher.

Further, the cleaning mechanism may include a dust suction fan 311, and the dust suction fan 311 is disposed on the first transmission shaft 241. In another embodiment, the cleaning mechanism may further include a planetary reducer 322 and a wiping cleaner 321, the planetary reducer 322 and the wiping cleaner 321 being respectively disposed on the first transmission shaft 241, the planetary reducer 322 being used to drive the wiping cleaner 321. In another embodiment, the cleaning mechanism may further include a planetary reducer 322, a dust suction fan 311, and a wiping cleaner 321, wherein the dust suction fan 311, the planetary reducer 322, and the wiping cleaner 321 are respectively disposed on the first transmission shaft 241, the dust suction fan 311 is disposed at one end of the first transmission shaft 241, the wiping cleaner 321 is disposed at the other end of the first transmission shaft 241, and the planetary reducer 322 is used to drive the wiping cleaner 321. The suction fan 311 generally needs a higher rotation speed, while the wiper cleaner 321 needs a lower rotation speed, so one end of the second bevel gear 251 directly drives the suction fan 311 to connect, and the other end of the second bevel gear 251 drives the floor wiper cleaner 321 through the planetary reducer 322.

One embodiment of the collision detection apparatus of the present application includes a panel 410, a collision transmission mechanism, a collision sensing mechanism, and a controller (not shown), where the collision transmission mechanism and the collision sensing mechanism are respectively disposed on the panel 410, and the controller is electrically connected to the collision sensing mechanism. A collision transfer mechanism disposed on a side surface of the panel 410 for transferring a force received during a collision to the collision sensing mechanism; the collision sensing mechanism comprises a touch head and a touch sensor 423, the touch head is connected with the collision transfer mechanism, and the touch sensor 423 is matched with the touch head and used for acquiring displacement track data of the touch head; and the processor is used for processing the displacement track data to acquire the collision strength and position of the object.

In the collision detection apparatus of the present application, the touch head may include a first touch head 421; the impact transmission mechanism may further include a first impact transmission member including a first fixing member 441, a first whisker 442, and a first connecting member 443, the first whisker 442 being disposed on the panel 410 through the first fixing member 441, and the first contact head 421 being connected to the first whisker 442 through the first connecting member 443. The first fixing member 441 may include a first connecting rod, one end of the first antenna 442 is connected to the first connecting rod, the first connecting rod is fixed to the panel 410, and in one embodiment, a mounting groove 447 is formed on the panel 410, and the first connecting rod may be fixed to the panel 410 through the mounting groove 447.

In the collision detection apparatus of the present application, the touch head may further include a second touch head 422; the impact transmission mechanism may further include a second impact transmission assembly, which may include a second fixing member 444, a second whisker 445, and a second connector 446, the second whisker 445 being disposed on the panel 410 by the second fixing member 444, and the second contact head 422 being connected to the second whisker 445 by the second connector 446. The second fixing member 444 may include a second connecting rod to which one end of the second tentacle 445 is connected, the second connecting rod being fixed to the panel 410, and in one embodiment, a mounting groove 448 may be provided on the panel 410, and the second connecting rod may be fixed to the panel 410 through the mounting groove 448.

In one embodiment, the first and second impact transmitting assemblies of the present application are symmetrically disposed, and the first and second touch heads 421 and 422 are respectively disposed near the center line of the panel 410. First and

second tentacles

442 and 445, respectively, are made of a flexible material. And the shape of the first and

second tentacles

442 and 445, respectively, are outwardly convex arcs. The tentacles are made of flexible materials, have a buffering effect and can reduce damage to the robot. The flexible tentacles also have a certain buffering effect, so that the robot and the collided object are protected.

In the collision detection device of the present application, the trajectory of the touch head can be described as f (x, y, a) ═ 0, where x and y are touch head trajectories and a is a position coefficient at a collision point of the flexible whisker. The motion track of the touch head is related to the collision position of the flexible tentacle, because different collision points can change the effective deformation length of the flexible tentacle, and finally different collision positions have different tracks. Depending on the material, shape and mounting of the flexible antenna, the trajectory of the touch head can be described as f (x, y, a) ═ 0, where x, y are the touch head trajectories and a is the position coefficient at the impact point of the flexible antenna. Touch sensor 423 may feed back the x, y axis position of the point of contact. The touch head leaves a trajectory when sliding on the touch sensor 423 and is time-dependent, and the position of the collision can be obtained by fitting the trajectory and comparing f (x, y, a) with 0 to determine a coefficient a. The collision strength can be determined according to the functions of the directions of the x axis and the y axis with respect to time and the starting position and the ending position.

The collision transfer mechanism of the present application comprises one or more sets of collision transfer mechanisms that are evenly disposed around the face plate 410. The panel 410 may be a variety of shapes, such as circular, oval, square, or other shapes. In one embodiment, the panel 410 may be square, and the set of impact transmitting mechanisms may include a first impact transmitting member and a second impact transmitting member that are symmetrically disposed, and in another embodiment, a further set of impact transmitting mechanisms may be mounted on adjacent sides of the panel 410, or a set of impact transmitting mechanisms may be mounted on three or four sides of the panel 410.

The collision detection device can further comprise a notebook computer, the panel 410 can be a host of the notebook computer, the touch sensor 423 can be a touch screen of the notebook computer, and the processor can be a CPU of the notebook computer. The collision detection device can utilize an idle notebook computer to provide an external controller for the dust collection robot, fully uses the existing idle resources, and fully simplifies a control circuit of the dust collection robot. Usually, the notebook computer is provided with sensors, such as a touch pad and a camera, and the number and types of the extra sensors of the dust collection robot can be reduced by reasonably utilizing the sensors, so that the functions of obstacle avoidance, monitoring and the like are realized. The dust collection unit of the dust collection robot does not need an independent motor to provide power, and the number of the motors can be reduced.

The foregoing is a more detailed description of the present application in connection with specific embodiments thereof, and it is not intended that the present application be limited to the specific embodiments thereof. It will be apparent to those skilled in the art from this disclosure that many more simple derivations or substitutions can be made without departing from the spirit of the disclosure.

Claims

1. A dust collection robot comprises a driving mechanism, a transmission mechanism, a cleaning mechanism, a controller and a collision detection device; the method is characterized in that:

the collision detection device is used for detecting the force sum position of collision with the barrier; the control unit is used for controlling the operation of the motor,

for electrical connection with the collision detecting device and the cleaning mechanism, respectively, according to

The result detected by the collision detection device sends an instruction to the cleaning mechanism; the cleaning mechanism is arranged on the first transmission shaft and is used for cleaning according to the instruction.

2. The vacuum robot of claim 1, wherein the power steering assembly includes a first transmission, a second transmission, and a third transmission;

the first transmission device is used for limiting the power transmission direction and enabling the input power to be transmitted in a single direction; the second transmission device is used for transmitting the power transmitted in one direction along the horizontal direction; and the third transmission device is used for transmitting the power transmitted in the horizontal direction out along the vertical direction.

3. A vacuum robot as claimed in claim 2, wherein the first transmission comprises an overrunning clutch.

4. The robot cleaner of claim 3, wherein the second transmission means includes a cylindrical gear, a second transmission shaft, and a first bevel gear, the cylindrical gear is engaged with the overrunning clutch, the cylindrical gear and the first bevel gear are respectively provided at both ends of the second transmission shaft, and the first bevel gear is engaged with the third transmission means;

the transmission shaft is characterized by further comprising a supporting plate, wherein a mounting hole is formed in the supporting plate, and the second transmission shaft penetrates through the supporting plate.

5. The robot cleaner of claim 4, wherein the third transmission comprises a second bevel gear, the second bevel gear is sleeved on the first transmission shaft, and the first bevel gear and the second bevel gear are engaged.

6. The robot cleaner of any one of claims 1 to 5, wherein the collision detecting means includes a panel, a collision sensing mechanism, a controller, and one or more sets of collision transmitting mechanisms, the collision transmitting mechanism and the collision sensing mechanism being provided on the panel, respectively;

the collision transfer mechanism is arranged on the side surface of the panel and used for transferring the force borne by the collision to the collision sensing mechanism;

the collision sensing mechanism comprises a touch head and a touch sensor, the touch head is connected with the collision transfer mechanism, and the touch sensor is matched with the touch head and used for acquiring displacement track data of the touch head;

and the controller is used for processing the displacement track data to acquire the collision strength and position of the object.

7. The robot cleaner of claim 6, wherein the touch head comprises a first touch head and a second touch head, and the impact transmission mechanism comprises a first impact transmission assembly and a second impact transmission assembly;

the first collision transfer assembly comprises a first fixing piece, a first tentacle and a first connecting piece, the first tentacle is arranged on the panel through the first fixing piece, the first touch head is connected with the first tentacle through the first connecting piece, and the first tentacle is made of flexible materials;

the second collision transfer assembly comprises a second fixing piece, a second tentacle and a second connecting piece, the second tentacle is arranged on the panel through the second fixing piece, the second touch head is connected with the second tentacle through the second connecting piece, and the second tentacle is made of flexible materials.

8. The robot cleaner of claim 7, wherein the first collision transfer unit and the second collision transfer unit are symmetrically disposed, the first touch head and the second touch head are respectively disposed near a center line of the panel, and the first tentacle and the second tentacle are respectively shaped in an outwardly convex arc shape.

9. The robot cleaner of claim 8, wherein the trajectory of the touch head is described as f (x, y, a) 0, where x and y are touch head trajectories and a is a position coefficient at a collision point of the flexible tentacle.

10. The robot cleaner of claim 6, further comprising a laptop computer, wherein the panel comprises a laptop computer mainframe, the touch sensor comprises a laptop computer touch screen, and the controller comprises a laptop computer CPU.