CN219586634U - Cleaning robot unloading mechanism - Google Patents

Abstract

The utility model relates to a cleaning robot unloading mechanism, which belongs to the technical field of sanitation robots and comprises a tipping fixed seat, a dustbin, a first fixed support and a second fixed support, wherein the first fixed support and the second fixed support are both fixed in a robot body; the tipping fixing seat is hinged with a tipping actuator, the free end of the tipping actuator is hinged with the dustbin, the tipping fixing seat is fixed with a push rod, and the free end of the push rod is hinged with the dustbin. The utility model does not need secondary movement of the whole machine in the unloading process, reduces the control difficulty of the whole machine, and has good safety and high efficiency.

Description

Cleaning robot unloading mechanism

Technical Field

The utility model relates to a cleaning robot unloading mechanism, and belongs to the technical field of sanitation robots.

Background

Along with the continuous progress of unmanned technique, clean intelligent degree of robot also promotes along with it, if can realize functions such as automatic cleaning, unloading, charge, add water, alright reach the effect of full flow unmanned operation basically, have the significance of milestone to unmanned cleaning robot's actual operation that falls to the ground.

The main difficulty in the unloading link of the unmanned cleaning robot is that how the cleaning robot can automatically dump the garbage in the dustbin, and the main unloading mode at present comprises the following steps:

firstly, directly dumping garbage in the garbage can into a garbage pool, and then manually cleaning the garbage, wherein the mode is easy to cause secondary pollution and is not beneficial to realizing unmanned operation of the whole process;

the second mode is that the special garbage collection device is made to be in butt joint with the garbage bin of the cleaning robot, and certain supporting facilities or capital construction transformation is needed in the second mode, so that the operation cost is high, and the original appearance of an operation place is changed greatly;

and thirdly, the garbage can is butted with a common standard 660L garbage can, so that the garbage in the cleaning robot garbage can is dumped, and the garbage can is simple in mode and low in cost.

At present, the main stream products in the market are discharged in a third mode, and the specific discharging process is as follows:

(1) the cleaning robot is stopped at a designated position;

(2) lifting the dustbin to a certain height;

(3) the whole machine moves again until the garbage bin close to 660L stops;

(4) the dustbin is tilted at a certain angle to discharge.

In order to ensure flexible maneuvering of the cleaning robot, the cleaning robot is smaller in general size and lower in overall height. When unloading, the cleaning robot needs to lift the dustbin to 660L, and if the whole machine moves secondarily at the moment, the cleaning robot has several defects:

(1) the center of gravity of the whole machine is unstable, the control difficulty is increased, and serious potential safety hazards exist;

(2) the garbage in the box body is easy to fall to cause secondary pollution;

(3) longer unloading time and lower efficiency.

Improvements are therefore urgently needed.

Disclosure of Invention

In order to overcome the defects that the gravity center of the whole machine is unstable, secondary pollution is easy to cause, the discharging efficiency is low and the like when the existing cleaning robot discharges, the utility model designs the discharging mechanism of the cleaning robot, the whole machine does not need to move for the second time in the discharging process, the control difficulty of the whole machine is reduced, and the discharging mechanism is good in safety and high in efficiency.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the cleaning robot unloading mechanism comprises a tipping fixed seat, a dustbin, a first fixed support and a second fixed support, wherein the first fixed support and the second fixed support are both fixed in a robot body, a lifting actuator is hinged to the second fixed support, a first connecting rod and a second connecting rod are respectively hinged to two ends of the first fixed support, free ends of the first connecting rod and the second connecting rod are downward and are both hinged to the tipping fixed seat, the lifting actuator is arranged on one side close to the first connecting rod, and the free end of the lifting actuator is hinged to a rod body of the first connecting rod; the tipping fixing seat is hinged with a tipping actuator, the free end of the tipping actuator is hinged with the dustbin, the tipping fixing seat is fixed with a push rod, and the free end of the push rod is hinged with the dustbin.

Further, a fixing rod is fixed in the middle of the tipping fixing seat, and the free end of the fixing rod is hinged with the dustbin.

Further, the first connecting rod and the second connecting rod are provided with a plurality of through holes along the length direction of the rod body.

Further, a hinge seat is fixed on the dustbin, and the tipping actuator, the push rod and the fixing rod are all hinged with the hinge seat.

Further, the push rod and the fixed rod are coaxially hinged on the hinge seat.

Compared with the prior art, the utility model has the following characteristics and beneficial effects:

1. in the unloading process, the robot body does not need to move for the second time, so that the control difficulty of the whole machine is reduced.

2. The utility model omits the operation step of carrying out secondary movement when the gravity center of the dustbin is in a lifting state and is unstable, so that the safety in the unloading process is effectively improved and ensured.

3. The dustbin can directly perform tipping action after being lifted in place, so that the unloading efficiency is improved, the risk of falling garbage in the dustbin in the unloading process is reduced, and the problem of secondary pollution is avoided.

Drawings

FIG. 1 is a schematic view of the present utility model after storage;

FIG. 2 is a schematic view of the structure of the first working state of the utility model;

FIG. 3 is a schematic view of the structure of the second working state of the present utility model;

FIG. 4 is a schematic view of the structure of the third working state of the utility model;

fig. 5 is a schematic structural view of the fourth working state of the present utility model.

Wherein the reference numerals are as follows: 110. a robot body; 120. a first fixed bracket; 121. a second fixing bracket; 131. a first link; 132. a second link; 133. the overturning fixing seat; 134. a dustbin; 135. a push rod; 136. a fixed rod; 141. lifting the actuator; 142. a rollover actuator; 150. a garbage can.

Detailed Description

The present utility model will be described in more detail with reference to examples.

As shown in fig. 1 to 5, the unloading mechanism of the cleaning robot of the present embodiment includes a tipping fixed seat 133 and a dustbin 134, and further includes a first fixing bracket 120 and a second fixing bracket 121 both fixed in the robot body 110, a lifting actuator 141 is hinged on the second fixing bracket 121, two ends of the first fixing bracket 120 are respectively hinged with a first connecting rod 131 and a second connecting rod 132, free ends of the first connecting rod 131 and the second connecting rod 132 are both downward arranged and are both hinged with the tipping fixed seat 133, the lifting actuator 141 is arranged at one side close to the first connecting rod 131, and a free end of the lifting actuator 141 is hinged with a rod body of the first connecting rod 131; the tipping fixed seat 133 is hinged with a tipping actuator 142, the free end of the tipping actuator 142 is hinged with the dustbin 134, the tipping fixed seat 133 is fixed with a push rod 135, and the free end of the push rod 135 is hinged with the dustbin 134.

Further, a fixing rod 136 is fixed at the middle part of the tipping fixed seat 133, and the free end of the fixing rod 136 is hinged with the dustbin 134.

Further, the first link 131 and the second link 132 are each provided with a plurality of through holes in the length direction of the shaft.

Further, a hinge seat is fixed to the dustbin 134, and the tipping actuator 142, the push rod 135 and the fixing lever 136 are all hinged to the hinge seat.

Further, the push rod 135 and the fixing rod 136 are coaxially hinged to the hinge base.

Specifically, the hinge points of the push rod 135 and the fixed rod 136 with the hinge base are disposed near one end of the dustbin 134 far from the robot body 110, and the hinge points of the rollover actuator 142 with the hinge base are disposed near the middle position of the dustbin 134.

The working principle of the utility model is as follows: as shown in fig. 1 to 3, when unloading is required, firstly, the lifting actuator 141 is started, the output end of the lifting actuator 141 extends to drive the first connecting rod 131 to swing, meanwhile, under the action of a four-bar mechanism formed by the first fixed bracket 120, the first connecting rod 131, the tipping fixed seat 133 and the second connecting rod 132 together, the tipping fixed seat 133 can be driven to move upwards, and then the dustbin 134 is pushed to be lifted upwards to the position above the dustbin 150 by the push rod 135 and the fixed rod 136, so that the dustbin 134 of the robot body 110 under the condition of no movement is lifted, and the telescopic end of the lifting actuator 141 is recovered during recovery;

as shown in fig. 3 to 5, after the dustbin 134 is lifted up above the dustbin 150, the tilting actuator 142 is started to extend out to push the dustbin 134 to tilt, and the dustbin 134 is tilted under the action of the push rod 135 and the fixing rod 136, so that the unloading work is completed.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "inner", "outer", "upper", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the term "connected" should be interpreted broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be apparent that the described embodiments 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.

Claims (5)

1. The utility model provides a clean robot shedding mechanism which characterized in that: the automatic tipping and overturning device comprises a tipping fixed seat (133) and a dustbin (134), and further comprises a first fixed support (120) and a second fixed support (121) which are both fixed in a robot body (110), wherein a lifting actuator (141) is hinged to the second fixed support (121), a first connecting rod (131) and a second connecting rod (132) are respectively hinged to two ends of the first fixed support (120), the free ends of the first connecting rod (131) and the second connecting rod (132) are downwards arranged and are both hinged to the tipping fixed seat (133), the lifting actuator (141) is arranged on one side close to the first connecting rod (131), and the free end of the lifting actuator (141) is hinged to the rod body of the first connecting rod (131); the tipping device is characterized in that a tipping actuator (142) is hinged to the tipping fixing base (133), the free end of the tipping actuator (142) is hinged to the dustbin (134), a push rod (135) is fixed to the tipping fixing base (133), and the free end of the push rod (135) is hinged to the dustbin (134).

2. A cleaning robot discharge mechanism as claimed in claim 1, wherein: a fixing rod (136) is fixed in the middle of the tipping fixing seat (133), and the free end of the fixing rod (136) is hinged with the dustbin (134).

3. A cleaning robot discharge mechanism as claimed in claim 1, wherein: the first connecting rod (131) and the second connecting rod (132) are provided with a plurality of through holes along the length direction of the rod body.

4. A cleaning robot discharge mechanism as claimed in claim 2, wherein: and a hinge seat is fixed on the dustbin (134), and the tipping actuator (142), the push rod (135) and the fixed rod (136) are all hinged with the hinge seat.

5. The cleaning robot discharge mechanism of claim 4, wherein: the push rod (135) and the fixed rod (136) are coaxially hinged on the hinge seat.