CN216439110U - Movable garbage dumping robot with dust collecting mechanism and cleaning system - Google Patents

Abstract

A robot and a cleaning system for dumping garbage with a movable dust collecting mechanism comprise a base, a moving device and a grabbing device; the mobile device is rotatably connected to the base; the gripping device is arranged outside the moving device, can perform horizontal linear displacement and/or up-and-down linear displacement relative to the moving device, and can perform rotary displacement along with the moving device; the grabbing device grabs a dust collecting mechanism on the cleaning robot, and the moving device moves the grabbing device and the dust collecting mechanism to a position above the dustbin. A cleaning system comprising the garbage dumping robot is further provided. The garbage dumping robot has the advantages of small volume, low energy consumption, safety and environmental protection; the whole-course intelligent operation is realized, the implementation is convenient, and the user experience is greatly improved.

Description

Movable garbage dumping robot with dust collecting mechanism and cleaning system

Technical Field

The utility model relates to a cleaning system, in particular to a garbage dumping robot, and particularly relates to a garbage dumping robot capable of moving a dust collecting mechanism of a cleaning robot and a cleaning system.

Background

With the development of society and the improvement of living standard of people, the cleaning robot becomes an indispensable household appliance. The cleaning robot has certain intellectualization and humanization, can autonomously complete ground cleaning work in a room, and reduces the work of arranging resident rooms. The dust box is an important component of the cleaning robot and is used for storing dust and sundries collected by the sweeping robot.

CN109998423A discloses a self-washing mop sweeper, in which a cleaning robot is clamped by the sweeper to lift and turn over the whole body to dump garbage. The defects of the turnover machine are that the whole machine is turned over, the lifting weight is large, and the energy consumption is large. And the cleaning robot is generally circular, so that the clamping operation is inconvenient.

CN107595207B discloses a cleaning robot from irobot corporation, which can suck the garbage in the cleaning robot into the garbage seat by means of negative pressure suction. During the negative pressure suction, the garbage is easy to block or leave in the negative pressure circulation pipe, so that the garbage is easy to break down when in use, or the garbage cannot be completely sucked into the garbage seat; while this solution still requires manual removal of the dust box in the cleaning robot and the dust bag in the dust receptacle.

From the above, the defects of the current garbage dumping of the cleaning robot mainly include the following points: when the garbage is dumped, the garbage is too close to the cleaning robot, so that the cleaning robot is polluted; when the garbage is dumped, the whole cleaning robot is turned over integrally, so that the energy consumption is large; when dumping the garbage, people need to participate in the closing of the dust collecting mechanism or take out the dust bag.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a garbage dumping robot with a movable dust collecting mechanism, which can realize the grabbing of the dust collecting mechanism from a cleaning robot and the lifting and moving of the dust collecting mechanism to the upper part of a garbage can. When the garbage is dumped, the dust collecting mechanism is far away from the cleaning robot, so that the pollution to the cleaning robot when the garbage is dumped is avoided, the integral dumping of the cleaning robot is also avoided, and the energy consumption is reduced by independently moving the dust collecting mechanism to dump the garbage; and the whole process does not need manual participation.

In order to realize the purpose of the utility model, the utility model provides a technical proposal that the device comprises a base, a moving device and a gripping device; the mobile device is rotatably connected to the base; the gripping device is arranged outside the moving device, can perform horizontal displacement and/or up-and-down linear displacement relative to the moving device, and can perform rotary displacement along with the moving device; the grabbing device grabs a dust collecting mechanism on the cleaning robot, and the moving device moves the grabbing device and the dust collecting mechanism to a position above the dustbin.

Preferably, a supporting arm is fixedly arranged on one side of the base, the upper end of the mobile device is rotatably connected with the supporting arm, and the lower end of the mobile device is rotatably connected with the base; the rotation driving mechanism of the moving device is arranged in the base.

Preferably, the rotary drive mechanism includes a gear shaft rotatably provided in the base; the driving motor is meshed with the gear shaft through a gear; the moving device is coaxially connected with the gear shaft through a rotating shaft.

Preferably, a cleaning robot charging mechanism is provided on the base.

Preferably, the moving device comprises a moving device shell and a lifting platform which is positioned in the moving device shell and can be lifted linearly, and the gripping device is horizontally connected with the lifting platform in a sliding manner.

Preferably, a vertical screw rod and a vertical guide rod which can rotate positively and reversely are arranged in the moving device shell in parallel at intervals; the lifting platform is arranged on the screw rod and the guide rod in a penetrating mode.

Preferably, a guide rod and a rack are horizontally and parallelly arranged on the lifting platform at intervals, one end of the guide rod and one end of the rack respectively penetrate through the wall of the shell of the mobile device to be positioned outside the shell, and the other end of the guide rod and the other end of the rack are positioned on the other side of the lifting platform; a gear meshed with the rack is rotatably arranged on the lifting platform; the gear fixed on the lifting platform drives the rack to linearly reciprocate; the grabbing device penetrates through the guide rod and one end of the rack, which are located outside the shell of the moving device, and the grabbing device is connected with the guide rod in a sliding mode and fixedly connected with the rack.

Preferably, the gripping device is a magnetic suction gripping mechanism or a clamping gripping mechanism; when the dust collection mechanism is a magnetic attraction grabbing mechanism, a magnetic attraction piece is correspondingly arranged on the outer surface of the upper cover of the dust collection mechanism.

Preferably, the moving device and the gripping device are respectively provided with a detection mechanism for detecting a displacement position.

The utility model also provides a cleaning system which comprises the garbage dumping robot. Through using cleaning machines people and the cooperation of falling the rubbish robot, can realize self-cleaning, move collection dirt mechanism to dustbin top position from cleaning machines people automatically, carry out the function that rubbish was emptyd again. The cleaning system comprises the cleaning robot, and also comprises a cleaning robot and a washing robot.

The utility model relates to a garbage dumping robot with a movable dust collecting mechanism. Therefore, the garbage dumping robot can run more stably when the dust collecting mechanism is moved; in the moving process, only the dust collecting mechanism needs to be moved, the dust collecting mechanism does not need to be turned over or the whole turning cleaning robot does not need to be moved, the garbage dumping robot structure is simplified, and the whole volume of the garbage dumping robot is reduced. Meanwhile, as the dust collecting mechanism in the garbage dumping robot can be automatically grabbed, the garbage dumping device is prevented from being arranged in the cleaning robot, and the overall volume of the cleaning robot is reduced; meanwhile, a detection mechanism of the displacement position in the moving process is arranged, so that the displacement is ensured to be in place, the displacement is not excessive, and the running stability and safety of the garbage dumping robot are ensured; the whole-course intelligent operation is realized, the implementation is convenient, and the user experience is greatly improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further illustration and understanding of the utility model, and are included to explain the utility model and its practical application and to explain the utility model without limiting the utility model.

FIG. 1 is a schematic view of the dust box structure of the present invention.

Fig. 2 is a schematic view of the structure of the upper cover of the dust box.

FIG. 3 is a schematic sectional view of the upper lid of the dust box.

FIG. 4 is a schematic sectional view of the upper lid of the dust box.

FIG. 5 is a schematic cross-sectional view of the top cover of the dust box with the top cover removed.

FIG. 6 is a schematic view of the dust box body with the upper cover removed.

FIG. 7 is a schematic view of the internal structure of the dust box body.

FIG. 8 is a schematic view of the dust box with the upper cover removed.

FIG. 9 is a schematic view of the dust box with the upper cover removed.

Fig. 9A is a schematic cross-sectional structure of the dust box.

Fig. 10 is a schematic view of a garbage seat grabbing structure.

Fig. 11 is a schematic view of the structure of the dust dumping box.

Fig. 12 is a schematic view of the structure of the gripping device with the upper cover removed.

Fig. 13 is a schematic view of the structure of the driving device.

Fig. 14 is a schematic view of the driving device.

Fig. 15 is a schematic structural view of a lower cover of the gripping device.

FIG. 16 is a schematic view of the structure of the gripping device and the driving device acting on the upper cover of the dust box.

Fig. 17 is a schematic structural diagram of a mobile device.

Fig. 18 is a schematic view of a mobile device.

Fig. 19 is a schematic view of the structure of the rotation driving mechanism in the base.

FIG. 20 is a schematic top view of a mobile device

Fig. 21 is a schematic view of the structure of the lifting platform inside the mobile device.

Fig. 22 is a structural view of the elevating platform in the embodiment of the present invention.

Fig. 23 is a structural schematic diagram of the trash receptacle.

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 embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of a portion of the utility model and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a garbage dumping robot which is used for realizing the purpose of grabbing a dust collecting mechanism and moving the dust collecting mechanism to a position above a garbage can for dumping garbage. Because the weight of the dust box is far less than that of the cleaning robot, the cleaning robot does not need to be moved integrally, and therefore, the energy consumption of the garbage dumping robot in dumping garbage can be obviously reduced; and the dust collecting mechanism is separated from the cleaning robot and is far away from the cleaning robot, so that the cleaning robot is not polluted when garbage is dumped.

The garbage dumping robot in this embodiment includes a gripping device 2, a moving device 1, a driving device, and a controller. The working principle is as follows: the gripping device 2 grips the dust collecting mechanism 3 on the cleaning robot 4 as shown in fig. 10, then the moving device 11 moves the gripping device 2 and the dust collecting mechanism 3 to the garbage dumping position, and then the driving device drives the dust collecting device to dump the garbage as shown in fig. 11. In order to understand the structure and operation of the garbage seat, the moving device 12, the gripping device 2, the driving device, and the dust collecting mechanism 3 will be described as follows.

Dust collecting mechanism the dust collecting mechanism, as shown in fig. 1, is a dust box 3 in this embodiment. The dust box 3 comprises a dust box body 35, an upper cover 36 and a lower cover 37, wherein the dust box body 35 is a frame structure with an upper opening and a lower opening, and the upper cover 36 is fixedly arranged on the dust box body 35 so as to seal the upper opening of the dust box body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35. As shown in fig. 6 and 7, two fasteners 373 are further provided on the lower cover 37, and the two fasteners 373 are located on opposite sides of the lower cover 37 rotatably connected to the dust box body 35; meanwhile, as shown in fig. 8, a clamping groove 3510 matched with the buckle 373 is also arranged at the lower part of the dust box body 35, and when the lower cover 37 rotates to be attached to the lower opening of the dust box body 35, the buckle 373 on the lower cover 37 is buckled into the clamping groove 3510 on the dust box body 35.

As shown in fig. 2, an unlocking button 32, a lid opening button 33 and two iron sheets 31 are provided on the upper surface of the upper lid 36, and an unlocking mechanism is further provided on the upper lid 36, the unlocking button 32 is used for driving the unlocking mechanism to operate, and the unlocking mechanism is provided along the length direction of the dust box 3 in this embodiment. As shown in fig. 3, the upper cover 36 includes a top cover 361, a sealing body 362, a filter holder 363, and two latches 364, wherein the top cover 361, the filter holder 363, and the sealing body 362 are sequentially disposed from top to bottom. Two catches 364 are installed between the top cover 361 and the filter holder 363, and the two catches 364 are respectively provided at opposite sides of the unlocking button 32, two second wedge pieces 321 are provided on the unlocking button 32, a first wedge piece 365 is provided at an end of each catch 364 adjacent to the unlocking button 32, and one second wedge piece 321 is in contact with one first wedge piece 365, so that the two catches 364 are brought close to each other by being lowered through the second wedge piece 321 and the first wedge piece 365 by pressing the unlocking button 32, thereby retracting the catches 364 inside the upper cover 36, thereby unlocking the connection between the dust box 3 and the cleaning robot 4. As shown in fig. 4, a spring installation groove is further formed in the latch 364, a first return spring 366 is installed in the spring installation groove, an extension member 367 extending into the spring installation groove is further provided on the lower surface of the top cover 361, one end of the first return spring 366 contacts with the extension member 367, and the other end of the first return spring 366 contacts with the inner wall of the spring installation groove. The compressed first return spring 366 exerts a pressure on the latch 364 moving toward the outside of the dust box 3 after the unlock button 32 button is no longer pressed, thereby resetting the latch 364. As shown in fig. 5, a filter unit 368 is attached to the filter holder 363. The unlocking mechanism may also be provided along the width direction of the dust box 3.

As shown in fig. 6, the dust box body 35 includes a dust storage component 351 and two covering components 352, a dust storage cavity is disposed inside the dust storage component 351, and the two covering components 352 are respectively disposed on two opposite sides of the dust storage component 351. Still be equipped with drive arm 353 on dust storage component 351, can be on dust storage component 351 along vertical direction reciprocating motion at drive arm 353, uncap button 33's lower extreme passes upper cover 36 back and drive arm 353 fixed connection, then can drive arm 353 and descend through pressing uncap button 33. As shown in fig. 7, a lid opening push rod 354 is fixedly mounted on a lower portion of the actuator arm 353, and a lower end of the lid opening push rod 354 contacts an upper surface of the lower lid 37, so that the lower lid 37 can be pushed open by the actuator arm 353 and the lid opening push rod 354 descending when the lid opening button 33 is pressed.

As shown in fig. 8, a link mechanism is provided between each wrapping member 352 and the dust storage member 351, the link mechanism includes a first link 355 and a second link 356, one end of the first link 355 is rotatably connected to the dust storage member 351, the other end of the first link 355 is rotatably connected to one end of the second link 356, and the other end of the second link 356 is rotatably connected to the lower cover 37; one drive hole is provided on each first link 355. Two ends of the transmission arm 353 are respectively fixedly connected with a driving rod 357, each driving rod 357 passes through the dust storage member 351 to a position between the dust storage member 351 and the covering member 352, and the driving rod 357 passes through a driving hole on the first connecting rod 355. When the lid opening button 33 is pressed, the transmission arm 353, the driving rod 357, the first link 355 and the second link 356 can drive the lower lid 37 to rotate counterclockwise along the rotational connection between the lower lid 37 and the dust box body 35, as shown in fig. 8, at this time, the garbage in the dust box 3 falls into the garbage bin from the opening below the dust box body 35. As shown in fig. 9A, a second return spring 331 is further sleeved on the lid opening lift rod 354, the return spring 331 is located between the dust storage 351 and the transmission arm 353, an upper end of the return spring 331 is in contact with the transmission arm 353, and a lower end of the return spring 331 is in contact with the dust storage 351. When the cap release button 33 is pressed, the second return spring 331 is compressed; when the door opening button 33 is not pressed, the second return spring 331 extends to move the door opening button 33 upward, and the door opening button 33 rotates the lower cover 37 clockwise along the rotational connection between the lower cover 37 and the dust box body 35 via the transmission arm 353, the driving lever 357, the first link 355, and the second link 356 as shown in fig. 8, so that the lower cover 37 is closed. As shown in fig. 9, a pressing plate 358 is further disposed on the transmission arm 353, the pressing plate 358 is located inside the dust storage cavity of the dust storage member 351, when the lid-opening button 33 is pressed, the lid-opening button 33 can drive the opening pressing plate 358 to move downwards through the transmission arm 353, and the pressing plate 358 can press the garbage in the dust storage cavity to move downwards, so that the garbage can be discharged quickly.

Gripping device 2

As shown in fig. 12 and 15, the grasping apparatus 2 includes a grasping housing including a grasping lower cover 212 and a grasping upper cover mounted on the grasping lower cover 212, a grasping mechanism provided on the grasping housing, and a distance detection sensor 24. The grabbing mechanism is a magnetic grabbing mechanism, and the other embodiments further comprise grabbing modes such as grabbing through two sides of the dust box, for example, the grabbing mechanism is set as a mechanical claw. In the present embodiment, the grabbing mechanism includes two electromagnets 221, and the two electromagnets 221 are disposed on the grabbing lower cover 212. As shown in fig. 15, the lower surface of the grasping lower cover 212 is provided with a receiving hole corresponding to each electromagnet 221, one electromagnet 221 is installed in one receiving hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the grasping lower cover 212. As shown in fig. 16, when one of the attracting iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping apparatus 2 grasps the dust box 3 by the attracting iron piece 31 of the dust box 3. The distance detection sensor 24 is installed in the grip cover 212, and a distance detection probe 241 of the distance detection mechanism penetrates through the lower surface of the grip cover 212, as shown in fig. 15, the distance detection probe 241 being parallel to the lower surface of the grip cover 212.

As shown in fig. 12, 13 and 14, the driving device includes a first driving motor 235, a first gear 236, a first rack 233, a second rack 234, a first ram 231, a second ram 232, a first photosensor 2315, a second photosensor 2316 and a third photosensor 2317. A first guide rail 213 and a second guide rail 214 are provided on the grasping lower cover 212, and the guide directions of the first guide rail 213 and the second guide rail 214 are set vertically downward. The first rack 233 is provided with a first slider 237, the first slider 237 of the first rack 233 is slidably connected in the first guide rail 213, the second rack 234 is provided with a second slider 238, and the second slider 238 of the second rack 234 is slidably connected in the second guide rail 214. The first driving motor 235 is fixedly installed on the grabbing lower cover 212, the first gear 236 is fixedly installed on an output shaft of the first driving motor 235, wherein the first rack 233 and the second rack 234 are respectively arranged at two opposite sides of the first gear 236, and a rack surface of the first rack 233 is arranged opposite to a rack surface of the second rack 234; the first and second racks 233 and 234 are engaged with the first gear 236. The first rack 233 and the second rack 234 can be driven to lift vertically by the forward and reverse rotation of the output shaft of the first driving motor 235; since the first rack 233 and the second rack 234 are engaged with both sides of the first gear 236, respectively, when the first rack 233 ascends, the second rack 234 descends, and when the first rack 233 descends, the second rack 234 ascends.

As shown in fig. 14, the first push rod 231 is disposed at the lower end of the first slide block 237, and a first buffer spring is disposed at the lower end of the first push rod 231, so that when the first rack 233 moves downwards, the first push rod 231 can be driven to move downwards, and the first buffer spring can buffer the first push rod 231, thereby preventing other parts from being damaged due to excessive movement of the first push rod 231. As shown in fig. 14, the second push rod 232 is disposed at the lower end of the second slide block, and a second buffer spring is disposed at the lower end of the second push rod 232, so that when the second rack 234 moves downward, the second push rod 232 can be driven to move downward, and the second buffer spring can buffer the second push rod 232, thereby preventing other parts from being damaged due to excessive movement of the second push rod 232. As shown in fig. 15, through holes through which the first lift pins 231 and the second lift pins 232 pass are respectively provided on the lower surface of the grasping lower cover 212. Therefore, the first top rod 231 and the second top rod 232 can be driven to penetrate through the through hole along the vertical direction through the positive and negative rotation of the output shaft of the first driving motor 235.

As shown in fig. 14, a first detecting member 2313 is further disposed on the first rack 233, wherein the first detecting member 2313 is located at a lower end position of the first rack 233; a second detecting member 2314 is further disposed on the second rack 234, wherein the second detecting member 2314 is located at a middle position of the second rack 234. Still install the detection support in snatching the lower cover, first photoelectric sensor 2315, second photoelectric sensor 2316 and third photoelectric sensor 2317 are all installed on the detection support. The first photosensor 2315 is disposed above the second photosensor 2316 in the vertical direction, the first photosensor 2315 and the second photosensor 2316 are used to detect the first detecting member 2313, and the third photosensor 2317 is used to detect the second detecting member 2314. When the third photoelectric sensor 2317 detects the second detection piece 2314, which represents that the first rack 233 and the second rack 234 are located at the initial positions, the lower end surfaces of the first ejector rod 231 and the second ejector rod 232 are flush with the lower surface of the grabbing lower cover; when the first photoelectric sensor 2315 detects the first detecting member 2313, the first rack 233 is located at the highest position, the second rack 234 is located at the lowest position, the first push rod 231 is retracted into the interior of the lower cover, and the second push rod 232 protrudes and grabs the lower surface of the lower cover; when the second photo sensor 2316 detects the first detecting member 2313, the first rack 233 is located at the lowest position, the second rack 234 is located at the highest position, the first push rod 231 protrudes and grasps the lower surface of the lower cover, and the second push rod 232 retracts inside the lower cover.

The first input end of the controller is connected with the output end of the distance detection sensor 24, the second input end of the controller is connected with the output end of the first photoelectric sensor 2315, the third input end of the controller is connected with the output end of the second photoelectric sensor 2316, the fourth input end of the controller is connected with the output end of the third photoelectric sensor 2317, the first output end of the controller is connected with the input end of the electromagnet 221, and the second output end of the controller is connected with the input end of the first driving motor 235.

As shown in fig. 17, the garbage dumping robot 1 includes a base 11, a supporting arm 13, and a moving device 12 disposed above the base 11, a charging mechanism for charging the cleaning robot 4 is further disposed on the base 11, the charging mechanism includes two charging contacts 111 disposed on the base 11, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 contacts with the two charging contacts 111 to perform charging. The supporting arm 13 is fixedly installed above the base 11, and the supporting arm 13 is in an inverted L shape and semi-surrounds the mobile device 12. As shown in fig. 18, the moving device 12 includes a rotating housing 121, an upper rotating shaft 122 and a lower rotating shaft 123, the upper rotating shaft 122 is fixedly installed at the upper end of the rotating housing 121, and the lower rotating shaft 123 is fixedly installed at the lower end of the rotating housing 121; wherein the upper rotary shaft 122 is rotatably coupled to the support arm 13, and the lower rotary shaft 123 is rotatably coupled to the base 11, so that the rotary housing 121 can be rotated between the support arm 13 and the base 11. The upper rotation shaft 122 at the upper end of the rotary case 121 by the support arm 13 provides rotational support, thereby improving the smoothness of the rotation of the rotary case 121.

As shown in fig. 19, a rotation driving mechanism is provided in the base 11 to drive the moving device 12 to rotate. The rotation driving mechanism includes a second driving motor 125 disposed in the base 11, an output shaft of the second driving motor 125 is disposed vertically downward, a second gear 126 is mounted on the output shaft of the second driving motor 125, the second gear 126 and a third gear 127 are driven by a plurality of gears, and the third gear 127 is coaxially and fixedly connected with the lower rotation shaft 123. Therefore, the rotation of the output shaft of the second driving motor 125 can drive the lower rotating shaft 123 and the rotating housing 121 to rotate. As shown in fig. 20, a fourth photosensor 132 and a fifth photosensor 133 are mounted on the upper end of the support arm 13, the upper rotation shaft 122 penetrates the inside of the support arm 13 and is connected with a third detection piece 129 and an eighth detection piece 128, the fourth photosensor 132 is used for detecting the eighth detection piece 128, the fifth photosensor 133 is used for detecting the third detection piece 129, wherein the initial position of the third detection piece 129 is located at the position detected by the fifth photosensor 133, when the rotation shaft 122 rotates 90 °, the third detection piece 129 and the eighth detection piece 128 rotate 90 ° along with the rotation shaft 122, at which time the fifth photosensor 133 cannot detect the third detection piece 129, and the fourth photosensor 132 can detect the eighth detection piece 128.

As shown in fig. 21, the moving device 12 further includes a lifting platform 1210, a seventh rack 1211, a third driving motor 1212, a fourth gear 1213, a sixth photoelectric sensor 1215, a seventh photoelectric sensor 1216, and a sixth guide rail 1217 disposed in the rotating housing 121, wherein the seventh rack 1211 and the sixth guide rail 1217 are disposed in a vertical direction, and the seventh rack 1211 and the sixth guide rail 1217 are fixedly disposed in the rotating housing 121. The lifting platform 1210 slides on the sixth guide rail along the vertical direction, the third driving motor 1212 is fixedly installed on the lifting platform 1210, and the output shaft of the third driving motor 1212 is coaxially and fixedly connected with the fourth gear 1213; the fourth gear 1213 is engaged with the seventh rack 1211, so that the fourth gear 1213 is driven to rotate by the rotation of the output shaft of the third driving motor 1212, and the lifting platform 1210 is driven to lift by the engagement of the fourth gear 1213 with the seventh rack 1229. As shown in fig. 21, a sixth photoelectric sensor 1215 is installed at the upper portion in the rotary housing 121, a seventh photoelectric sensor 1216 is installed at the lower portion in the rotary housing 121, and a fourth detecting element 1218 and a ninth detecting element 1231 are also installed on the elevating platform 1210, the sixth photoelectric sensor 1215 is used for detecting the ninth detecting element 1231, and the seventh photoelectric sensor 1216 is used for detecting the fourth detecting element 1218. When the lifting platform 1210 moves upwards to the sixth photoelectric sensor 1215 to detect the ninth detecting element 1231, the lifting platform 1210 moves to the highest position; when the lifting platform 1210 moves downward until the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 moves to the low-high position.

As shown in fig. 22, a fourth driving motor 1219, a second guide bar 1220, a third rack 1221, an eighth photosensor 1222, and a ninth photosensor 1223 are provided on the lifting platform 1210, the second guide bar 1220 and the third rack 1221 are arranged in parallel, the second guide bar 1220 is parallel to the horizontal direction, a second guide hole through which the second guide bar 1220 passes is provided on the lifting platform 1210, and a third guide hole through which the third rack 1221 passes is provided on the lifting platform 1210. A fourth driving motor 1219 is fixedly mounted on the lifting platform 1210, and a sixth gear 1224 is coaxially and fixedly connected to an output shaft of the fourth driving motor 1219, and the sixth gear 1224 is engaged with the third rack 1221. Meanwhile, the second guide rod 1220 and the third rack 1221 are both fixedly connected to the grabbing device 2, and then the output shaft of the fourth driving motor 1219 can drive the grabbing device 2 to move along the guide direction of the second guide rod 1220 through the sixth gear 1224 and the third rack 1221 after rotating. Eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 fixed mounting is on lift platform 1210, and eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 set gradually along the length direction of third rack 1221, still is equipped with fifth detector 1226 in the one end of third rack 1221, and this eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 are used for detecting fifth detector 1226. As shown in fig. 22, when the third rack 1221 moves leftward until the eighth photosensor 1222 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position closest to the lifting platform 1210; when the third rack 1221 moves to the right until the ninth photosensor 1223 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position farthest from the lifting platform 1210.

As shown in fig. 18, a first moving slot 1227 is further disposed on the rotating housing 121 opposite to the second guide bar 1220, a second moving slot is further disposed on the rotating housing 121 opposite to the third rack 1221, the first moving slot and the second moving slot are both opened along the vertical direction, the second guide bar 1220 passes through the first moving slot and is connected to the gripping device 2, and the third rack 1221 passes through the second moving slot and is connected to the gripping device 2.

A fifth input terminal of the controller is connected to the output terminal of the fourth photosensor 132, a sixth input terminal of the controller is connected to the output terminal of the fifth photosensor 133, a seventh input terminal of the controller is connected to the output terminal of the sixth photosensor 1215, an eighth input terminal of the controller is connected to the output terminal of the seventh photosensor 1216, a ninth input terminal of the controller is connected to the output terminal of the eighth photosensor 1222, and a tenth input terminal of the controller is connected to the output terminal of the ninth photosensor 1223. A third output of the controller is connected to an input of the second drive motor 125, a fourth output of the controller is connected to an input of the third drive motor 1212, and a fifth output of the controller is connected to an input of the fourth drive motor 1219.

The specific working steps of the garbage dumping robot in this specific embodiment are as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds the position of the garbage dumping robot;

s2, the cleaning robot 4 moves to the garbage dumping robot position, and whether the cleaning robot 4 is located at the set position is calibrated;

s3, the garbage dumping robot charges the cleaning robot 4;

s4, the initial position of the grabbing device 2 is as shown in fig. 23, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s5, when the fourth photo sensor 132 detects the eighth detecting element 128, the rotating casing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s6, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 moves to above the dust box 3 and the grabbing device 2 is located above the dust box 3 in the vertical direction, at which time the controller controls the fourth driving motor 1219 to stop moving; when the ninth photoelectric sensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213 to drive the lifting platform 1210 and the grabbing device 2 to move downward;

s7, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest position as shown in fig. 10, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detecting element 1218, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the first driving motor 235 drives the second push rod 232 located at the initial position to descend through the first gear 236 and the second rack 234, and the output shaft of the first driving motor 235 drives the first push rod 231 located at the initial position to ascend through the first gear 236 and the first rack 233;

s8, when the first photo sensor 2315 detects the first detecting element 2313, the first push rod 231 moves to the highest position, the second push rod 232 moves to the lowest position, and at this time, the controller controls the first driving motor 235 to stop moving, and the second push rod 232 descends to press the unlocking button 32 of the dust box 3, so that the dust box 3 is no longer connected to the cleaning robot 4; meanwhile, when the first photosensor 2315 detects the first detecting member 2313, the controller controls the electromagnet 221 to generate a suction force, so that the dust box 3 is magnetically adsorbed on the grasping device 2;

s9, the controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is meshed with the seventh rack 1211 through the fourth gear 1213 to drive the lifting platform 1210, the grabbing device 2 and the dust box 3 to move upward;

s10, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the highest position, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, as shown in fig. 21, the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s11, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s12, when the fifth photo sensor 133 detects the third detecting element 129, the rotating housing 121 rotates 90 ° counterclockwise, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 22, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s13, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to above the trash can 5, and at this time, the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the first driving motor 235 to rotate counterclockwise, the output shaft of the motor drives the second push rod 232 located at the lowest position to ascend through the first gear 236 and the second rack 234, and the output shaft of the motor drives the first push rod 231 located at the highest position to descend through the gear and the first rack 233;

s14, when the second photo sensor 2316 detects the first detecting element 2313, the first ejector 231 moves to the lowest position, the second ejector 232 moves to the highest position, and at this time, the controller controls the first driving motor 235 to stop moving, and after the first ejector 231 descends and presses the lid opening button 33 of the dust box 3, the lower lid of the dust box 3 can be opened for dumping; in order to improve the material pouring effect of the dust box 3, the first push rod 231 can be controlled to move back and forth for a plurality of times between the initial position and the lowest position, so that the lower cover of the dust box 3 can be driven to open the cover for a plurality of times.

S15, after the dust box 3 is dumped, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the motor drives the second top rod 232 located at the highest position to descend through the gear and the second rack 234, and the output shaft of the motor drives the first top rod 231 located at the lowest position to ascend through the gear and the first rack 233;

s16, when the third photo sensor 2317 detects the second detecting element 2314, the first and second push rods 231, 232 move to the initial positions, and at this time, the controller controls the first driving motor 235 to stop moving; at this time, the lower cover of the dust box 3 is closed; meanwhile, when the third photosensor 2317 detects the second detecting element 2314, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping device 2 and the dust box 3 connected to the third rack 1221 move close to the rotating housing 121;

s17, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s18, when the fourth photo sensor 132 detects the eighth detecting element 128, the rotating casing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fourth photosensor 132 detects the eighth detecting element 128, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grabbing device 2 connected to the third rack 1221 and the dust box 3 move away from the rotating housing 121;

s19, when the ninth photosensor 1223 detects the fifth detector 1226, the gripping device 2 and the dust box 3 move to above the cleaning robot 4, and the dust box 3 is located above the cleaning robot 4 in the vertical direction, at which time the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move downward;

s20, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the lowest position, at which time the dust box 3 is installed in the cleaning robot 4, and the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the controller controls the electromagnet 221 to stop working;

s21, after the preset time when the third driving motor 1212 stops moving, in this embodiment, the preset time may be 1 second, the controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210 and the grabbing device 2 to move upward;

s22, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210 and the gripping device 2 move to the highest position, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s23, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 moves to a position close to the rotating case 121, at which time the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s24, when the fifth photo sensor 133 detects the third detecting member 129, the rotating housing 121 rotates 90 ° counterclockwise, and the grasping apparatus 2 returns to the initial position, and when the fifth photo sensor 133 detects the third detecting member 129, the controller controls the second driving motor 125 to stop moving.

In the process from step S9 to step S19, the distance detection probe 241 detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the controller, and the controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the controller determines whether the dust box 3 falls or not according to the measurement value.

Of course, in this embodiment, the gripping device of the garbage dumping robot can also grip a new disposable dust box to be installed on the cleaning robot.

Detailed description of the utility model

In this embodiment, except for the structure for driving the lifting platform 1210 to lift, the rack and pinion engagement mechanism replaces the screw mechanism to achieve vertical linear displacement, and the other structures are the same as those of the first embodiment. Specifically, in this embodiment, the third driving motor 1212 is disposed on the lifting platform 1210, an output shaft of the third driving motor 1212 is horizontally disposed, an eleventh gear is connected to the output shaft of the third driving motor 1212, the first lead screw 1211 and the first guide bar 1217 are not disposed in the rotating housing 121, but a seventh rack and a sixth guide rail are disposed in the rotating housing 121, the seventh rack and the sixth guide rail are both disposed along the vertical direction, wherein the lifting platform 1210 slides on the sixth guide rail along the vertical direction, and the eleventh gear is engaged with the seventh rack, so that the output shaft of the third driving motor 1212 rotates to drive the eleventh gear to rotate, and the eleventh gear is engaged with the seventh rack to drive the lifting platform 1210 to lift.

The remaining operation principle of the present embodiment is the same as that of the first embodiment.

Detailed description of the utility model

The embodiment discloses a cleaning system, which comprises the garbage dumping robot in the first embodiment to the second embodiment. The cleaning system with the garbage dumping robot and the cleaning robot in the first and second embodiments can realize the functions of automatically cleaning and automatically moving the dust collecting mechanism to the garbage can; the cleaning robot is matched with a cleaning robot and a cleaning robot for use, and the functions of automatically cleaning, automatically cleaning mop and automatically moving the dust collecting mechanism to the position of the dustbin can be realized. Cleaning robots and washing robots are prior art and are not described herein.

Claims (10)

1. A robot capable of moving a dust collecting mechanism for dumping garbage is characterized by comprising a base, a moving device and a grabbing device; the mobile device is rotatably connected to the base; the gripping device is arranged outside the moving device, can perform horizontal displacement and/or up-and-down linear displacement relative to the moving device, and can perform rotary displacement along with the moving device; the grabbing device grabs a dust collecting mechanism on the cleaning robot, and the moving device moves the grabbing device and the dust collecting mechanism to a position above the dustbin.

2. The robot for dumping garbage with the movable dust collecting mechanism according to claim 1, wherein a supporting arm is fixedly arranged on one side of the base, the upper end of the moving device is rotatably connected with the supporting arm, and the lower end of the moving device is rotatably connected with the base; the rotation driving mechanism of the moving device is arranged in the base.

3. A robot as recited in claim 2, wherein said rotary drive mechanism comprises a gear shaft rotatably disposed in said base; the driving motor is meshed with the gear shaft through a gear; the moving device is coaxially connected with the gear shaft through a rotating shaft.

4. A robot for dumping trash movable by a dust collecting mechanism according to claim 1, wherein a cleaning robot charging mechanism is provided on said base.

5. The robot of claim 1, wherein the moving device comprises a moving device housing and a vertically liftable platform disposed in the moving device housing, and the gripping device is horizontally slidably connected to the liftable platform.

6. The robot for dumping garbage with movable dust collecting mechanism of claim 5, wherein a vertical screw rod and a vertical guide rod which can rotate in the positive and negative directions are arranged in the moving device shell in parallel at intervals; the lifting platform is arranged on the screw rod and the guide rod in a penetrating mode.

7. The robot for dumping garbage with the movable dust collecting mechanism according to claim 5, wherein a guide rod and a rack are horizontally and parallelly arranged on the lifting platform at intervals, one end of the guide rod and one end of the rack respectively penetrate through the wall of the mobile device shell to be positioned outside the mobile device shell, and the other end of the guide rod and the other end of the rack are positioned on the other side of the lifting platform; a gear meshed with the rack is rotatably arranged on the lifting platform; the gear fixed on the lifting platform drives the rack to linearly reciprocate; the grabbing device penetrates through the guide rod and one end of the rack, which are located outside the shell of the moving device, and the grabbing device is connected with the guide rod in a sliding mode and fixedly connected with the rack.

8. The robot for dumping garbage with the movable dust collecting mechanism according to claim 1, wherein the gripping device is a magnetic suction gripping mechanism or a clamping gripping mechanism; when the magnetic attraction grabbing mechanism is adopted, the magnetic attraction piece is correspondingly arranged on the outer surface of the upper cover of the dust collection mechanism.

9. The robot for dumping garbage with movable dust collecting mechanism according to claim 1, wherein the moving device and the gripping device are respectively provided with a detecting mechanism for detecting the displacement position.

10. A cleaning system comprising the garbage dumping robot of any one of claims 1 to 9.

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