CN211093812U - Bionic hexapod wheel type cleaning robot - Google Patents
Bionic hexapod wheel type cleaning robot Download PDFInfo
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- CN211093812U CN211093812U CN201921865613.6U CN201921865613U CN211093812U CN 211093812 U CN211093812 U CN 211093812U CN 201921865613 U CN201921865613 U CN 201921865613U CN 211093812 U CN211093812 U CN 211093812U
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- air pump
- cleaning
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- steering engine
- wheel
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Abstract
A bionic hexapod wheel type cleaning robot comprises a robot body and supporting legs; the plurality of support legs are arranged at the edge of the machine body; the machine body comprises a shell, a cleaning device, a cleaning start-stop controller, a power supply and a supporting leg moving controller; the cleaning device, the cleaning start-stop controller, the power supply and the supporting leg movement controller are all arranged on the shell, the cleaning start-stop controller is connected with the cleaning device, the supporting leg movement controller is connected with the supporting legs, and the cleaning start-stop controller and the supporting leg movement controller are all connected to the power supply; the utility model discloses an existing wheeled robot of cleaning machines has the advantage of legged robot strideing across the obstacle again in the advantage of leveling subaerial quick motion, and the elasticity characteristics of air pump are gone up in the last cooperation, can clean tea table rubbish etc. can clean ground rubbish etc. again. Compared with the traditional floor sweeping cleaning robot which only can sweep the ground, the combination of the air pump and the wheels enables the robot to sweep low places such as the ground and high places such as a tea table.
Description
Technical Field
The utility model belongs to the technical field of bionic robot, especially, relate to a bionic six-legged wheel type cleaning robot.
Background
The cleaning robot is a special robot for human service, mainly used for cleaning and washing household sanitation and the like, and aims to reduce the housework burden of human beings. However, most of the existing household cleaning robots are concentrated on ground cleaning robots, and the cleaning at high positions such as tea tables and dining tables is lack of strength, and the cleaning still needs manual cleaning, thereby wasting time and labor. Meanwhile, the ground connection positions of all parts of houses such as living rooms and kitchens are uneven, and the cleaning robot has the phenomena of shell clamping, difficult crossing and the like at the uneven places due to small driving wheels, so that the working efficiency is seriously influenced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a bionic six-legged wheeled cleaning robot to solve above-mentioned problem.
In order to achieve the above purpose, the utility model adopts the following technology:
a bionic hexapod wheel type cleaning robot comprises a robot body and supporting legs; the plurality of support legs are arranged at the edge of the machine body; the machine body comprises a shell, a cleaning device, a cleaning start-stop controller, a power supply and a supporting leg moving controller; the cleaning device, the cleaning start-stop controller, the power supply and the supporting leg movement controller are all arranged on the shell, the cleaning start-stop controller is connected with the cleaning device, the supporting leg movement controller is connected with the supporting legs, and the cleaning start-stop controller and the supporting leg movement controller are all connected to the power supply;
the supporting legs comprise a first air pump device, a second air pump device, an auxiliary steering wheel, a root joint steering engine, a hip joint steering engine, a knee joint steering engine, a wheel steering engine and wheels; one end of the auxiliary steering wheel is connected with the machine body, the other end of the auxiliary steering wheel is connected with a root joint steering engine, the lower part of the root joint steering engine is connected with a hip joint steering engine through a connecting plate, the hip joint steering engine is connected with one end of a first air pump device through the connecting plate, the other end of the first air pump device is connected with a knee joint steering engine, the knee joint steering engine is connected with a second air pump device through the connecting plate, the second air pump device is connected with a wheel steering engine, and.
Further, the housing comprises a first housing, a second housing and a third air pump device; the first shell and the second shell are connected through two identical third air pump devices to form a shell.
Further, the first air pump device, the second air pump device and the third air pump device comprise air pumps and telescopic pipes; the air pump is arranged at the end part of the telescopic pipe.
Furthermore, cleaning device includes brush and cleans the cylinder, and brush and clean the cylinder and all set up the bottom at the casing.
Further, the support leg movement controller comprises an air pump controller and a steering engine controller; the air pump controller is connected with the first air pump device, the second air pump device and the third air pump device; the steering engine controller is connected with the root joint steering engine, the hip joint steering engine, the knee joint steering engine and the wheel steering engine.
Furthermore, the number of the supporting legs is six, and the two sides of the supporting legs are distributed on the two sides of the shell in equal number.
Compared with the prior art, the utility model discloses there is following technological effect:
the utility model discloses an existing wheeled robot of cleaning machines has the advantage of legged robot strideing across the obstacle again in the advantage of leveling subaerial quick motion, and the elasticity characteristics of air pump are gone up in the last cooperation, can clean tea table rubbish etc. can clean ground rubbish etc. again. Compared with the singleness that the traditional sweeping cleaning robot can only sweep the ground, the bionic six-foot wheel type cleaning robot innovatively adopts a steering engine, and the mode of combining an air pump and wheels enables the robot to sweep the low positions such as the ground and the high positions such as a tea table;
the utility model discloses a bionical six sufficient wheeled cleaning machines people both directly rolls through the wheel of great diameter and pass, and accessible drive joint steering wheel lifts the leg again and makes the strideing across.
The utility model discloses a body and shank are installed with cleaning device to bionical six sufficient wheeled cleaning machines people, have increaseed the cleaning area widely.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is an enlarged view of the fuselage portion of the present invention.
Fig. 4 is an enlarged view of a leg portion of the present invention.
The number 1 is the whole body of the machine body, which is used for placing a power supply, various driving devices and connecting legs;
the number 3 is a brush which is used for cleaning the garbage;
the number 4 is a roller for adsorbing the garbage cleaned by the brush;
the reference numeral 10 is a steering engine controller; controlling the rotation angle of the steering engine;
the reference number 13 is an auxiliary rudder disk which is used for connecting the steering engine and the machine body and between the steering engines;
The reference numeral 24 is a knee joint steering engine used for driving the lifting and putting down modes of the legs;
a 22-wheel steering engine for driving wheels;
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
referring to fig. 1 to 4, a bionic hexapod wheel type cleaning robot includes a body and legs; the plurality of support legs are arranged at the edge of the machine body; the machine body comprises a shell, a cleaning device, a cleaning start-stop controller 9, a power supply 8 and a supporting leg moving controller; the cleaning device, the cleaning start-stop controller 9, the power supply 8 and the supporting leg movement controller are all arranged on the shell, the cleaning start-stop controller 9 is connected with the cleaning device, the supporting leg movement controller is connected with the supporting legs, and the cleaning start-stop controller 9 and the supporting leg movement controller are all connected to the power supply 8;
the supporting legs comprise a first air pump device, a second air pump device, an auxiliary steering wheel 13, a root joint steering engine 14, a hip joint steering engine 15, a knee joint steering engine 24, a wheel steering engine 22 and wheels 23; one end of the auxiliary steering wheel 13 is connected with the machine body, the other end of the auxiliary steering wheel is connected with the root joint steering engine 14, the lower portion of the root joint steering engine 14 is connected with the hip joint steering engine 15 through a connecting plate, the hip joint steering engine 15 is connected with one end of the first air pump device through the connecting plate, the other end of the first air pump device is connected with the knee joint steering engine 24, the knee joint steering engine 24 is connected with the second air pump device through the connecting plate, the second air pump device is connected with the wheel steering engine 22, and the wheel.
The shell comprises a first shell, a second shell and a third air pump device; the first shell and the second shell are connected through two identical third air pump devices to form a shell.
The first air pump device, the second air pump device and the third air pump device comprise an air pump 6 and an extension pipe 5; an air pump 6 is arranged at the end of the telescopic tube 8.
The cleaning device comprises a brush 3 and a cleaning roller 4, and the brush 3 and the cleaning roller 4 are both arranged at the bottom of the shell.
The support leg movement controller comprises an air pump controller 11 and a steering engine controller 10; the air pump controller 11 is connected with the first air pump device, the second air pump device and the third air pump device; the steering engine controller 10 is connected with a root joint steering engine 14, a hip joint steering engine 15, a knee joint steering engine 24 and a wheel steering engine 22.
The number of the supporting legs is six, and the two sides of the supporting legs are distributed on the two sides of the shell in equal number.
When the device works, a start button on the cleaning start-stop control panel is pressed, the start-stop control panel is cleaned, and the steering engine control panel and the air pump control panel are electrified simultaneously to complete initialization. At the moment, the cleaning start-stop control panel sends instructions to the steering engine control panel and the air pump control panel to enable the air pump and the steering engine to start to move according to program instructions preset in programs in the cleaning start-stop control panel. When the ground garbage is cleaned, the air pump control panel controls the air pump to stop running, and the telescopic pipes controlled by the air pump are contracted together, so that the length of the leg is reduced; and meanwhile, the steering engine control board controls the steering engine at the hip joint to rotate, so that the height of the machine body is reduced, the wheel steering engine drives the wheels to start linear motion, the wheels are close to the ground to clean, if steering is needed, the turning angles of the steering engines at the root joints of the six legs are controlled, and the steering is performed through the cooperative motion of the root joints of the six legs.
When the garbage at the equal height of the tea table is cleaned, the air pump control panel controls the leg air pump to operate, the extension tube controlled by the air pump starts to extend, so that the length of the leg is increased, and meanwhile, the steering engine control panel controls the steering engine at the hip joint to rotate, so that the height of the machine body is increased, the legs at the two sides of the robot cross the two sides of the tea table, and the robot is cleaned close to the surface of the tea table for cleaning; if the tea table is wider than the robot body, the width of the tea table can be enlarged by controlling the air pump of the tea table body, and then cleaning work can be carried out. If the steering is needed, the turning angles of the steering engines of the root joints of the six legs are controlled, and the steering is carried out through the cooperative motion of the root joints of the six legs.
When crossing uneven ground joints, the wheels roll over the joints directly when passing through ground joints with smaller spans; for ground joints with large span, the joints are spanned by controlling three joints of each leg.
When the corner is cleaned, the steering engine which can control the joints of the legs to be out can lift or shorten the legs, and then the corner is cleaned.
Claims (6)
1. A bionic hexapod wheel type cleaning robot is characterized by comprising a robot body and supporting legs; the plurality of support legs are arranged at the edge of the machine body; the machine body comprises a shell, a cleaning device, a cleaning start-stop controller (9), a power supply (8) and a supporting leg moving controller; the cleaning device, the cleaning start-stop controller (9), the power supply (8) and the supporting leg movement controller are all arranged on the shell, the cleaning start-stop controller (9) is connected with the cleaning device, the supporting leg movement controller is connected with the supporting legs, and the cleaning start-stop controller (9) and the supporting leg movement controller are both connected to the power supply (8);
the supporting legs comprise a first air pump device, a second air pump device, an auxiliary steering wheel (13), a root joint steering engine (14), a hip joint steering engine (15), a knee joint steering engine (24), a wheel steering engine (22) and wheels (23); one end of the auxiliary steering wheel (13) is connected with the machine body, the other end of the auxiliary steering wheel is connected with the root joint steering wheel (14), the lower part of the root joint steering wheel (14) is connected with the hip joint steering wheel (15) through a connecting plate, the hip joint steering wheel (15) is connected with one end of the first air pump device through the connecting plate, the other end of the first air pump device is connected with the knee joint steering wheel (24), the knee joint steering wheel (24) is connected with the second air pump device through the connecting plate, the second air pump device is connected with the wheel steering wheel (22), and the wheel steering wheel (.
2. The bionic hexapod wheeled cleaning robot as claimed in claim 1, wherein the housing comprises a first housing, a second housing and a third air pump device; the first shell and the second shell are connected through two identical third air pump devices to form a shell.
3. The bionic hexapod wheel type cleaning robot as claimed in claim 2, wherein the first air pump device, the second air pump device and the third air pump device comprise an air pump (6) and a telescopic pipe (5); the air pump (6) is arranged at the end part of the telescopic pipe (5).
4. The bionic hexapod wheel type cleaning robot as claimed in claim 1, wherein the cleaning device comprises a brush (3) and a sweeping roller (4), and the brush (3) and the sweeping roller (4) are both arranged at the bottom of the shell.
5. The bionic hexapod wheel type cleaning robot as claimed in claim 2, wherein the support leg movement controller comprises an air pump controller (11) and a steering engine controller (10); the air pump controller (11) is connected with the first air pump device, the second air pump device and the third air pump device; the steering engine controller (10) is connected with a root joint steering engine (14), a hip joint steering engine (15), a knee joint steering engine (24) and a wheel steering engine (22).
6. The bionic hexapod wheel type cleaning robot as claimed in claim 1, wherein the number of the supporting legs is six, and the two sides are distributed on the two sides of the shell in equal number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921865613.6U CN211093812U (en) | 2019-10-31 | 2019-10-31 | Bionic hexapod wheel type cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921865613.6U CN211093812U (en) | 2019-10-31 | 2019-10-31 | Bionic hexapod wheel type cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211093812U true CN211093812U (en) | 2020-07-28 |
Family
ID=71708272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921865613.6U Expired - Fee Related CN211093812U (en) | 2019-10-31 | 2019-10-31 | Bionic hexapod wheel type cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211093812U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN113303699A (en) * | 2021-07-08 | 2021-08-27 | 长春工业大学 | Six-foot robot for stair cleaning |
| CN114568996A (en) * | 2022-05-06 | 2022-06-03 | 广东工业大学 | Spider cleaning robot |
-
2019
- 2019-10-31 CN CN201921865613.6U patent/CN211093812U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN113303699A (en) * | 2021-07-08 | 2021-08-27 | 长春工业大学 | Six-foot robot for stair cleaning |
| CN113303699B (en) * | 2021-07-08 | 2024-05-03 | 长春工业大学 | Six-foot robot for cleaning stairs |
| CN114568996A (en) * | 2022-05-06 | 2022-06-03 | 广东工业大学 | Spider cleaning robot |
| CN114568996B (en) * | 2022-05-06 | 2022-07-29 | 广东工业大学 | Spider cleaning robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200728 Termination date: 20211031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |