CN216634390U

CN216634390U - High-stability artificial intelligent cleaning robot

Info

Publication number: CN216634390U
Application number: CN202122058357.3U
Authority: CN
Inventors: 邓奎彪; 徐萍
Original assignee: Shanwei Polytechnic
Current assignee: Shanwei Polytechnic
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2022-05-31
Anticipated expiration: 2031-08-30

Abstract

The utility model belongs to the technical field of intelligent robots, and discloses a high-stability artificial intelligent cleaning robot which comprises a base body, wherein a horizontal sensor is installed on the base body, the side wall of the base body is connected with a supporting plate through a telescopic mechanism, and when the base body inclines, the telescopic mechanism in the opposite direction of inclination receives a feedback signal of the horizontal sensor to drive the supporting plate to be pushed away to the ground, so that the inclination angle is reversely eliminated, and the stability of the base body and the robot is ensured.

Description

High-stability artificial intelligent cleaning robot

Technical Field

The utility model belongs to the technical field of intelligent robots, and particularly relates to a high-stability artificial intelligent cleaning robot.

Background

The intelligent robot is so named because it has a well developed "brain" in which a central processing unit is used, which is in direct connection with setting parameters, and most importantly, the central processing unit can perform scheduling actions according to preset purposes, and thus, it is widely recognized in the industry that a robot with a central processing unit belongs to a real intelligent robot. With the rapid development of artificial intelligence technology, more and more guide-type intelligent robots with interactive functions are applied to the civil field, and the robots need to be matched with a movable base for use when in use.

And the activity chassis that present intelligent robot used is simple structure usually, only has simple small range mobility, and because interactive guide robot is high, easily collides and leads to empting with the crowd of activity in the use, causes the damage to robot shell and inside components and parts easily, consequently has the drawback when using.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a high-stability artificial intelligent cleaning robot aiming at the problems in the prior art so as to improve the traveling capacity of the robot and prevent the robot from toppling by adopting effective measures.

The technical effect to be achieved by the utility model is realized by the following technical scheme:

the utility model provides a high stability's artifical intelligent cleaning robot, includes base body, the last horizontal inductor that installs of base body, base body's lateral wall is connected with the backup pad through telescopic machanism, works as when base body takes place to incline, is located the opposite direction of slope telescopic machanism receives horizontal inductor's feedback signal and drive the backup pad is pushed open towards ground to reverse elimination inclination guarantees base body and robot's is steady.

Preferably, the telescopic mechanism comprises a connecting seat, an air cylinder, a push rod and a central processing unit, one end of the connecting seat is fixedly connected with the top of the base body, the other end of the connecting seat is connected with the air cylinder through a first rotating shaft, and the outer end part of the push rod matched with the air cylinder is connected with the supporting plate through a second rotating shaft; the telescopic mechanism controls the turning of the supporting plate by utilizing the telescopic motion of the push rod.

Preferably, the lateral wall of base body is equipped with a groove, telescopic machanism is located the inside of base body, the push rod passes the groove with the backup pad is realized being connected.

Preferably, the supporting plates are uniformly arranged around the central line of the base body, and when the push rod is contracted, the supporting plates are tightly attached to the side wall of the base body.

Preferably, the bottom of base body is equipped with the gyro wheel of two above drive, the gyro wheel is used for driving the robot is marchd, the bottom of base body still is equipped with the leading wheel of drive, the leading wheel is to the advancing direction of robot pulls.

Preferably, a rotatable movable disc is arranged at the bottom of the base body, the middle part of the movable disc is hollowed, the guide wheel is arranged at the middle part of the movable disc through a shaft body, teeth are arranged on the periphery of the movable disc, a transmission screw driven by a driving motor is arranged on one side of the movable disc, and the teeth are meshed with the transmission screw; the transmission screw rod changes the swing direction of the movable disc and the guide wheel by utilizing forward rotation or reverse rotation.

Preferably, the both ends of axis body with the inside wall fixed connection of activity disc, and the axis body perpendicular to the axis of activity disc, the axis body pass through the bearing with the leading wheel realizes the rotary type and is connected.

Preferably, the gyro wheel is by the drive of biax motor, the drive shaft is all installed at the both ends of biax motor, the drive shaft is kept away from the tip of biax motor all installs the gyro wheel.

Preferably, a storage battery is placed in the base body, and the storage battery is electrically connected with the central processing unit, the telescopic mechanism, the driving motor and the double-shaft motor.

Preferably, the outer bottom wall of the base body is provided with more than two supporting seats, the bottom of each supporting seat is provided with a rotatable rubber ball, and the rubber ball, the bottom surfaces of the roller and the guide wheel are located on the same plane.

Compared with the prior art, the utility model has the beneficial effects that:

the robot can move smoothly by arranging the double-shaft motor to drive every two rollers and utilizing uniform output power and motion performance; the guide wheel carries out steering traction on the base body under the meshing principle of the transmission screw rod and the teeth, the transmission screw rod can drive the teeth on the movable disc, but the teeth are used as driven parts and cannot drive the transmission screw rod to rotate reversely, so that according to the structure, the guide wheel cannot change the direction due to factors except the transmission screw rod, and the traction accuracy is ensured;

on the basis, the bottom surface of the base body is provided with the rotatable rubber ball which is used as an auxiliary support of the roller and the guide wheel and can synchronously rotate along with the movement of the base body, so that the stability of the whole robot in the advancing process is further improved;

more importantly, the telescopic mechanism and the support plate are arranged, when the robot and the base body incline, the telescopic mechanism located at the inclined reverse position drives the support plate to push out towards the ground, and the inclined support plate and the ground form a rigid support, so that the robot is prevented or delayed from toppling, and further damage is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a bottom view of the base body of the present embodiment;

fig. 2 is a schematic plan view of the base body provided in this embodiment;

FIG. 3 is a schematic sectional view taken along line A-A of FIG. 2;

fig. 4 is a schematic perspective view of the base body provided in this embodiment;

FIG. 5 is an enlarged schematic view at B of FIG. 4;

in the drawings, 1-the base body; 2-a double-shaft motor; 3-a drive shaft; 4-a roller; 5-a storage battery; 6, fixing a base; 7-a movable disc; 8-a guide wheel; 9-a drive screw; 10-a drive motor; 11-motor shaft; 12-a support base; 13-a connecting seat; 14-a cylinder; 15-grooves; 16-a support plate; 17-a horizontal sensor; 18-a push rod; 19-a first shaft; 20-a second rotating shaft; 21-a telescoping mechanism; 22-a bump; 23-a shaft body; 24-teeth; 25-rubber ball.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 and 2, the present embodiment provides a high-stability artificial intelligent cleaning robot, the robot includes a base body 1, a bottom surface of the base body 1 is horizontally disposed, a roller 4 driving the robot to travel and a guide wheel 8 driving the robot to move forward are disposed at a bottom of the base body 1 in a penetrating manner, a plurality of telescopic mechanisms 21 are respectively connected to side walls of the base body 1 through a plurality of telescopic mechanisms 21, the telescopic mechanisms 21 and the support plates 16 are uniformly arranged around a center line of the base body 1, and the number of the telescopic mechanisms 21 is preferably more than 4, when the telescopic mechanisms 21 are contracted, the support plates 16 are tightly attached to outer side walls of the base body 1, in addition, a horizontal sensor 17 and a central processing unit (not shown) are installed inside the base body 1, when the base body 1 is inclined, horizontal inductor 17 with monitoring signal send to central processing unit, central processing unit starts to be located the opposite position of slope telescopic machanism 21, telescopic machanism 21 drives backup pad 16 is released toward ground direction to eliminate and empty the trend, guarantee base body 1 and the steady of robot are placed.

Referring to fig. 2 and 3, in this embodiment, the telescopic mechanism includes a connecting seat 13, an air cylinder 14, a push rod 18 and a central processing unit, one end of the connecting seat 13 is fixedly connected to the top of the base body 1, the other end of the connecting seat is connected to the tail of the air cylinder 14 through a first rotating shaft 19, and the outer end of the push rod 18 matched with the air cylinder 14 is connected to the supporting plate 16 through a second rotating shaft 20. According to the structure, the telescopic mechanism 21 controls the turning of the supporting plate 16 by utilizing the telescopic motion of the push rod 18, and when the push rod 18 is contracted to the maximum extent, the supporting plate 16 is folded and does not protrude out of the bottom surfaces of the roller 4 and the guide wheel 8; when the push rod 18 is extended to a certain distance, the support plate 16 protrudes from the bottom surfaces of the roller 4 and the guide wheel 8 to become a main part for supporting the base body 1, thereby causing the base body 1 to be tilted in a given direction.

Referring to fig. 3, the side wall of the base body 1 is provided with a strip slot 15, the telescopic mechanism 21 is located inside the base body 1, and the push rod 18 needs to pass through the strip slot 15 to be connected with the support plate 16. In order to enhance the coupling strength to the support plate 16, the length of the second rotating shaft 20 as a coupling member is as large as possible, close to the width of the support plate 16. On the basis, the strip groove 15 is in an inverted T shape, the push rod 18 extends and retracts along the longitudinal position of the strip groove 15, the maximum transverse dimension of the strip groove 15 is positioned at the bottom and is slightly larger than the length of the second rotating shaft 20, and therefore maintenance and even removal and replacement of the second rotating shaft 20 are facilitated.

Continuing to refer to fig. 1, further, in order to improve the aesthetic appearance of the product, a strip groove 15 is correspondingly arranged at a position of the base body 1 facing the support plate 16, the shape and depth of the strip groove 15 are adapted to the support plate 16, when the push rod 18 contracts, the support plate 16 enters the strip groove 15, so that the surface of the side wall of the base body 1 tends to be flat, the overall appearance is more concise and elegant, and the risk of collision with foreign objects is reduced; the top of the strip groove 15 is provided with a protrusion 22 extending towards the inside of the strip groove 15, and the protrusion 22 plays a role in limiting and preventing the support plate 16 from sliding upwards.

Referring to fig. 2, in this embodiment, a horizontal sensor 17 is correspondingly disposed on one side of each of the telescopic mechanisms 21, the horizontal sensor 17, the air cylinder 14 and the central processing unit are electrically connected, when the base body 1 tilts due to external force collision, the horizontal sensor 17 that detects the smallest tilting amplitude sends a monitoring signal to the central processing unit, the central processing unit starts the air cylinder 14 corresponding to the horizontal sensor 17 to drive the push rod 18 to prop open the support plate 16 outwards, and the support plate 16 that is opened forms a rigid support with the ground, so as to prevent or delay the tilting of the whole device.

In this embodiment, referring to fig. 4, the roller 4 and the guide wheel 8 of the base body 1 are powered to autonomously realize the advancing and steering of the base body 1. Specifically, in this embodiment, double-shaft motor 2 has been placed in base body 1, drive shaft 3 is all installed at double-shaft motor 2's both ends, drive shaft 3 keeps away from double-shaft motor 2's tip is all installed gyro wheel 4 utilizes the unified output and the motion performance of double-shaft motor 2 make the robot steadily marchs.

Referring to fig. 5, a through-center fixed seat 6 is disposed at the bottom of the base body 1, a rotatable movable disc 7 is mounted on the fixed seat 6 on a side facing the ground, the movable disc 7 is also through-center, an axle body 23 is fixedly and horizontally disposed at the middle of the fixed seat, the axle body 23 is perpendicular to the axis of the movable disc 7, and the axle body 23 is rotatably connected with the guide wheel 8 through a bearing; the periphery of the movable disc 7 is provided with teeth 24, one side of the movable disc 7 is provided with a transmission screw rod 9 driven by a driving motor 10, and the teeth 24 are meshed with the transmission screw rod 9; the transmission screw 9 changes the swing direction of the movable disk 7 and the guide wheel 8 by forward or reverse rotation.

According to the structure, the movable disc 7 can be driven to rotate by the rotation of the transmission screw rod 9, and the movable disc 7 is used as a driven part and cannot drive the transmission screw rod 9 reversely through the teeth 24 on the movable disc 7, so that the guide wheel 8 only can realize steering according to the power action of the transmission screw rod 9 in the advancing process, and external factors hardly influence the advancing direction; in addition, the transmission screw 9 is in rigid transmission connection with the teeth 24, so that strong and powerful meshing force can be provided, the teeth 24 are not easy to loosen and idle, and the structure of the transmission screw 9 is utilized in the embodiment, so that the stability and reliability of steering action are ensured, and the guide wheel 8 is more suitable for the movement characteristics of load running of the base body 1.

In this embodiment, battery 5 has been placed at the middle part of base body 1, battery 5 does central processing unit, cylinder 14, driving motor 10, double-shaft motor 2 provide the electric energy.

With reference to fig. 1, it should be added that the outer bottom wall of the base body 1 is provided with more than two supporting seats 12, the bottom of the supporting seats 12 is provided with a rotatable rubber ball 25, the rubber ball 25 is on the same plane as the bottom surfaces of the roller 4 and the guide wheel 8, the rubber ball 25 is used as an auxiliary support for the roller 4 and the guide wheel 8, and can rotate synchronously with the movement of the base body 1, so as to further improve the stability of the whole robot in the moving process.

The working principle of the present embodiment is briefly described here:

firstly, a base body 1 is arranged at the bottom of an interactive guide robot, an internal power supply is connected when the interactive guide robot is used, energy output is continuously provided through a storage battery 5, and the storage battery 5 has certain weight and can play a role in lowering the gravity center of a balancing weight; when the device needs to move, the double-shaft motor 2 is started, the driving shaft 3 drives the roller 4 to rotate, and the whole device can be pushed to stably move; when steering is needed, a driving motor 10 is started, a motor shaft 11 is matched with a transmission screw 9 to drive the movable disc 7 to start rotating, and further the guide wheel 8 is driven to adjust the direction; when the whole device is about to topple due to collision or environmental factors, the gravity center is unstable, the horizontal sensor triggers the central processing unit to start the air cylinder 14 in the corresponding direction, the push rod 18 of the air cylinder penetrates through the strip groove 15 to push the corresponding support plate 16, and the toppling of the device is avoided or delayed by forming a rigid support between the opened support plate 16 and the ground.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, and the scope of protection is still within the scope of the utility model.

Claims

1. The utility model provides a high stability's artifical intelligent cleaning robot, includes base body, its characterized in that, the last horizontal inductor of installing of base body, base body's lateral wall is connected with the backup pad through telescopic machanism, works as when base body takes place to incline, is located the slope opposite direction telescopic machanism receives horizontal inductor's feedback signal and drive the backup pad is pushed open toward ground to reverse elimination inclination guarantees base body and the steady of robot.

2. The high-stability artificial intelligence cleaning robot of claim 1, wherein the telescoping mechanism comprises a connecting seat, a cylinder, a push rod and a central processing unit, one end of the connecting seat is fixedly connected with the top of the base body, the other end of the connecting seat is connected with the cylinder through a first rotating shaft, the outer end of the push rod matched with the cylinder is connected with the supporting plate through a second rotating shaft, and the telescoping mechanism controls the turning of the supporting plate by utilizing the telescoping motion of the push rod.

3. A high stability artificial intelligence cleaning robot according to claim 2 wherein said base body side wall is provided with a slot, said telescoping mechanism is located inside said base body, said push rod passes through said slot to connect with said support plate.

4. A highly stable artificial intelligence cleaning robot as claimed in claim 3 wherein said support plates are evenly arranged around the centre line of said base body, said support plates clinging to the side walls of said base body when said push rod is retracted.

5. The high-stability artificial intelligence cleaning robot of claim 2, wherein the bottom of the base body is provided with more than two powered rollers for driving the robot to travel, and the bottom of the base body is further provided with a powered guide wheel for drawing the traveling direction of the robot.

6. The high-stability artificial intelligence cleaning robot as claimed in claim 5, wherein a rotatable movable disc is arranged at the bottom of the base body, the movable disc is hollow in the middle and is provided with the guide wheel through a shaft body in the middle, teeth are arranged on the periphery of the movable disc, a transmission screw driven by a driving motor is arranged on one side of the movable disc, and the teeth are engaged with the transmission screw; the transmission screw changes the swinging direction of the movable disc and the guide wheel by utilizing forward or reverse rotation.

7. The robot of claim 6, wherein the two ends of the shaft body are fixedly connected to the inner side wall of the movable disk, the shaft body is perpendicular to the axis of the movable disk, and the shaft body is rotatably connected to the guide wheel through a bearing.

8. A high stability artificial intelligence cleaning robot according to claim 7 wherein said rollers are driven by a double shaft motor, both ends of said double shaft motor are mounted with drive shafts, and the ends of said drive shafts remote from said double shaft motor are mounted with said rollers.

9. The artificial intelligence cleaning robot of claim 8, wherein a storage battery is placed in the base body, and the storage battery is electrically connected with the central processor, the telescopic mechanism, the driving motor and the double-shaft motor.

10. The high stability artificial intelligence cleaning robot of claim 9 wherein the outer bottom wall of the base body is provided with more than two supporting seats, the bottom of the supporting seats is installed with a rotatable rubber ball, and the rubber ball is on the same plane with the bottom surface of the roller and the guide wheel.