CN212925901U - Cleaning equipment with active obstacle avoidance structure - Google Patents
Cleaning equipment with active obstacle avoidance structure Download PDFInfo
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- CN212925901U CN212925901U CN202020763958.7U CN202020763958U CN212925901U CN 212925901 U CN212925901 U CN 212925901U CN 202020763958 U CN202020763958 U CN 202020763958U CN 212925901 U CN212925901 U CN 212925901U
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- obstacle avoidance
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- sweeping
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- 238000004140 cleaning Methods 0.000 title claims abstract description 17
- 238000010408 sweeping Methods 0.000 claims abstract description 38
- 241001417527 Pempheridae Species 0.000 claims description 52
- 230000004888 barrier function Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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Abstract
The utility model provides a clean equipment with initiatively keep away barrier structure, include: cleaning the equipment main body; the sweeping brush assembly comprises a mounting seat, a driving connecting piece and a sweeping brush, wherein the mounting seat is mounted on the sweeping equipment main body, and the driving connecting piece is connected between the sweeping brush and the mounting seat; the control structure comprises a control main body and an obstacle avoidance sensor, the obstacle avoidance sensor is arranged on the mounting seat, and the obstacle avoidance sensor and the driving connecting piece are electrically connected with the control main body, so that the control main body controls the sweeping brush assembly to avoid obstacles. The technical scheme of the utility model the brush among the prior art has been solved effectively and has met the problem that the barrier can't initiatively keep away.
Description
Technical Field
The utility model relates to a clean the technical field of equipment, particularly, relate to an equipment that cleans with initiative obstacle avoidance structure.
Background
With the increasing importance of our country on the environment-friendly work, the road sweeper as an environment-friendly vehicle for cities is seen everywhere in daily life, and the cities where we live in become beautiful and clean due to the existence of the road sweeper. The road sweeper is a special sanitation vehicle provided with sweeping systems such as a sweeper and the like and is mainly used for cleaning operation of sanitation departments in large and medium-sized cities. Has the advantages of relieving the working strength of sanitation workers, improving the working efficiency, reducing secondary pollution such as dust emission and the like. The sweeper is an essential accessory for sweeping of the road sweeper, and the road sweeper cannot work if the sweeper is lacked. The problems of sweeping and scraping along the road frequently occur in the road sweeping process, and the sweeping brush is damaged while the road edge is damaged to a certain extent.
Although the existing sweeping brushes have certain obstacle avoidance capacity, the existing sweeping brushes are passive obstacle avoidance, and the precondition is that collision is taken as an input condition for obstacle avoidance activation. The invention provides a sweeper with an active obstacle avoidance function, which can adapt to terrain contours and realize obstacle avoidance by continuously monitoring the distance between the sweeper and obstacles such as road edges and the like and actively controlling.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a cleaning apparatus with an active obstacle avoidance structure, which can avoid obstacles actively when the sweeper in the prior art encounters obstacles.
In order to achieve the above object, the utility model provides a clean equipment with initiative obstacle avoidance structure, include: cleaning the equipment main body; the sweeping brush assembly comprises a mounting seat, a driving connecting piece and a sweeping brush, wherein the mounting seat is mounted on the sweeping equipment main body, and the driving connecting piece is connected between the sweeping brush and the mounting seat; the control structure comprises a control main body and an obstacle avoidance sensor, the obstacle avoidance sensor is arranged on the mounting seat, and the obstacle avoidance sensor and the driving connecting piece are electrically connected with the control main body, so that the control main body controls the sweeping brush assembly to avoid obstacles.
Furthermore, the distance between the sweeper and the obstacle is LS, the distance between the sweeper and the obstacle measured by the obstacle avoidance sensor is LT, and when LT is larger than LS, the driving connecting piece drives the sweeper to move towards the direction close to the obstacle; when LT is smaller than LS, the driving connecting piece drives the sweeper to move towards the direction far away from the obstacle; when LT is equal to LS, the distance between the sweeper and the obstacle is kept unchanged.
Further, the sweeper assembly further comprises a mechanical obstacle avoidance structure, one end of the mechanical obstacle avoidance structure is connected to the mounting seat, the other end of the mechanical obstacle avoidance structure is connected with the sweeper, and the driving connecting piece is connected to the mechanical obstacle avoidance structure.
Further, the barrier structure is kept away to machinery includes the horizontal hunting and keeps away the barrier structure, the horizontal hunting is kept away the barrier structure and is included the link, swing board and spring, the link includes the first connecting plate that the left and right directions extended and the second connecting plate that the fore-and-aft direction extends, the first end of first connecting plate links to each other with the mount pad, the first end of second connecting plate is connected at the second end of first connecting plate and is extended backward, the first end of spring is connected on first connecting plate, but the first end at swing board is connected to the second end pivot ground of spring, the second end at swing board is connected through the drive connecting piece to the brush, the drive connecting piece rotationally connects the second end at swing board, swing board rotationally connects on the second connecting plate.
Further, the driving connecting piece comprises a left driving connecting piece and a right driving connecting piece, the sweeping component further comprises a vertical plate, the first end of the left driving connecting piece and the first end of the right driving connecting piece are pivotally connected to the vertical plate, and the second end of the left driving connecting piece and the second end of the right driving connecting piece are pivotally connected to the second end of the swinging plate.
Furthermore, the sweeping brush assembly further comprises an upper connecting plate and a lower connecting plate, the first ends of the upper connecting plate and the lower connecting plate are pivotally connected to the vertical plate, and the second ends of the upper connecting plate and the lower connecting plate are pivotally connected to the sweeping brush.
Furthermore, the driving connecting piece also comprises an upper driving connecting piece and a lower driving connecting piece, the first ends of the upper driving connecting piece and the lower driving connecting piece are pivotally connected with the vertical plate, and the second ends of the upper driving connecting piece and the lower driving connecting piece are pivotally connected with the upper connecting plate and the lower connecting plate.
Furthermore, the sweeping assembly further comprises a rotary vertical plate, the rotary vertical plate is arranged on the upper surfaces of the upper connecting plate and the lower connecting plate, the rotary vertical plate is provided with a limiting long hole, the extending direction of the limiting long hole is consistent with the axial direction of the upper driving connecting piece and the lower driving connecting piece, the upper connecting plate and the lower connecting plate are connected with the rotary vertical plate through a pivot shaft, and the pivot shaft is arranged in the limiting long hole and can move along the extending direction of the limiting long hole.
Furthermore, the upper and lower driving connecting piece is a first hydraulic driving structure, a first electromagnetic valve is arranged on the first hydraulic driving structure, and the first electromagnetic valve is connected with the control structure.
Furthermore, the left and right driving connecting pieces are second hydraulic driving structures, second electromagnetic valves are arranged on the second hydraulic driving structures, and the second electromagnetic valves are connected with the control structure.
Use the technical scheme of the utility model, cleaning equipment when cleaning work, keeping away the information feedback of barrier sensor with the barrier to the control main part, the control main part avoids the barrier according to the program control brush subassembly that sets up in advance, and the barrier can be avoided voluntarily to the brush subassembly like this for the problem of collision can not appear with the barrier to the brush subassembly, has reduced the probability that the brush subassembly damaged like this. The technical scheme of the utility model the brush among the prior art has been solved effectively and has met the problem that the barrier can't initiatively keep away.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural diagram of an embodiment of a cleaning device with an active obstacle avoidance structure according to the present invention.
Wherein the figures include the following reference numerals:
10. a sweeper assembly; 11. a mounting seat; 12. a drive connection; 121. a left and right drive connection; 122. an upper and lower drive connection; 13. brushing; 14. a connecting frame; 15. a swing plate; 16. a spring; 17. an upper connecting plate and a lower connecting plate; 18. the vertical plate is rotated.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
As shown in fig. 1, the cleaning device with an active obstacle avoidance structure of the present embodiment includes: a sweeping apparatus body, a sweeper brush assembly 10 and a control structure. The sweeper brush assembly 10 comprises a mounting seat 11, a driving connecting piece 12 and a sweeper brush 13, wherein the mounting seat 11 is mounted on the sweeping equipment main body, and the driving connecting piece 12 is connected between the sweeper brush 13 and the mounting seat 11. The control structure comprises a control main body and an obstacle avoidance sensor, the obstacle avoidance sensor is arranged on the mounting seat 11, and the obstacle avoidance sensor and the driving connecting piece 12 are electrically connected with the control main body, so that the control main body controls the sweeper assembly 10 to avoid obstacles.
By applying the technical scheme of the embodiment, when the cleaning equipment performs cleaning work, the obstacle avoidance sensor feeds back information of the obstacle to the control main body, the control main body controls the sweeper assembly 10 to avoid the obstacle according to a program set in advance, so that the sweeper assembly 10 can actively avoid the obstacle, the problem that the sweeper assembly 10 collides with the obstacle is solved, and the probability of damage of the sweeper assembly is reduced. The technical scheme of this embodiment has solved the problem that the brush in the prior art meets the barrier and can't avoid the barrier voluntarily effectively.
As shown in fig. 1, in the technical solution of the present embodiment, the distance between the sweeper brush 13 and the obstacle is LS, and the distance between the sweeper brush 13 and the obstacle measured by the obstacle avoidance sensor is LT. When LT is greater than LS, the drive link 12 drives the sweeper brush 13 to move in a direction approaching the obstacle. When LT is smaller than LS, the drive link 12 drives the sweeper brush 13 to move away from the obstacle. When LT is equal to LS, the distance of the sweeper brush 13 from the obstacle remains unchanged. Therefore, the distance between the sweeper brush 13 and the obstacle is within a proper distance range, namely the sweeper brush 13 can actively avoid the obstacle through the measurement of the obstacle avoidance sensor, and the sweeper brush is prevented from being damaged due to collision with the obstacle. It should be noted that the obstacle avoidance sensor may measure a distance for a radar sensor, or measure a distance for an ultrasonic sensor.
As shown in fig. 1, in the technical solution of this embodiment, the sweeper brush assembly 10 further includes a mechanical obstacle avoidance structure, one end of the mechanical obstacle avoidance structure is connected to the mounting base 11, the other end of the mechanical obstacle avoidance structure is connected to the sweeper brush 13, and the driving connecting member 12 is connected to the mechanical obstacle avoidance structure. The provision of the mechanical obstacle avoidance structure further ensures the safety of the sweeper assembly 10, for example, when the control structure is malfunctioning, the mechanical obstacle avoidance structure can effectively achieve obstacle avoidance and ensure the safety of the sweeper assembly 10.
As shown in fig. 1, in the technical solution of this embodiment, the mechanical obstacle avoidance structure includes a horizontal swing obstacle avoidance structure, the horizontal swing obstacle avoidance structure includes a connection frame 14, a swing plate 15 and a spring 16, the connection frame 14 includes a first connection plate extending in a horizontal direction and a second connection plate extending in a front-back direction, a first end of the first connection plate is connected to the mounting seat 11, a first end of the second connection plate is connected to a second end of the first connection plate and extends backward, a first end of the spring 16 is connected to the first connection plate, a second end of the spring 16 is pivotally connected to a first end of the swing plate 15, the wiper 13 is connected to a second end of the swing plate 15 through a driving connection member 12, the driving connection member 12 is rotatably connected to a second end of the swing plate 15, and the swing plate 15 is rotatably connected to the second connection plate. The arrangement of the spring 16 ensures that the sweeper brush 13 can play a role of obstacle avoidance when being squeezed in the left-right direction. The structure has lower processing cost and convenient operation. In the present application, the moving direction of the cleaning device is defined as front and rear, and both sides of the cleaning device are defined as left and right.
As shown in fig. 1, in the technical solution of this embodiment, the driving link 12 includes a left driving link 121 and a right driving link 121, the sweeping brush assembly 10 further includes a vertical plate, a first end of the left driving link 121 and a second end of the right driving link 121 are pivotally connected to the vertical plate, and a second end of the left driving link 121 and a second end of the swinging plate 15 are pivotally connected to each other. The arrangement of the left and right driving connecting pieces 121 enables the sweeper brush 13 to move left and right, the left and right driving connecting pieces 121 also play a role in connecting the left and right swinging obstacle avoidance structures, components such as connecting rods do not need to be specially arranged, and the number of parts is reduced by the structure.
As shown in fig. 1, in the solution of this embodiment, the sweeper brush assembly 10 further includes an upper connecting plate 17 and a lower connecting plate 17, a first end of the upper connecting plate 17 and a first end of the lower connecting plate 17 are pivotally connected to the vertical plate, and a second end of the upper connecting plate 17 and a second end of the lower connecting plate 17 are pivotally connected to the sweeper brush 13. The arrangement of the upper and lower connecting plates 17 ensures that the sweeper 13 can move up and down. It is also possible that the upper and lower connecting plates 17 are replaced with connecting blocks or connecting rods, and the upper and lower connecting plates 17 extend in the same direction as the axial direction of the upper and lower driving links 122. The upper and lower connecting plates 17 are connected with the vertical plate through torsion springs as required.
As shown in fig. 1, in the technical solution of this embodiment, the driving link further includes an upper and lower driving link 122, a first end of the upper and lower driving link 122 is pivotally connected to the vertical plate, and a second end of the upper and lower driving link 122 is pivotally connected to the upper and lower connecting plates 17. The structure is compact.
As shown in fig. 1, in the technical solution of this embodiment, the sweeper assembly 10 further includes a rotating vertical plate 18, the rotating vertical plate 18 is disposed on the upper surface of the upper and lower connecting plates 17, the rotating vertical plate 18 has a limiting long hole, the extending direction of the limiting long hole is consistent with the axial direction of the upper and lower driving connecting members 122, the upper and lower connecting plates 17 are connected to the rotating vertical plate 18 through a pivot shaft, and the pivot shaft is disposed in the limiting long hole and can move along the extending direction of the limiting long hole. The width of the limiting long hole is slightly larger than the diameter of the pivoting shaft, and the length of the limiting long hole is far larger than the diameter of the pivoting shaft.
As shown in fig. 1, in the technical solution of this embodiment, the upper and lower driving connecting member 122 is a first hydraulic driving structure, and the first hydraulic driving structure has a first electromagnetic valve, and the first electromagnetic valve is connected to the control structure. The structure has lower processing cost and convenient arrangement. Further, the left and right driving connecting members 121 are also a second hydraulic driving structure, and a second electromagnetic valve is arranged on the second hydraulic driving structure and connected with the control structure.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A cleaning device with an active obstacle avoidance structure, comprising:
cleaning the equipment main body;
the sweeping brush assembly (10), the sweeping brush assembly (10) comprises a mounting seat (11), a driving connecting piece (12) and a sweeping brush (13), the mounting seat (11) is mounted on the sweeping equipment main body, and the driving connecting piece (12) is connected between the sweeping brush (13) and the mounting seat (11);
the control structure comprises a control main body and an obstacle avoidance sensor, the obstacle avoidance sensor is arranged on the mounting seat (11), and the obstacle avoidance sensor and the driving connecting piece (12) are electrically connected with the control main body, so that the control main body controls the sweeper assembly (10) to avoid obstacles.
2. A sweeping device with an active obstacle avoidance structure according to claim 1, wherein the sweeper assembly (10) further comprises a mechanical obstacle avoidance structure, one end of the mechanical obstacle avoidance structure is connected to the mounting base (11), the other end of the mechanical obstacle avoidance structure is connected to the sweeper (13), and the driving connection member (12) is connected to the mechanical obstacle avoidance structure.
3. The sweeping apparatus having an active obstacle avoidance structure according to claim 2, wherein the mechanical obstacle avoidance structure comprises a leftward and rightward swinging obstacle avoidance structure including a link frame (14), a swinging plate (15) and a spring (16), the link frame (14) includes a first link plate extending leftward and rightward and a second link plate extending forward and backward, a first end of the first link plate is connected to the mounting seat (11), a first end of the second link plate is connected to a second end of the first link plate and extends backward, a first end of the spring (16) is connected to the first link plate, a second end of the spring (16) is pivotably connected to a first end of the swinging plate (15), the sweeper (13) is connected to the second end of the swinging plate (15) through the driving connection member (12), the driving connecting piece (12) is rotatably connected to the second end of the swinging plate (15), and the swinging plate (15) is rotatably connected to the second connecting plate.
4. The sweeping device with an active obstacle avoidance structure according to claim 3, wherein the driving link (12) comprises a left driving link and a right driving link (121), the sweeping brush assembly (10) further comprises a vertical plate, a first end of the left driving link and the right driving link (121) is pivotally connected to the vertical plate, and a second end of the left driving link and the right driving link (121) is pivotally connected to a second end of the swing plate (15).
5. The sweeping device with the active obstacle avoidance structure according to claim 4, wherein the sweeper assembly (10) further comprises an upper connecting plate (17) and a lower connecting plate (17), a first end of the upper connecting plate (17) is pivotally connected to the vertical plate, and a second end of the upper connecting plate (17) is pivotally connected to the sweeper (13).
6. The sweeping device with the active obstacle avoidance structure according to claim 5, wherein the driving connection member (12) further comprises an upper and lower driving connection member (122), a first end of the upper and lower driving connection member (122) is pivotally connected to the vertical plate, and a second end of the upper and lower driving connection member (122) is pivotally connected to the upper and lower connection plate (17).
7. The sweeping equipment with the active obstacle avoidance structure according to claim 6, wherein the sweeping assembly (10) further comprises a rotary vertical plate (18), the rotary vertical plate (18) is arranged on the upper surface of the upper and lower connecting plates (17), the rotary vertical plate (18) is provided with a limiting long hole, the extending direction of the limiting long hole is consistent with the axial direction of the upper and lower driving connecting pieces (122), the upper and lower connecting plates (17) are connected with the rotary vertical plate (18) through a pivot shaft, and the pivot shaft is arranged in the limiting long hole and can move along the extending direction of the limiting long hole.
8. The sweeping device with the active obstacle avoidance structure according to claim 6, wherein the upper and lower driving connection member (122) is a first hydraulic driving structure, the first hydraulic driving structure is provided with a first electromagnetic valve, and the first electromagnetic valve is connected with the control structure.
9. The cleaning device with the active obstacle avoidance structure according to claim 4, wherein the left and right driving connection members (121) are a second hydraulic driving structure, and a second electromagnetic valve is arranged on the second hydraulic driving structure and connected with the control structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020763958.7U CN212925901U (en) | 2020-05-09 | 2020-05-09 | Cleaning equipment with active obstacle avoidance structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020763958.7U CN212925901U (en) | 2020-05-09 | 2020-05-09 | Cleaning equipment with active obstacle avoidance structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212925901U true CN212925901U (en) | 2021-04-09 |
Family
ID=75314966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020763958.7U Expired - Fee Related CN212925901U (en) | 2020-05-09 | 2020-05-09 | Cleaning equipment with active obstacle avoidance structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212925901U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114737508A (en) * | 2022-03-08 | 2022-07-12 | 杰瑞环境科技有限公司 | Cleaning device and sanitation car |
-
2020
- 2020-05-09 CN CN202020763958.7U patent/CN212925901U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114737508A (en) * | 2022-03-08 | 2022-07-12 | 杰瑞环境科技有限公司 | Cleaning device and sanitation car |
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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: 20210409 |