CN213883087U - Kitchen wall cleaning robot - Google Patents
Kitchen wall cleaning robot Download PDFInfo
- Publication number
- CN213883087U CN213883087U CN202022395130.3U CN202022395130U CN213883087U CN 213883087 U CN213883087 U CN 213883087U CN 202022395130 U CN202022395130 U CN 202022395130U CN 213883087 U CN213883087 U CN 213883087U
- Authority
- CN
- China
- Prior art keywords
- cleaning robot
- module
- cleaning
- kitchen wall
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a kitchen wall cleaning robot, including cleaning robot automobile body, a controlling means for function extension and signal control, a bluetooth module for transmission control command, a belt cleaning device for realizing cleaning and washing, a gyro wheel module belt cleaning device for driving kitchen wall cleaning robot pivoted drive assembly, a keep away barrier device for detecting the barrier, an adsorption equipment for realizing kitchen wall cleaning robot adsorbs on the wall links to each other with controlling means with gyro wheel module belt cleaning device who is used for gesture angle control, send command control and gyro wheel module through bluetooth module and carry out the gesture operation, through bluetooth module input control mode carries out the washing task of kitchen wall. Can realize through drive assembly that this kitchen cleaning robot is oblique preceding, oblique back, oblique left and oblique right, improve abluent efficiency greatly, improve kitchen wall abluent work efficiency on the one hand, on the other hand reduces people's intensity of labour, reduces kitchen washing latency.
Description
Technical Field
The utility model relates to a cleaning machines people technical field, in particular to kitchen wall cleaning machines people.
Background
The cleaning robot car body is a device for realizing the air cleaning operation of the vertical wall surface, and the cleaning robot is mainly divided into three types according to the current research conditions at home and abroad.
The wall surface rail type cleaning robot has the advantages that the high-altitude wall surface advancing rail is installed on the outer wall surface when a building is built, when the high-altitude wall surface is cleaned, the cleaning robot is dragged to move back and forth along the high-altitude wall surface guide rail through the cantilever crane device fixed on the top of the building to complete the cleaning task, but due to the cleaning design of the wall surface rail, the overall design of the high building is limited, the appearance of the high building is greatly influenced, and the application range of the cleaning robot is greatly limited.
The vacuum adsorption cleaning robot is characterized in that the robot is adsorbed to the high-altitude wall surface of an outer wall by virtue of a vacuum sucker, a cleaning task is completed by the movement of a moving mechanism of the robot on the high-altitude wall surface, the movement is slow, the robot can be divided into two adsorption moving modes of a single sucker and a plurality of suckers, however, the requirement on the sealing property of the vacuum sucker is high by adopting a vacuum pumping method, the structure is complex, the manufacturing cost is high, and the adaptability of the sucker structure to the high-altitude wall surface is poor.
The magnetic adsorption cleaning robot is adsorbed on the high-altitude wall surface by a magnetic adsorption material, generally has stronger adsorption force, can realize adsorption movement on the high-altitude wall surface through a magnetic crawler, wheels, a sucker or a foot type structure, and completes cleaning operation, but the robot can only work on the high-altitude wall surface made of specific materials, so the application range is greatly limited.
With the continuous expansion of the application field of the robot technology, a plurality of robots for cleaning the outer wall of the high-rise building appear, and the adsorption mode is more various. The problems of insecure adsorption, low safety and low walking efficiency of the existing cleaning robot generally exist. The household wall scrubbing robot with multifunctional selection is more and more valued by people because the automatic scrubbing function cannot be realized.
In the prior art, when dirt exists on the inner wall of a kitchen, cleaning is carried out by using cleaning cloth manually, and after the wet cleaning cloth cleans the wall surface, the cleaning is carried out by using dry cleaning cloth, so that the efficiency is low, and the labor amount is increased; the reality is with novel kitchen wall cleaning robot, uses manual button or gesture to carry out remote control, accomplishes the kitchen and washs the task, and this kitchen wall cleaning robot has to spout and cleans integrative device, can be stable clean the work on the kitchen wall, very big reduction people's work load, also improved kitchen wall abluent efficiency, use the water spray pump to spout and clean integrative device and wash, practice thrift the water source.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims at providing an improve kitchen wall cleaning work efficiency's kitchen cleaning robot.
In order to achieve the purpose, the utility model provides a kitchen wall cleaning robot, which comprises a cleaning robot body, a control device for function expansion and signal control, a Bluetooth module for transmitting control instructions, a cleaning device for scrubbing and flushing, a driving component for driving the kitchen wall cleaning robot to rotate, an obstacle avoidance device for detecting obstacles, an adsorption device for adsorbing the kitchen wall cleaning robot to the wall and a gyroscope module for gesture angle control, wherein the cleaning device is connected with the control device, the cleaning device and the control device are both arranged in front of the cleaning robot body, the adsorption device is connected with the control device, the adsorption device is arranged in the middle of the cleaning robot body, the obstacle avoidance device is connected with the control device, the obstacle avoidance device is arranged in the front of the cleaning robot body, the Bluetooth module is connected with the control device, the cleaning robot comprises a cleaning robot body, a control device, a driving assembly, a gyroscope module and a wireless transmitting module, wherein the cleaning robot body is provided with a cleaning robot; the gyroscope module is a multi-axis motion processing sensor.
Furthermore, the control device comprises an expansion module and a single-chip microcomputer control module, the expansion module is connected with the single-chip microcomputer control module, and the Bluetooth module, the cleaning device, the driving assembly, the obstacle avoidance device, the adsorption device and the gyroscope module are respectively connected with the expansion module.
Further, keep away the barrier device and include the steering wheel, the ultrasonic module, motor drive chip, the steering wheel support, the steering wheel passes through top machine support mounting in the front portion of cleaning robot automobile body, steering wheel and motor drive chip communication connection, the ultrasonic module, the steering wheel respectively with singlechip control module communication connection, the steering wheel forms the ultrasonic detection device of 180 scanning with ultrasonic module is fixed, ultrasonic detection device is used for detecting the barrier signal, when ultrasonic detection device detects the barrier signal, ultrasonic detection device generates control signal behind transmitting barrier signal to singlechip control module, thereby singlechip control module drives cleaning robot automobile body removal after transmitting the control signal who generates for drive assembly and realizes keeping away barrier and wall and wash.
Further, belt cleaning device is including spraying the subassembly and wasing the subassembly, wash the subassembly and spray the subassembly and be connected with expansion module respectively, it includes a plurality of sponges to wash the subassembly, the cotton, and a support, fixing device, support one end is connected with fixing device, the other end inserts on the top of a peg-up machine, the cotton is placed and is fixed on the cleaning robot automobile body through fixing device after between a plurality of sponges, it includes the water jet pump to spray the subassembly, the liquid storage pot, the liquid pipe, shower nozzle and oval cup, the liquid storage pot links to each other with the water jet pump, the water jet pump links to each other with the one end of liquid pipe, the other end of liquid pipe links to each other with the shower nozzle, oval cup installs on the shower nozzle.
Furthermore, the singlechip control module is electrified, the singlechip transmits a control signal to the ultrasonic detection device after receiving the control signal sent by the Bluetooth module, the steering engine and the ultrasonic module start to work, and the steering engine continuously rotates to drive the cleaning assembly and the spraying assembly to scrub and spray liquid to clean oil stains and dust on the wall surface.
Further, adsorption equipment is connected with brushless motor including electricity accent, duct fan and brushless motor, and the duct fan is connected with brushless motor, and the duct fan passes through the support to be fixed to the cleaning robot automobile body on, produces the thrust after the duct fan circular telegram to make cleaning robot hug closely in climbing the wall, the duct fan is through rotatory electricity accent change thrust size.
Furthermore, the diameter of the fan blade of the ducted fan is 35-50mm, the rated current of the electric regulation is 25-40A, and the reverse thrust is 7.54-9.5N.
Furthermore, the water spray pump is of a diaphragm type structure, and the spray head is a high-pressure adjusting spray head.
Furthermore, the driving assembly is a Mecanum wheel and a motor for 3D printing, the Mecanum wheel is in driving connection with the motor, and the motor is a speed reduction motor with the speed of 75-100 rad/min.
The utility model discloses technical scheme is through above-mentioned kitchen wall cleaning robot, sends command control and gyroscope module through bluetooth module and carries out the gesture operation, through bluetooth module input control mode, carries out the washing task of kitchen wall. Can realize through drive assembly that this kitchen cleaning robot is oblique preceding, oblique back, oblique left and oblique right, improve abluent efficiency greatly, improve kitchen wall abluent work efficiency on the one hand, on the other hand reduces people's intensity of labour, reduces kitchen washing latency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of a kitchen wall cleaning robot of the present invention;
fig. 2 is an exploded view of a kitchen wall cleaning robot according to the present invention;
FIG. 3 is a block diagram of the working principle of the kitchen wall cleaning robot;
fig. 4 is a side view of a cleaning device in a kitchen wall cleaning robot according to the present invention;
fig. 5 is a schematic structural view of a cleaning device in a kitchen wall cleaning robot according to the present invention;
fig. 6 is a schematic structural view of a spraying device in the kitchen wall cleaning robot of the present invention;
fig. 7 is a schematic structural view of an obstacle avoidance device in the kitchen wall cleaning robot of the present invention;
fig. 8 is a schematic structural view of a ducted fan in a kitchen wall cleaning robot according to the present invention;
fig. 9 is a schematic circuit diagram of a gyroscope module in the robot for cleaning kitchen walls;
fig. 10 is an illustration showing an example of a cleaning scheme of a kitchen wall cleaning robot of the present invention;
fig. 11 is a force diagram of an adsorption device in a kitchen wall cleaning robot of the present invention;
fig. 12 is a schematic circuit diagram of a wireless transmission module in the kitchen wall cleaning robot of the present invention;
reference numerals: the robot comprises a spraying device 1, a driving component 2, a cleaning robot body 3, a spraying component 4, a cleaning component 5, a wireless sending module 6, a singlechip control module 7, an expansion module 8, a Bluetooth module 9, an adsorption device 10, a brushless motor 11, an obstacle avoidance device 12, cotton cloth 13, sponge 14, a bracket 15, a fixing device 16, an oval cup cover 17, a spray head 18, a liquid pipe 19, a water spray pump 20, a liquid storage tank 21, an ultrasonic module 22, a steering engine 23 and a steering engine bracket 24-25 ducted fan.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a kitchen wall cleaning robot.
In the embodiment of the present invention, as shown in fig. 1-3, the kitchen wall cleaning robot comprises a cleaning robot body 3 for carrying devices, a control device for function expansion and signal control, a bluetooth module 9 for transmitting control commands, a cleaning device for realizing scrubbing and flushing, a driving assembly 2 for driving the kitchen wall cleaning robot to rotate, an obstacle avoidance device 12 for detecting obstacles, an adsorption device 10 for realizing adsorption of the kitchen wall cleaning robot to a wall, and a gyroscope module (not shown) for gesture angle control, wherein the cleaning device is connected with the control device 4, the cleaning device and the control device 4 are respectively installed in front of the cleaning robot body 3, the adsorption device 10 is connected with the control device 4, the adsorption device 10 is installed in the middle of the cleaning robot body 3, and the obstacle avoidance device 12 is connected with the control device 4, keep away barrier device 12 and install in cleaning robot automobile body 3 front portion, bluetooth module 9 meets with controlling means 4, and bluetooth module 9 is installed in cleaning robot automobile body 3 top, and controlling means 4 passes through wireless sending module 6 wireless connection with bluetooth module 9, and drive assembly 2 is connected with controlling means 4 drive, and drive assembly 2 installs in cleaning robot automobile body 3 bottom, gyroscope module and controlling means 4 wireless connection. The control device 4 comprises an extension module 8 and a single-chip microcomputer control module 7, the extension module 8 is connected with the single-chip microcomputer control module 7, and the Bluetooth module 9, the cleaning device, the driving assembly 2, the obstacle avoidance device 12, the adsorption device 10 and the gyroscope module are respectively connected with the extension module 8.
Make wall robot fix to the wall through adsorption equipment 10 on, utilize gyroscope module and 9 control kitchen wall cleaning robot of bluetooth module to walk on the wall, use drive assembly 2, the limitation of removal has been reduced, kitchen wall cleaning robot's all direction movement has been promoted, the stability and the wall abluent clean nature of robot are improved simultaneously, it has can replace manual washing of people, the manpower has been liberated, advantages such as the danger of cleaning operation has been reduced. The gyroscope module is worn on a hand in the using process, data detected by the gyroscope module are transmitted to the single-chip microcomputer control system by changing gestures, the NRF24L01 wireless sending module 6 is used for transmitting data with the single-chip microcomputer control system on the cleaning robot, and the walking direction of the kitchen wall cleaning robot is driven according to the data; and inputting a control mode through the Bluetooth module 9 to perform a cleaning task of the kitchen wall.
Kitchen wall cleaning robot can send information instruction to single chip microcomputer control system through bluetooth module 9 on, it is automatic and two kinds of modes manual mainly, when the user end is automatic mode through the instruction that bluetooth module 9 sent, wall robot is automatic to work on the kitchen wall, the work of wiping and spraying water is accomplished with the water spray pump 20 water spray to the walking in-process through steering wheel 23 continuous rotation drive washing subassembly 5, when meetting the barrier, kitchen wall cleaning robot judges the walking route through ultrasonic module 22, thereby the work of kitchen wall cleaning deoiling is continued to carry out to the realization avoiding the barrier.
If the oil stain is more, the mixed cleaning agent can be filled in the liquid storage tank 21, so that the oil removing efficiency is improved; when the send instruction is manual mode, if want the fixed point to clean, just can send walking instruction through bluetooth module 9, the work of deoiling is carried out according to the route of oneself setting for, when the task is cleaned in kitchen wall cleaning robot automatic work has the omission, also can use manual completion to wash, if other unexpected circumstances (influenced the bluetooth and connect unstability or do not want to carry out bluetooth control by the region) appear in the bluetooth connection, can utilize outer gesture device of wearing (having the gyroscope module) control kitchen wall cleaning robot to accomplish the cleaning task, this cleaning mode washs conveniently, stably, can improve user's washing enjoyment simultaneously.
As shown in fig. 7, the obstacle avoidance device 12 includes a steering engine 23, an ultrasonic module 22, a motor driving chip, and a steering engine support 2415, the steering engine 23 is installed on the front portion of the kitchen wall cleaning robot body 3 through a gyro support 15, the steering engine 23 is in communication connection with the motor driving chip (not shown), the ultrasonic module 22 and the steering engine 23 are respectively in communication connection with the single chip microcomputer control module 7, the steering engine 23 and the ultrasonic module 22 are fixed to form an ultrasonic detection device for 180-degree scanning, the ultrasonic detection device is used for detecting obstacle signals, when the ultrasonic detection device detects the obstacle signal, the ultrasonic detection device transmits the obstacle signal to the single chip microcomputer control module 7 and then generates a control signal, and the single chip microcomputer control module 7 transmits the generated control signal to the driving assembly 2 and then drives the kitchen wall cleaning robot body 3 to move, so that obstacle avoidance and wall cleaning are achieved. The obstacle avoidance device 12 utilizes a control port of the ultrasonic module 22 to send a high level of more than 10US, the receiver interface waits for the output of the high level, a timer can be started to time when the output exists, the value of the timer can be read when the port is changed into the low level, and the distance can be calculated according to the time of distance measurement, so that the obstacle avoidance can be carried out according to the judgment of the distance.
As shown in fig. 4-6, the cleaning device comprises a spraying component 4 and a cleaning component 5, the cleaning component 5 and the spraying component 4 are respectively connected with an expansion module 8, the cleaning component 5 comprises a plurality of sponges 14, cotton cloth 13, a support 15 and a fixing device 16, one end of the support 15 is connected with the fixing device 16, the other end of the support is inserted into a gyroscope, the cotton cloth 13 is placed among the sponges 14 and then fixed on the kitchen wall cleaning robot body 3 through the fixing device 16, the spraying component 4 comprises a water spraying pump 20, a liquid storage tank 21 and a liquid pipe 19, a spray head 18 and an oval cup 17, the liquid storage tank 21 is connected with the water spraying pump 20, the water spraying pump 20 is connected with one end of the liquid pipe 19, the other end of the liquid pipe 19 is connected with the spray head 18, and the oval cup 17 is installed on the spray head 18. Cleaning assembly 5 comprises a cotton 13 and two sponges 14, and specific two sponges 14 set up the cotton 13 left and right sides respectively, hug closely cleaning assembly 5 and wall together when scrubbing the work, fix on kitchen wall cleaning robot through fixing device 16, accomplish when kitchen wall cleaning robot removes and clean. The fixing device 16 is made by 3D printing in order to be able to freely adjust the height and tightness of the fixing, and to be able to be freely detached for cleaning. The spraying component 4 comprises a spraying pump 20, a liquid storage tank 21, a liquid pipe 19, a spraying head 18 and an oval cup cover 17, wherein the spraying head 18 is inserted into the oval cup cover 17, one end of the liquid pipe 19 is inserted into the oval cup cover 17, the other end of the liquid pipe is inserted into the spraying pump 20, and a port at one end of the spraying pump 20 is fixed with the liquid storage tank 21; wherein the water spray pump 20 is a diaphragm type structure, the water spray pump 20 is a 365 water pump with 5V, and the spray head 18 adopts a high-pressure regulating spray head 18 with a cover.
In this embodiment, the single chip microcomputer control module 7 is powered on, the single chip microcomputer transmits a control signal to the ultrasonic detection device after receiving the control signal sent by the bluetooth module 9, the steering engine 23 and the ultrasonic module 22 start to work, and the steering engine 23 continuously rotates to drive the cleaning assembly 5 and the spraying assembly 4 to scrub and spray liquid to clean oil stains and dust on the wall surface. Kitchen wall cleaning robot can send information instruction to single chip microcomputer control system through bluetooth module 9 on, it is automatic and two kinds of modes manual mainly to have, when the instruction of sending with bluetooth module 9 is automatic mode, the robot is automatic to work on the kitchen wall, the work of wiping and water spray is accomplished through steering wheel 23 continuous rotation cleaning assembly 5 and the water jet pump 20 water spray to the walking in-process, when meetting the barrier, the walking route is judged through the ultrasonic wave to the robot, thereby avoid the barrier to continue to carry out the work of kitchen wall cleaning deoiling. If the oil stain is more, the mixed cleaning agent can be filled in the liquid storage tank 21, so that the oil removing efficiency is improved.
As shown in fig. 8, the adsorption device 10 includes an electric regulator (not shown), a ducted fan 25 and a brushless motor 11, the brushless motor 11 is electrically connected with the electric regulator, the ducted fan 25 is connected with the brushless motor 11, the ducted fan 25 is fixed to the kitchen wall cleaning robot body 3 through a bracket 15, and the ducted fan 25 generates a reverse thrust after being powered on, so that the kitchen wall cleaning robot is attached to the wall surface to be climbed, and the ducted fan 25 changes the size of the reverse thrust through the rotation electric regulator. The rotational speed size is adjusted through electricity to duct fan 25, changes the reverse thrust size, and duct fan 25 can adjust wind-force through electricity adjusting promptly, makes it adapt to different wall environment, reaches the stable best rotational speed of kitchen wall cleaning robot, adsorbs kitchen wall cleaning robot on the kitchen wall through duct fan 25. The electric speed regulator can change modes by adjusting speed through a key, one mode is through a rotary button, and the other mode is automatic speed increasing after being electrified. The diameter of the fan blade of the ducted fan 25 is 50mm, the rated current of the electric regulation is 40A, and the maximum value of the reverse thrust is 9.5N.
As shown in fig. 11, the kitchen wall cleaning robot adsorbs instructions:
when the kitchen wall cleaning robot works on a vertical wall, the robot is subjected to safe stress analysis of any posture in a vertical plane. In order to simplify the analysis, the force state of the wall-climbing robot in the straight-line upward motion state with the highest requirement on the adsorption force is only needed to be analyzed, when the kitchen wall robot moves linearly upward on a vertical plane in an angle posture with the vertical direction, the force is shown in figure 3, and according to the Dalebel virtual power principle and the force balance relation, the force equation of the straight-line motion of the robot in any posture on the vertical wall surface is as follows:
in the formula: the kitchen wall cleaning robot is subjected to gravity; driving wheel friction for a kitchen wall cleaning robot; the friction force of the wall to the cleaning module is the pressure of the wall acting on each road wheel (N1, N2, N3 and N4 are the pressures borne by four road wheels respectively); an equivalent resultant force in the kitchen wall cleaning robot body generated for the high-speed rotation of the ducted fan 25; the radial distance of the wheels is B, and the axial distance of the wheels is B; and order>(ii) a The distance from the center of gravity of the kitchen wall cleaning robot to the upper wall of the kitchen is determined; is the coefficient of friction between the wheel and the wall; the friction force generated by the moving wheel provides driving force for the kitchen wall cleaning robot, and F is providedf＝μ1Fp1。
According to the above formula analysis, the minimum thrust force to satisfy the robot motion condition can be expressed as:
in the formula: is the coefficient of friction between the cleaning module and the kitchen wall.
When the kitchen wall cleaning robot moves to scrub, the 4 Mecanum wheels are required to be in contact with the wall, namely, the condition must be met, and the minimum thrust is at least:
the minimum thrust of the kitchen wall cleaning robot is calculated to be 7.54N by calculating and measuring relevant data of the kitchen wall cleaning robot and substituting the data into the formula, and a proper ducted fan 25 is selected according to the minimum thrust.
In this embodiment, the driving assembly 2 is a mecanum wheel and a motor for 3D printing, the mecanum wheel is in driving connection with the motor, and the motor is a speed reduction motor with 6V/100 rad/min. The Mecanum wheel is made of ABS through 3D printing, and the kitchen wall cleaning robot adopts the Mecanum wheel and can directly move left and right, move forward and retreat, so that all-dimensional cleaning work is realized. The motor drive is fixed on the kitchen wall cleaning robot car body 3 through a motor fixing device 16.
As shown in fig. 9, the gyroscope module is a model mpu6050 9-axis motion processing sensor. The gyroscope module adopts an mpu6050 type 9-axis motion processing sensor, integrates a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, is provided with a digital motion processing function of DMP, and has high-performance and high-precision detection capability. As shown in fig. 12, the utility model discloses well gyroscope module chip 1 st foot is connected GND, the one end and the 1 st foot of electric capacity C11 are connected, the other end and the 7 th foot of electric capacity C11 are connected, and connect 3.3V's voltage, the 9 th foot is connected to the one end of electric capacity C13, GND and 13 th foot are connected to the other end, R4 links together back and is connected with 3.3V's voltage with R5, the 2 nd foot is connected to the other end of R4, the 4 th foot is connected to the other end of R5, a 47 Ω resistance is connected respectively to R7 and R8. The 10 th pin is connected with one end of a capacitor C14, the other end of the capacitor C14 is connected with the 14 th pin and GND, and the 16 th pin is connected with 3.3v of voltage. As shown in fig. 12, the utility model provides a wireless transmitting module, its data that utilizes the gesture change to produce is sent with NRF24L01 module, NRF24L01 module chip model is SI24RI, 7 th pin is connected with the one end of electric capacity C1 and C2, the other end connects GND, electric capacity C1 is connected with VCC, 9 th pin and 10 th pin are connected respectively to the both ends of crystal oscillator Y1, GND is connected with the one end of C4, the 9 th pin is connected to the other end, GND is connected with the one end of C5, the 10 th pin is connected to the other end, the one end of inductance L3 is connected to 12 th pin, the one end of electric capacity C7 is connected to the other end, GND is connected with this end, the one end of electric capacity C6 is connected to the one end of electric capacity C7, the other end of electric capacity C6 is connected, the both ends of electric inductance L1 are connected to 13 th pin and 12 th pin, the end that is connected with electric capacity L2 adjacent to 13 th pin, L2 one end is connected with electric capacity C8, the other end and GND are connected with electric capacity C9.
The specific working mode of the kitchen wall cleaning robot is as follows:
during the automatic mode, wash subassembly 5 and spray subassembly 4 work, the singlechip control system is gone up the electricity, and control signal transmits for ultrasonic detection device, steering wheel 23 and ultrasonic module 22 begin work, and steering wheel 23 is rotatory, and ultrasonic detection device detects the barrier signal, feeds back the barrier signal that detects to singlechip control system, and singlechip control system transmits control signal for motor drive chip, and control kitchen wall cleaning robot removes, accomplishes the self-cleaning task.
In a manual mode, the cleaning assembly 5 and the spraying assembly 4 work, the single chip microcomputer control system is powered on, a user is connected with the Bluetooth module 9 through user side app, a control signal is sent to the Bluetooth module 9 at the user side, the Bluetooth module 9 transmits the signal to the single chip microcomputer control system and then to the motor driving chip, and the kitchen wall cleaning robot is controlled to move; and during gesture control, the gyroscope module starts to work, processed data signals are transmitted to the single-chip microcomputer control system, and then the signals are wirelessly transmitted to a wireless receiving end of the kitchen wall cleaning robot by using the NRF24L01 so as to control the cleaning robot to move.
The first step, turn on the power, be connected bluetooth equipment and kitchen wall cleaning robot bluetooth module 9, according to the dirty degree of kitchen wall, through the bluetooth software serial ports on the cell-phone, utilize the assigned kitchen wall cleaning robot's of control button working mode.
And secondly, placing the kitchen wall cleaning robot on a kitchen wall, righting the kitchen wall cleaning robot by hands, loosening the hands by rotating the electric regulator when the robot is tightly attached to the kitchen wall, and then opening corresponding switches of the spraying assembly 4 and the cleaning assembly 5.
And thirdly, as shown in fig. 10, the kitchen wall cleaning robot is placed at the lower left corner, after the robot finishes adsorption, an automatic mode is sent through a control key, the kitchen wall cleaning robot judges the surrounding environment condition by using the ultrasonic module 22, cleaning work is started to remove dirt a, dirt B and dirt C on the wall, and after cleaning is finished, the power supply is turned off, and the kitchen wall cleaning robot is put down.
The fourth step, send manual mode through the control button, can let the robot walk according to the route as shown in fig. 10 through the button after kitchen wall cleaning robot starts, clean according to the route that oneself wanted through the control button, dress the gesture device on hand, can be with hand to four directions removal on one side, down on one side, oblique left side, oblique right side, each direction that controls kitchen wall cleaning robot washs, because kitchen wall cleaning robot uses mecanum wheel, can realize oblique preceding, oblique back, oblique left side, oblique right side, accomplish fast and clean.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (9)
1. A kitchen wall cleaning robot is characterized by comprising a cleaning robot body, a control device for function expansion and signal control, a Bluetooth module for transmitting control instructions, a cleaning device for realizing scrubbing and washing, a driving assembly for driving the kitchen wall cleaning robot to rotate, an obstacle avoidance device for detecting obstacles, an adsorption device for realizing the adsorption of the kitchen wall cleaning robot to a wall and a gyroscope module for controlling a gesture angle, wherein the cleaning device is connected with the control device, the cleaning device and the control device are both arranged in front of the cleaning robot body, the adsorption device is connected with the control device, the adsorption device is arranged in the middle of the cleaning robot body, the obstacle avoidance device is connected with the control device, the obstacle avoidance device is arranged at the front of the cleaning robot body, the Bluetooth module is connected with the control device, the Bluetooth module is installed above the cleaning robot vehicle body, the control device is wirelessly connected with the Bluetooth module through a wireless sending module, the driving assembly is in driving connection with the control device, the driving assembly is installed at the bottom of the cleaning robot vehicle body, and the gyroscope module is wirelessly connected with the control device; the gyroscope module is a multi-axis motion processing sensor.
2. The kitchen wall cleaning robot as claimed in claim 1, wherein the control device comprises an expansion module and a single-chip microcomputer control module, the expansion module is connected with the single-chip microcomputer control module, and the bluetooth module, the cleaning device, the driving assembly, the obstacle avoidance device, the adsorption device and the gyroscope module are respectively connected with the expansion module.
3. The kitchen wall cleaning robot as claimed in claim 2, wherein the obstacle avoidance device comprises a steering engine, an ultrasonic module, a motor driving chip, and a steering engine bracket, the steering engine is arranged at the front part of the cleaning robot body through a gyroscope bracket and is in communication connection with the motor driving chip, the ultrasonic module and the steering engine are respectively in communication connection with the single-chip microcomputer control module, the steering engine and the ultrasonic module are fixed to form an ultrasonic detection device for 180-degree scanning, the ultrasonic detection device is used for detecting barrier signals, when the ultrasonic detection device detects an obstacle signal, the ultrasonic detection device transmits the obstacle signal to the singlechip control module and then generates a control signal, the singlechip control module transmits the generated control signal to the driving assembly and then drives the cleaning robot body to move, so that obstacle avoidance and wall surface cleaning are realized.
4. The kitchen wall cleaning robot as claimed in claim 3, wherein the cleaning device comprises a spraying component and a cleaning component, the cleaning component and the spraying component are respectively connected with the expansion module, the cleaning component comprises a plurality of sponges, cotton cloth, a support and a fixing device, one end of the support is connected with the fixing device, the other end of the support is inserted into the gyroscope, the cotton cloth is placed among the plurality of sponges and then fixed on the cleaning robot body through the fixing device, the spraying component comprises a water spraying pump, a liquid storage tank, a liquid pipe, a nozzle and an oval cup cover, the liquid storage tank is connected with the water spraying pump, the water spraying pump is connected with one end of the liquid pipe, the other end of the liquid pipe is connected with the nozzle, and the oval cup cover is installed on the nozzle.
5. The kitchen wall cleaning robot of claim 4, wherein the single chip microcomputer control module is powered on, the single chip microcomputer receives a control signal sent by the Bluetooth module and then transmits the control signal to the ultrasonic detection device, the steering engine and the ultrasonic detection device start to work, and the steering engine continuously rotates to drive the cleaning assembly and the spraying assembly to scrub and spray liquid to clean oil stains and dust on a wall surface.
6. The kitchen wall cleaning robot as claimed in claim 1, wherein the suction device comprises an electric adjuster, a ducted fan and a brushless motor, the brushless motor is electrically connected with the electric adjuster, the ducted fan is connected with the brushless motor, the ducted fan is fixed on the body of the cleaning robot through a bracket, the ducted fan generates a reverse thrust after being powered on, so that the cleaning robot is attached to the wall surface to be climbed, and the ducted fan changes the magnitude of the reverse thrust by rotating the electric adjuster.
7. A kitchen wall-washing robot as claimed in claim 6, wherein said ducted fan has a blade diameter of 35-50mm, said electric regulation has a rated current of 25-40A, and said reverse thrust is 7.54-9.5N.
8. A kitchen wall-cleaning robot as claimed in claim 4, characterized in that said water jet pump is of a diaphragm type construction and said spray head is a high pressure regulating spray head.
9. A kitchen wall washing robot as claimed in claim 3, wherein said drive assembly is a 3D printed mecanum wheel and motor drivingly connected to a motor, said motor being a 75-100rad/min gear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022395130.3U CN213883087U (en) | 2020-10-26 | 2020-10-26 | Kitchen wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022395130.3U CN213883087U (en) | 2020-10-26 | 2020-10-26 | Kitchen wall cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213883087U true CN213883087U (en) | 2021-08-06 |
Family
ID=77114202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022395130.3U Active CN213883087U (en) | 2020-10-26 | 2020-10-26 | Kitchen wall cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213883087U (en) |
-
2020
- 2020-10-26 CN CN202022395130.3U patent/CN213883087U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214104326U (en) | Driving wheel module and self-moving robot | |
| EP1987407B1 (en) | Robotic vacuum cleaning | |
| KR100528297B1 (en) | Control system for robot type cleaner | |
| KR20190135462A (en) | Windows washing robot | |
| JP2003190064A (en) | Self-traveling vacuum cleaner | |
| WO2023029764A1 (en) | Cleaning method and apparatus, and base station and storage medium | |
| EP3684238A1 (en) | Moisture-proof mat and intelligent cleaning system | |
| CN112274074B (en) | Kitchen wall cleaning robot | |
| CN109953682B (en) | Control method of multi-medium intelligent cleaning robot | |
| CN213883087U (en) | Kitchen wall cleaning robot | |
| WO2020114195A1 (en) | Special service robot for high-altitude operation | |
| CN212346382U (en) | Automatic window cleaning equipment | |
| CN109717786A (en) | A kind of glass curtain wall cleaning machine device people's system | |
| CN206465089U (en) | A kind of multifunctional cleaning machine people | |
| CN217792904U (en) | Float supporting device, water purification tank and cleaning equipment | |
| JP2007286730A (en) | Self-propelled type cleaner | |
| CN211559951U (en) | Intelligent house cleaning device | |
| CN213309497U (en) | Rotary glass cleaning robot | |
| KR20050028248A (en) | Automatic cleaning apparatus | |
| CN110897562A (en) | Intelligent device for unmanned cleaning | |
| KR100842962B1 (en) | An active type driving vacuum cleaner | |
| CN110584552A (en) | Flexible-turning mobile cleaning robot | |
| JPH0458931A (en) | Floor surface cleaning device | |
| CN114766999A (en) | Four-wheel independent telescopic freely-walking wall surface cleaning robot | |
| CN220713827U (en) | Dust collection box and sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |