CN211690100U

CN211690100U - Novel automatic following dust absorption vehicle

Info

Publication number: CN211690100U
Application number: CN201921659234.1U
Authority: CN
Inventors: 吴松; 柯锋
Original assignee: Wuhan Daoda Robot Technology Co ltd
Current assignee: Wuhan Daoda Robot Technology Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-10-16
Anticipated expiration: 2029-09-30

Abstract

The utility model provides a novel automatic following dust absorption vehicle, including the dust absorption vehicle body and install the garbage bin that is used for loading rubbish and takes the truckle on the dust absorption vehicle body, the dust absorption vehicle body includes running gear, dust absorption mechanism, handle mechanism and follows the control unit, installs dust absorption mechanism and handle mechanism on the running gear respectively, and follows the control unit and be connected with the running gear electricity, and control chip MCU's PDO pin is connected with electric capacity C9's input electricity, the utility model discloses compare the complicated dust absorption equipment of structure, simple structure volume is littleer more nimble, and mobility is better, and the regional scope that can clean is more nimble convenient; compared with an industrial dust collector which is small in size and needs to be pushed to walk by manpower, the automatic following of the dust collector is achieved through autonomous driving, and the dust collector is more convenient to use, more labor-saving and higher in efficiency.

Description

Novel automatic following dust absorption vehicle

Technical Field

The utility model relates to a dirty-suction vehicle refuse treatment technical field, concretely relates to novel automatic following dirty-suction vehicle.

Background

At present, the cleaning treatment of urban garbage becomes an urgent problem to be solved in urban construction, wherein in the environmental sanitation work, most of dust collector equipment is large equipment which is refitted from the existing four-wheel vehicle or tricycle or an industrial dust collector which can be moved by hand pushing, but the large refitted vehicle equipment has limited use scenes due to large volume, the cleaning area of the equipment is limited to a sidewalk which is large in cleaning area such as a road and cannot well block the moving area, and the large dust collector equipment has large noise when in use and large volume, and is very easy to cause traffic jam when the road is cleaned; and another kind of less industrial vacuum cleaner of volume, because often need the manpower to promote, the slow clean inefficiency of action, to this to the technical defect that above-mentioned both dust collecting equipment exist, the utility model provides a novel automatic following dirty-suction vehicle for improve foretell technique not enough.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the not enough of above-mentioned technique, provide a simple structure is small, convenient operation is clean efficient and the automatic novel automatic dirty-suction vehicle of following of walking.

In order to achieve the technical purpose, the utility model provides a novel automatic following dust absorption vehicle, including the dust absorption vehicle body and install the garbage bin that is used for loading rubbish and takes the truckle on the dust absorption vehicle body, the dust absorption vehicle body includes running gear, dust absorption mechanism, handle mechanism and follows the control unit, install respectively on the running gear dust absorption mechanism and handle mechanism, just follow the control unit and be connected with the running gear electricity, follow the control unit and include control chip MCU, electric capacity C2, electric capacity C4, resistance R69, crystal oscillator Y2, electric capacity C9, electric capacity C10, resistance R77, electric capacity C12, electric capacity C13, electric capacity C16, electric capacity C17 and resistance R86 at least, the PDO pin of control chip MCU with the input electricity of electric capacity C9 is connected, the output ground connection of electric capacity C9, the input of electric capacity C9 still with the input of crystal oscillator Y2 is connected, an enable end of a crystal oscillator Y2 is connected with an output end of the capacitor C9, an output end of the crystal oscillator Y2 is connected with an input end of the capacitor C10, an input end of the capacitor C10 is further connected with a PD1 pin of the control chip, an output end of the capacitor C10 is grounded, an NRST pin of the control chip is connected with an input end of the resistor R77, an output end of the resistor R77 is externally connected with a direct-current power supply, an input end of the resistor R77 is further connected with one end of the capacitor C12, and the other end of the capacitor C12 is grounded; a VSSA pin of the control chip MCU is connected with one end of the capacitor C13, the other end of the capacitor C13 is connected with a VDDA pin of the direct-current power supply and the control chip, an Internet of things positioning two-in-one module is connected to a U2_ TX pin of the control chip, and an enabling end of the Internet of things positioning two-in-one module is connected to a U2_ RX pin of the control chip; the VSS _4 pin of the control chip is connected with the input end of the capacitor C17, the output end of the capacitor C17 is connected with the DC power supply and the VDD _4 pin of the control chip, the VSS _1 pin of the control chip is connected with one end of the capacitor C16, and the other end of the capacitor C16 is connected with the anode of the DC power supply; the BOOTO pin of the control chip is connected with one end of the resistor R69, the other end of the resistor R69 is grounded, the VSS _3 pin of the control chip MCU is connected with the input end of the capacitor C2, and the output end of the capacitor C2 is connected with the VDD _3 pin of the control chip MCU.

Furthermore, an SCL1 pin of the control chip MCU is connected with a resistor R9, an output end of the resistor R9 is connected with a resistor R78 and an ultrasonic wave plug-in CN17, the other end of the resistor R78 opposite to the resistor R9 is connected with a resistor R10, the other end of the resistor R10 is connected with a resistor R80, and the other end of the resistor R80 is connected with an SDA1 pin of the control chip MCU.

Furthermore, a pin SCL2 of the control chip MCU is connected to a resistor R109, the other end of the resistor R109 is connected to a resistor R107 and an ultrasonic plug-in CN29, the other end of the resistor R107 is connected to an input end of a resistor R106, an output end of the resistor R106 is connected to a resistor R112, and the other end of the resistor R112 opposite to the resistor R106 is connected to a pin SDA2 of the control chip MCU.

Furthermore, an SCL3 pin of the control chip MCU is also connected to an input terminal of a resistor R95, an output terminal of the resistor R95 is connected to a resistor R94 and an ultrasonic wave plug-in CN24, the other end of the resistor R94 is connected to a resistor R3, the other end of the resistor R3 opposite to the resistor R94 is connected to a resistor R2, and the other side of the resistor R2 is connected to an SDA3 pin of the control chip MCU.

Furthermore, an SCL4 pin of the control chip MCU is connected with a resistor R6, the other end of the resistor R6 is connected with a resistor R8 and an ultrasonic plug-in R4, the other end of the resistor R8 opposite to the resistor R6 is connected with a resistor R4, the output end of the resistor R4 is connected with a resistor R7, and the other end of the resistor R7 is connected to a pin of an SDA4 of the control chip MCU.

Furthermore, a BOOT1 pin of the control chip MCU is connected with an input end of the resistor R86, and an output end of the resistor R86 is grounded.

Further, running gear constructs, front wheel, rear wheel and rear axle including the chassis, the chassis steel constructs to be installed in the bottom of dirty-suction vehicle body the lower surface swing joint that the chassis steel constructs has the rear axle the front end swing joint of rear axle has the front wheel the rear end of rear axle then is connected with the rear wheel.

Further, dust absorption mechanism is including the motor that induced drafts, the motor mount pad that induced drafts, sleeve pipe, seal box and aspiration channel, the motor mount pad fixed mounting that induced drafts is on the dirty-suction vehicle body demountable installation has on the motor mount pad that induced drafts the motor that induced drafts, the output of the motor that induced drafts is equipped with the sleeve pipe, just sleeve pipe one end and the output fixed connection of the motor that induced drafts, the other end then swing joint in on the seal box, still movable mounting on the seal box have the aspiration channel.

Further, handle mechanism includes handle bar, pivot, axle pin mount pad and spring support piece, axle pin mount pad fixed mounting is on the dirty-suction vehicle body, just be equipped with the handle bar on the axle pin mount pad, just the handle bar pass through pivot rotatable coupling in on the axle pin mount pad one side of handle bar can be dismantled and be connected with spring support piece.

Furthermore, a steering motor is fixedly mounted on the side end face of the shaft pin mounting seat.

The utility model discloses compare in prior art following beneficial effect as follows: 1. compared with the dust collection equipment of the modified vehicle with a complex structure, the utility model has the advantages of simple structure, more compact mechanical space structure, smaller and more flexible volume, better maneuverability and more flexible and convenient cleaning area range; 2. compare in the small industry dust catcher that needs the manpower to promote the walking, the utility model discloses can realize independently that the drive is automatic to be followed, it is more convenient more laborsaving efficiency higher to use.

Drawings

The invention will be further explained with reference to the following figures and examples:

fig. 1 is a front view of the present invention;

fig. 2 is a left side view of the present invention;

fig. 3 is a schematic structural view of the middle pull rod mechanism of the present invention;

FIG. 4 is a circuit diagram of the following control unit of the present invention;

FIG. 5 is a schematic circuit diagram of a UWB module base station in a preferred embodiment;

FIG. 6 is a schematic circuit diagram of a preferred embodiment of an IOT location two-in-one module;

figure 7 is a schematic circuit diagram of an ultrasonic interposer in a preferred embodiment.

In the figure: the dust collection vehicle comprises a dust collection vehicle body 1, a garbage can 2, a traveling mechanism 3, a dust collection mechanism 4, a handle mechanism 5, a steering motor 6, a battery pack 7, a chassis steel structure 30, a front wheel 31, a rear wheel 32, a rear axle 33, an air suction motor 40, an air suction motor mounting seat 41, a sealing box 42, an air suction pipe 43, a handle rod 50, a shaft pin 51, a shaft pin mounting seat 52 and a spring support piece 53.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the above objects, the following detailed description of the embodiments, structures, features and effects of the present invention will be made with reference to the accompanying drawings and preferred embodiments, it should be understood that the embodiments described in the present invention are only used for explaining the present invention, and are not used for limiting the present invention.

Referring to fig. 1-7, the utility model provides a novel automatic following vacuum sweeper, including vacuum sweeper body 1 and garbage bin 2 installed on vacuum sweeper body 1 and used for loading rubbish and having casters, vacuum sweeper body 1 includes running gear 3, dust absorption mechanism 4, handle mechanism 5 and follow the control unit, install dust absorption mechanism 4 and handle mechanism 5 on the running gear 3 respectively, and follow the control unit and be connected with running gear 3 electricity, follow the control unit and include at least control chip MCU, electric capacity C2, electric capacity C4, resistance R69, crystal oscillator Y2, electric capacity C9, electric capacity C10, resistance R77, electric capacity C12, electric capacity C13, electric capacity C16, electric capacity C17 and resistance R86, wherein the model of this control chip MCU is STM32F103RCT6, and the PDO pin of control chip MCU is connected with the input of electric capacity C9, the output of electric capacity C9 is grounded, the input of electric capacity C9 is still connected with the input of crystal oscillator Y2, the enable end of the crystal oscillator Y2 is connected with the output end of the capacitor C9, the output end of the crystal oscillator Y2 is connected with the input end of the capacitor C10, the input end of the capacitor C10 is also connected with the PD1 pin of the control chip, the output end of the capacitor C10 is grounded, the NRST pin of the control chip is connected with the input end of the resistor R77, the output end of the resistor R77 is externally connected with a direct-current power supply, the input end of the resistor R77 is also connected with one end of the capacitor C12, and the other end of the capacitor C12 is grounded; a VSSA pin of the control chip MCU is connected with one end of a capacitor C13, the other end of the capacitor C13 is connected with a direct-current power supply and a VDDA pin of the control chip, a U2_ TX pin of the control chip is connected with an Internet of things positioning two-in-one module, the Internet of things positioning two-in-one module is a GPRS + GPS module MC20 module, and an enabling end of the Internet of things positioning two-in-one module is connected with a U2_ RX pin of the control chip; the VSS _4 pin of the control chip is connected with the input end of a capacitor C17, the output end of a capacitor C17 is connected with a direct-current power supply and the VDD _4 pin of the control chip, the VSS _1 pin of the control chip is connected with one end of a capacitor C16, and the other end of a capacitor C16 is connected with the anode of the direct-current power supply; a BOOTO pin of the control chip is connected with one end of a resistor R69, the other end of a resistor R69 is grounded, a VSS _3 pin of the control chip MCU is connected with an input end of a capacitor C2, an output end of the capacitor C2 is connected with a VDD _3 pin of the control chip MCU, a resistor R9 is connected with an SCL1 pin of the control chip MCU, an output end of a resistor R9 is connected with a resistor R78 and an ultrasonic plug-in CN17, the other end of the resistor R78, which is opposite to the resistor R9, is connected with a resistor R10, the other end of the resistor R10 is connected with a resistor R80, and the other end of the resistor R80 is connected with an SDA 1; the SCL3 pin of the control chip MCU is also connected with the input end of a resistor R95, the output end of the resistor R95 is connected with a resistor R94 and an ultrasonic plug-in CN24, the other end of the resistor R94 is connected with a resistor R3, the other end of the resistor R3 opposite to the resistor R94 is connected with a resistor R2, and the other side of the resistor R2 is connected with an SDA3 pin of the control chip MCU; the pin of the SCL4 of the control chip MCU is connected with a resistor R6, the other end of the resistor R6 is connected with a resistor R8 and an ultrasonic plug-in R4, the other end of the resistor R8 opposite to the resistor R6 is connected with a resistor R4, the output end of the resistor R4 is connected with a resistor R7, the other end of the resistor R7 is connected with the pin of the SDA4 of the control chip MCU, the pin of the BOOT1 of the control chip MCU is connected with the input end of the resistor R86, and the output end of the resistor R86 is grounded.

Adopt above-mentioned technical scheme, realize automatic following as required to the dust absorption body, use 3 UWB modules, wherein 2 are basic station A0A1, 1 is label T0, known A0A1 distance, the module is from calculating out A0T0, A1T0 distance, form a triangle-shaped, thereby it realizes the location to obtain the distance of moving label apart from the basic station center and angle still to solve the triangle-shaped, and then realize following.

Referring to fig. 1 and 2, the traveling mechanism 3 includes a chassis steel structure 30, a front wheel 31, a rear wheel 32, and a rear axle 33, the chassis steel structure 30 is installed at the bottom of the vacuum sweeper body 1, the lower surface of the chassis steel structure 30 is movably connected with the rear axle 33, the front end of the rear axle 33 is movably connected with the front wheel 31, the rear end of the rear axle 33 is connected with the rear wheel 32, and a steering motor 6 is fixedly installed on the side end surface of the axle pin installation seat 52.

When the technical scheme is adopted and the steering motor is electrified to operate, the torque force is transmitted to the front wheel and the rear wheel which are arranged under the chassis steel structure through the rear axle to drive the front wheel and the rear wheel to walk, and inconvenience caused by manpower pushing is avoided.

Referring to fig. 2, the dust suction mechanism 4 includes an air suction motor 40, an air suction motor mounting seat 41, a sleeve, a sealing box 42 and an air suction pipe 43, the air suction motor mounting seat 40 is fixedly mounted on the dust suction vehicle body 1, the air suction motor 40 is detachably mounted on the air suction motor mounting seat 40, the output end of the air suction motor 40 is provided with the sleeve, one end of the sleeve is fixedly connected with the output end of the air suction motor 40, the other end of the sleeve is movably connected to the sealing box 42, and the air suction pipe 43 is movably mounted on the sealing box 42. According to the structure, when the air suction motor is switched on to start normal work, the air suction motor generates negative pressure, air at the external atmospheric pressure enters the air suction motor through the air suction pipe, the sealing box and the sleeve, and the flowing air drives foreign matters such as dust to be sucked into the air suction pipe and filtered by the sealing box, so that the dust in the air sucked is cleaned, and the effect of dust collection is achieved.

As shown in fig. 3, the handle mechanism 5 includes a handle rod 50, a shaft pin 51, a shaft pin mounting seat 52 and a spring support 53, the shaft pin mounting seat 52 is fixedly mounted on the vacuum sweeper body 1, the handle rod 50 is arranged on the shaft pin mounting seat 52, the handle rod 50 is rotatably connected to the shaft pin mounting seat 52 through the shaft pin 51, the spring support 53 is detachably connected to one side of the handle rod 50, and when the handle rod is manually dragged, an operator can apply an acting force to the handle rod, so that the vacuum sweeper body can be moved.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and should not be considered as limitations of the present invention, and the protection scope of the present invention should be defined by the technical solutions described in the claims, and includes equivalent alternatives of technical features in the technical solutions described in the claims. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.

Claims

1. The novel automatic following dust collection vehicle comprises a dust collection vehicle body (1) and a garbage can (2) which is arranged on the dust collection vehicle body (1) and is used for loading garbage and is provided with casters, and is characterized in that the dust collection vehicle body (1) comprises a travelling mechanism (3), a dust collection mechanism (4), a handle mechanism (5) and a following control unit, wherein the dust collection mechanism (4) and the handle mechanism (5) are respectively arranged on the travelling mechanism (3), the following control unit is electrically connected with the travelling mechanism (3), the following control unit at least comprises a control chip MCU, a capacitor C2, a capacitor C4, a resistor R69, a crystal oscillator Y2, a capacitor C9, a capacitor C10, a resistor R77, a capacitor C12, a capacitor C13, a capacitor C16, a capacitor C17 and a resistor R86, a PDO pin of the control chip is electrically connected with an input end of the capacitor C9, and an output end of the capacitor C9 is grounded, the input end of the capacitor C9 is further connected with the input end of the crystal oscillator Y2, the enable end of the crystal oscillator Y2 is connected with the output end of the capacitor C9, the output end of the crystal oscillator Y2 is connected with the input end of the capacitor C10, the input end of the capacitor C10 is further connected with the PD1 pin of the control chip, the output end of the capacitor C10 is grounded, the NRST pin of the control chip is connected with the input end of the resistor R77, the output end of the resistor R77 is externally connected with a direct current power supply, the input end of the resistor R77 is further connected with one end of the capacitor C12, and the other end of the capacitor C12 is grounded; a VSSA pin of the control chip MCU is connected with one end of the capacitor C13, the other end of the capacitor C13 is connected with a VDDA pin of the direct-current power supply and the control chip, an Internet of things positioning two-in-one module is connected to a U2_ TX pin of the control chip, and an enabling end of the Internet of things positioning two-in-one module is connected to a U2_ RX pin of the control chip; the VSS _4 pin of the control chip is connected with the input end of the capacitor C17, the output end of the capacitor C17 is connected with the DC power supply and the VDD _4 pin of the control chip, the VSS _1 pin of the control chip is connected with one end of the capacitor C16, and the other end of the capacitor C16 is connected with the anode of the DC power supply; the BOOTO pin of the control chip is connected with one end of the resistor R69, the other end of the resistor R69 is grounded, the VSS _3 pin of the control chip MCU is connected with the input end of the capacitor C2, and the output end of the capacitor C2 is connected with the VDD _3 pin of the control chip MCU.

2. The novel automatic following dust collection vehicle as claimed in claim 1, wherein a resistor R9 is connected to an SCL1 pin of the control chip MCU, a resistor R78 and an ultrasonic plug-in CN17 are connected to an output end of the resistor R9, a resistor R10 is connected to the other end of the resistor R78 opposite to the resistor R9, a resistor R80 is connected to the other end of the resistor R10, and the other end of the resistor R80 is connected to an SDA1 pin of the control chip MCU.

3. The novel automatic following vacuum sweeper according to claim 1, wherein a resistor R109 is connected to a SCL2 pin of the control chip MCU, a resistor R107 and an ultrasonic plug-in CN29 are respectively connected to the other end of the resistor R109, the other end of the resistor R107 is connected to an input end of a resistor R106, an output end of the resistor R106 is connected to a resistor R112, and the other end of the resistor R112 opposite to the resistor R106 is connected to an SDA2 pin of the control chip MCU.

4. The novel automatic following vacuum sweeper according to claim 1, wherein an SCL3 pin of the control chip MCU is further connected with an input end of a resistor R95, an output end of the resistor R95 is connected with a resistor R94 and an ultrasonic plug-in CN24 in a branching manner, the other end of the resistor R94 is connected with a resistor R3, the other end of the resistor R3 opposite to the resistor R94 is connected with a resistor R2, and the other side of the resistor R2 is connected with an SDA3 pin of the control chip MCU.

5. The novel automatic following vacuum sweeper according to claim 1, wherein a resistor R6 is connected to a pin of SCL4 of the control chip MCU, a resistor R8 and an ultrasonic plug-in R4 are respectively connected to the other end of the resistor R6, a resistor R4 is connected to the other end of the resistor R8 opposite to the resistor R6, a resistor R7 is connected to an output end of the resistor R4, and the other end of the resistor R7 is connected to a pin of SDA4 of the control chip MCU.

6. The novel automatic following vacuum sweeper according to claim 1, wherein a BOOT1 pin of the control chip MCU is connected with an input end of the resistor R86, and an output end of the resistor R86 is grounded.

7. The novel automatic following vacuum cleaner as claimed in claim 1, wherein the traveling mechanism (3) comprises a chassis steel structure (30), a front wheel (31), a rear wheel (32) and a rear axle (33), the chassis steel structure (30) is mounted at the bottom of the vacuum cleaner body (1), the rear axle (33) is movably connected to the lower surface of the chassis steel structure (30), the front wheel (31) is movably connected to the front end of the rear axle (33), and the rear wheel (32) is connected to the rear end of the rear axle (33).

8. The novel automatic following vacuum sweeper according to claim 1, wherein the vacuum mechanism (4) comprises an air suction motor (40), an air suction motor mounting seat (41), a sleeve, a sealing box (42) and an air suction pipe (43), the air suction motor mounting seat (41) is fixedly mounted on the vacuum sweeper body (1), the air suction motor (40) is detachably mounted on the air suction motor mounting seat (41), the sleeve is arranged at the output end of the air suction motor (40), one end of the sleeve is fixedly connected with the output end of the air suction motor (40), the other end of the sleeve is movably connected to the sealing box (42), and the air suction pipe (43) is movably mounted on the sealing box (42).

9. The novel automatic following vacuum sweeper according to claim 1, wherein the handle mechanism (5) comprises a handle rod (50), a shaft pin (51), a shaft pin mounting seat (52) and a spring support member (53), the shaft pin mounting seat (52) is fixedly mounted on the vacuum sweeper body (1), the handle rod (50) is arranged on the shaft pin mounting seat (52), the handle rod (50) is rotatably connected onto the shaft pin mounting seat (52) through the shaft pin (51), and the spring support member (53) is detachably connected to one side of the handle rod (50).

10. The novel automatic following vacuum cleaner as claimed in claim 9, wherein a steering motor (6) is further fixedly mounted on the side end surface of the axle pin mounting seat (52).