CN219070102U

CN219070102U - Cleaning robot

Info

Publication number: CN219070102U
Application number: CN202320143671.8U
Authority: CN
Inventors: 唐群; 刘涛
Original assignee: Shenzhen Youjieya Environmental Management Co ltd
Current assignee: Shenzhen Youjieya Environmental Management Co ltd
Priority date: 2023-01-16
Filing date: 2023-01-16
Publication date: 2023-05-26
Anticipated expiration: 2033-01-16

Abstract

The utility model discloses a cleaning robot, which is characterized in that a moving wheel assembly is arranged on a base to realize a ground walking function, a pivot seat driven by a first driving mechanism is pivotally arranged on the base, a first swing arm driven by a second driving mechanism is pivotally arranged on the pivot seat, a second swing arm driven by a third driving mechanism is pivotally arranged at the free end of the first swing arm, a swing arm driven by a fourth driving mechanism is pivotally arranged at the free end of the second swing arm, a working camera is further arranged on the base, the industrial camera is connected with a vision system, the industrial camera can photograph the ground and transmit the ground to the vision system, the vision system judges whether the ground needs to be cleaned or not and controls a brush to clean the ground through the action of the first swing arm, the second swing arm and the pivot seat according to the judging result, or controls the cleaning robot to walk to the next photographing place through the moving wheel assembly.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

Cleaning companies, i.e., companies that are dedicated to performing various cleaning operations for building structures. When cleaning the floor, a cleaning person usually holds the mop to clean or controls the floor cleaning machine to clean. Whether floor cleaning is performed by a mop or a floor washer, at least one cleaner is required to operate, and the larger the floor cleaning device is required, the more cleaning staff are required, so that the cost of the cleaning staff and the cleaning device is greatly increased. Of course, fewer cleaning personnel and equipment may be selected for larger sites, but with less efficiency and longer time spent cleaning.

Therefore, in order to reduce the cleaning cost, the applicant considers that it is necessary to provide a cleaning robot which is unmanned and can perform cleaning work on the floor by itself.

Disclosure of Invention

To achieve the above object, the present utility model provides a cleaning robot including:

the base is pivotally provided with a pivot seat for horizontally pivoting, a first driving mechanism is used for driving the pivot seat to horizontally pivot, the bottom of the base is provided with a driving wheel assembly for rolling contact with the ground, and the ground walking function of the base is realized through the driving wheel assembly;

the first swing arm can be pivotally arranged on the pivot seat, and a second driving mechanism is arranged for driving the first swing arm to vertically swing relative to the pivot seat;

the second swing arm is pivotally arranged at the free end of the first swing arm and is provided with a third driving mechanism for driving the second swing arm to vertically swing relative to the first swing arm;

the back side of the brush can be pivotally arranged at the free end of the second swing arm to form vertical opposite, a fourth driving mechanism is arranged for driving the brush to pivot relative to the second swing arm, and

the industrial camera is installed in the base, the industrial camera is connected with the vision system, the industrial camera can shoot the ground and transmit the shot ground to the vision system, the vision system judges whether the ground at the position needs to be cleaned or not, and the cleaning robot is controlled to walk to the next shooting place through the first swing arm, the second swing arm and the cooperation control hairbrush of the pivot seat according to the judging result.

According to the technical scheme, the movable wheel assembly is arranged on the base to achieve a ground walking function, the pivot seat driven by the first driving mechanism is pivotally arranged on the base, the first swing arm driven by the second driving mechanism is pivotally arranged on the pivot seat, the second swing arm driven by the third driving mechanism is pivotally arranged at the free end of the first swing arm, the swing arm driven by the fourth driving mechanism is pivotally arranged at the free end of the second swing arm, the working camera is further arranged on the base, the industrial camera is connected with the vision system, the industrial camera can shoot the ground and transmit the shot result to the vision system, the vision system judges whether the ground needs to be washed or not and controls the brush to wash the ground through the action of the first swing arm, the second swing arm and the pivot seat according to the judging result, or controls the cleaning robot to walk to the next shooting place through the movable wheel assembly.

Drawings

FIG. 1 is a perspective view of the present utility model;

fig. 2 is a perspective view of a brush.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, in the embodiment of the present utility model, directional indications (such as up, down, left, right, front, rear, top, bottom, inner, outer, vertical, lateral, longitudinal, counterclockwise, clockwise, circumferential, radial, axial … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first" or "second" etc. in the embodiments of the present utility model, the description of "first" or "second" etc. is only for descriptive purposes, and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The utility model provides a cleaning robot.

In the embodiment of the present utility model, as shown in fig. 1 to 2, the cleaning robot includes a base 1, a first swing arm 2, a second swing arm 3, a brush 4, and an industrial camera (not shown).

The base 1 is pivotally provided with a pivot seat 11 for horizontally pivoting, a first driving mechanism 100 is used for driving the pivot seat 11 to horizontally pivot, a moving wheel assembly for rolling contact with the ground is arranged at the bottom of the base, and the ground walking function of the base is realized through the moving wheel assembly (not shown); the first swing arm 2 is pivotally mounted on the pivot seat 11, and a second driving mechanism 200 is provided for driving the first swing arm 2 to vertically swing relative to the pivot seat 11; the second swing arm 3 is pivotally mounted at the free end of the first swing arm 2, and a third driving mechanism 300 is provided for driving the second swing arm 3 to swing vertically relative to the first swing arm 2; the back side of the brush 4 is pivotally mounted at the free end of the second swing arm 3 to form a vertical opposite direction, and a fourth driving mechanism 400 is provided for driving the brush 4 to pivot relative to the second swing arm 3; the industrial camera is installed in the base, the industrial camera is connected with the vision system, the industrial camera can shoot the ground and transmit the shot ground to the vision system, the vision system judges whether the ground needs to be cleaned or not, and the cleaning robot is controlled to walk to the next shooting place through the cooperation control hairbrush of the first swing arm, the second swing arm and the pivoting seat according to the judging result.

Specifically, the first driving mechanism 100 is a first servo motor, the body of the first servo motor is fixedly mounted on the base 1, the pivot joint of the pivot seat 11 and the base 1 is fixedly connected with the rotating end of the first servo motor, and the pivot seat 11 is driven to horizontally pivot through the rotating action of the rotating end of the first servo motor.

Specifically, the top of the base 1 is further provided with a storage box 12, a control system component (not shown) is disposed in the storage box 12, the control system component is electrically connected with the first driving mechanism 100, the second driving mechanism 200, the third driving mechanism 300, the fourth driving mechanism 400 and the driving wheel component (not shown), and is used for driving the first driving mechanism 100, the second driving mechanism 200, the third driving mechanism 300 and the fourth driving mechanism 400 to respectively perform opposite actions, and the pivot seat 11 is pivotally mounted on the top wall of the storage box 12.

It should be noted that the control system component and the driving wheel component belong to the prior art, and are used for controlling the cleaning robot to do different actions and walk on the ground, and the specific structural principles thereof are not repeated here.

Specifically, the operation panel 121 of the control system assembly is fixedly mounted on the outer side of the storage box 12.

Specifically, the second driving mechanism 200 is a second servo motor, the body of the second servo motor is fixedly connected with the pivot seat 11, the pivot joint of the first swing arm 2 and the pivot seat 11 is fixedly connected with the rotating end of the second servo motor, and the first swing arm 2 is driven to vertically swing through the rotating action of the rotating end of the second servo motor.

Specifically, the pivot seat 11 extends obliquely upward to form a pivot portion 111, and one end of the first swing arm 2 is pivotally mounted on the pivot portion 111.

Specifically, the third driving mechanism 300 is a third servo motor, the body of the third servo motor is fixedly connected with the end portion of the second swing arm 3, and the rotating end of the third servo motor is fixedly connected with the free end of the first swing arm 2, so that when the third servo motor operates, the rotating end of the third servo motor is fixed, and the body of the third servo motor performs a pivoting action to drive the second swing arm 3 to vertically swing.

Specifically, the fourth driving mechanism 400 is a fourth servo motor, the body of the fourth servo motor is fixedly connected with the free end of the second swing arm 3, the rotating end of the fourth servo motor is fixedly connected with the back side of the brush 4, and the brush 4 is driven to perform the pivoting action through the rotating action of the rotating end of the fourth servo motor.

Specifically, the brush 4 includes a main body 41 and a plurality of bristles 42, a plurality of strip-shaped members 43 are disposed at annular intervals on a peripheral wall of the main body 41, an included angle is formed between two adjacent strip-shaped members 43, a back side of the main body 41 is fixedly connected with a driving end of the fourth driving mechanism 400, and the bristles 42 are disposed on a front side of the main body 41 and a front side of the strip-shaped members 43.

Specifically, the base is also provided with a water spraying mechanism and a water absorbing mechanism, wherein the water spraying mechanism is used for spraying purified water to wet the ground, and the water absorbing mechanism is used for sucking and recycling sewage on the ground. Of course, the water can be purified and the sewage can be recovered by manual spraying.

It should be noted that the water spraying mechanism and the water absorbing mechanism belong to the prior art which can be purchased directly, and the specific structural principles thereof are not repeated here.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. A cleaning robot, comprising:

the base (1), the base (1) can be pivotally mounted with a pivot seat (11) for making horizontal pivot, a first driving mechanism (100) is used for driving the pivot seat (11) to make horizontal pivot, the bottom of the base is provided with a wheel assembly for rolling contact with the ground, and the ground walking function of the base is realized through the wheel assembly;

the first swing arm (2) can be pivotally arranged on the pivot seat (11), and a second driving mechanism (200) is used for driving the first swing arm (2) to vertically swing relative to the pivot seat (11);

the second swing arm (3), the second swing arm (3) can be pivotally mounted at the free end of the first swing arm (2), and a third driving mechanism (300) is arranged for driving the second swing arm (3) to vertically swing relative to the first swing arm (2);

a brush (4), the back side of the brush (4) is pivotally arranged at the free end of the second swing arm (3) to form vertical opposite, a fourth driving mechanism (400) is arranged for driving the brush (4) to pivot relative to the second swing arm (3), and

2. The cleaning robot of claim 1, wherein: the first driving mechanism (100) is a first servo motor, a machine body of the first servo motor is fixedly arranged on the base (1), a pivoting position of the pivoting seat (11) and the base (1) is fixedly connected with a rotating end of the first servo motor, and the pivoting seat (11) is driven to horizontally pivot through the rotating action of the rotating end of the first servo motor.

3. The cleaning robot of claim 1, wherein: the top of the base (1) is also provided with a storage box (12), a control system component is arranged in the storage box (12), the control system component is electrically connected with the first driving mechanism (100), the second driving mechanism (200), the third driving mechanism (300), the fourth driving mechanism (400) and the driving wheel component and is used for driving the first driving mechanism (100), the second driving mechanism (200), the third driving mechanism (300) and the fourth driving mechanism (400) to respectively do opposite actions, and the pivoting seat (11) is pivotally arranged on the top wall of the storage box (12).

4. A cleaning robot as claimed in claim 3, characterized in that: an operation panel (121) of the control system assembly is fixedly arranged on the outer side of the storage box (12).

5. The cleaning robot of claim 1, wherein: the second driving mechanism (200) is a second servo motor, a machine body of the second servo motor is fixedly connected with the pivot seat (11), the pivot joint of the first swing arm (2) and the pivot seat (11) is fixedly connected with the rotating end of the second servo motor, and the first swing arm (2) is driven to vertically swing through the rotating action of the rotating end of the second servo motor.

6. The cleaning robot of claim 5, wherein: the pivot seat (11) extends upwards in an inclined mode to form a pivot portion (111), and one end of the first swing arm (2) can be pivotally mounted on the pivot portion (111).

7. The cleaning robot of claim 1, wherein: the third driving mechanism (300) is a third servo motor, the machine body of the third servo motor is fixedly connected with the end part of the second swing arm (3), the rotating end of the third servo motor is fixedly connected with the free end of the first swing arm (2), when the third servo motor runs, the rotating end of the third servo motor is fixed, and the machine body of the third servo motor performs pivoting motion to drive the second swing arm (3) to vertically swing.

8. The cleaning robot of claim 1, wherein: the fourth driving mechanism (400) is a fourth servo motor, a machine body of the fourth servo motor is fixedly connected with the free end of the second swing arm (3), the rotating end of the fourth servo motor is fixedly connected with the back side of the hairbrush (4), and the hairbrush (4) is driven to do pivoting motion through the rotating motion of the rotating end of the fourth servo motor.

9. The cleaning robot of claim 1, wherein: the brush (4) comprises a main body (41) and a plurality of bristles (42), a plurality of strip-shaped members (43) are arranged on the periphery of the main body (41) at annular intervals, an included angle is formed between every two adjacent strip-shaped members (43), the back side of the main body (41) is fixedly connected with the driving end of the fourth driving mechanism (400), and the bristles (42) are arranged on the front side of the main body (41) and the front side of the strip-shaped members (43).

10. The cleaning robot of claim 1, wherein: the base is also provided with a water spraying mechanism and a water absorbing mechanism, the water spraying mechanism is used for spraying clean water to wet the ground, and the water absorbing mechanism is used for sucking and recycling sewage on the ground.