FR3146083A1 - Climbing robot for sweeping and washing - Google Patents

Abstract

Disclosed is a climbing robot for sweeping and mopping, which comprises a robot body (1), in which a first gear motor (2) is mounted on the inner wall of the upper part of the robot body (1), an output end of the first gear motor (2) is fixedly connected to a linear telescopic motor (3), and a traveling device (4) is mounted at the output end of the linear telescopic motor (3), a pin rod (5) is fixedly connected to the lower part of the traveling device (4), and a second gear motor (6) is mounted on the lower part of the traveling device (4), the second gear motor (6) is connected to a gear by the conveyor belt (7), and the outer surface of the gear is provided with a crawler belt (9). Abstract Figure: Figure 1

Description

Climbing robot for sweeping and washing

The disclosure relates to the field of sweeping robots, and more particularly to a sweeping and mopping robot capable of climbing.

In the process of use, if there is a slope in front, the existing sweeping robot is often difficult to deal with, especially when the chassis of the sweeping robot is relatively low, it will be stuck on the slope and difficult to move, or cause damage to the chassis, and it cannot sweep and mop at the same time, and the floor cannot be cleaned well.

Therefore, it is necessary to develop a climbing robot for sweeping and washing

PRESENTATION OF THE INVENTION

To achieve this objective, this disclosure proposes the following technical solutions:

A climbing robot for sweeping and mopping, which comprises a robot body, a first gear motor is mounted on an inner wall of an upper part of the robot body, and an output end of the first gear motor is fixedly connected to a linear telescopic motor, a moving device is mounted at an output end of the linear telescopic motor, a lower part of the moving device is fixedly connected to a pin rod, and a second gear motor is mounted at the lower part of the moving device, an output end of the second gear motor is fixedly connected to a conveyor belt, and one end of the second gear motor is sleeved with a gear, an outer surface of the gear is connected to a crawler belt, an outer surface of the crawler belt is sleeved with a tire, and a lower part of the robot body is provided with a rotating groove, an electronic inclination measuring device is mounted on an inner wall of the robot body, the inner wall of the robot body is fixedly connected to a control unit, the electronic tilt measuring device is electrically connected to the control unit, and a first motor is mounted on an inner wall of the lower part of the robot body, an output end of the first motor is fixedly connected to a helical gear set, an inner wall of the helical gear set is sleeved with a rotating shaft, and a brush is mounted on a lower part of the rotating shaft, a water tank is mounted on the inner wall of the robot body, and one side of the water tank is fixedly connected to a water inlet pipe, a lower part of the water tank is fixedly connected to an inlet end of a high-pressure water pump, an outlet end of the high-pressure water pump is provided with a water outlet pipe, and one end of the water outlet pipe is fixedly connected to an atomizing nozzle, an ash inlet chamber is provided on an inner wall of the upper part of the robot body, an air pump is mounted on an inner wall of one side of the robot body, and an annular ash inlet pipe is mounted at an outlet end of the air pump, a receiving groove is provided on an outer surface of one side of the robot body, a permanent magnetic sheet is mounted on an inner wall of the receiving groove, and an ash storage box with two opposing sliding plates can be inserted into the receiving groove, wherein a metal block is fixedly connected to the ash storage box on one side, a handle is mounted on one side of the ash storage box, the annular ash inlet pipe is connected and communicates with the ash inlet chamber, and the sliding plate is slidably connected to the inner wall of the receiving groove.

Preferably, a second motor is mounted on the inner wall of the lower part of the robot body, and the output end of the second motor is fixedly connected to a rotating rod, a lower end of the rotating rod is provided with ash sweeping strips, three sets of ash sweeping strips are provided, and the second motor and the ash sweeping strips are arranged under the ash inlet annular pipe.

Preferably, the pin rods are arranged in two groups, the inner walls of the two groups of pin rods are each sleeved with a gear, and the moving device can rotate on an inner wall of the rotating groove, two groups of the moving device and the rotating groove are provided, the tire material is NBR, and the tire width is five centimeters.

The beneficial effects of this disclosure are:

1. Brushing the floor and simultaneously pumping the water in the water tank to the outlet pipe by starting the high-pressure water pump, it is beneficial to achieve the effect of washing the floor while spraying water;

2. By starting the air pump to pump air, the dust on the ground is sucked into the ash inlet annular pipe, and then enters the ash storage box through the ash inlet chamber to be stored, so as to achieve the effect of sweeping and washing the ground;

3. By starting the second motor to drive the three sets of ash sweeping belts to sweep the ground, the dust is swept away, and then sucked into the ash storage box through the air pump, thereby improving the cleaning performance of the robot body;

4. Through the detection and adjustment of the robot body angle, it is beneficial to achieve the effect of robot body climbing;

5. Nitrile rubber has the advantages of wear resistance and high friction, which improves the friction between the tire and the ground.

PRESENTATION OF FIGURES

There is a schematic diagram of the structure of a robot body provided by the present disclosure;

There is the enlarged view of zone A of the provided by this disclosure;

There is the enlarged view of zone B of the provided by this disclosure;

There is the bottom view of the robot body provided by the present disclosure;

There shows the ash storage box provided by this disclosure;

There is the side view of a robot body provided by the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

Preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings, it is to be understood that the preferred embodiments described herein are used only to illustrate and explain the present disclosure, but do not limit the present disclosure.

Referring to FIGS. 1 to 6, the disclosure relates to a climbing robot for sweeping and mopping, which comprises a robot body 1, a first gear motor 2 is mounted on the inner wall of the upper part of the robot body 1, the output end of the first gear motor 2 is fixedly connected to a linear telescopic motor 3, and the output end of the linear telescopic motor 3 is provided with a moving device 4, a pin rod 5 is fixedly connected to the lower part of the moving device 4, a second gear motor 6 is mounted at the lower part of the moving device 4, and the second gear motor 6 is coupled to a gear 8 by a conveyor belt 7, and the outer surface of the gear 8 is provided with a crawler belt 9, the crawler belt 9 is provided with a tire 10 on the outer surface thereof, and a rotating groove 11 is provided at the bottom of the body. of robot 1. An electronic tilt measuring device 34 is mounted on the inner wall of the robot body 1, and the inner wall of the robot body 1 is fixedly connected to a control unit 35, a first motor 12 is mounted on the inner wall of the lower part of the robot body 1, the output end of the first motor 12 is fixedly connected to a helical gear set 13, the helical gear set 13 receives a rotating shaft 14, and a brush 16 is mounted at the lower part of the rotating shaft 14, a water tank 17 is mounted on the inner wall of the robot body 1, one side of the water tank 17 is fixedly connected to a water inlet pipe 18, the lower part of the water tank 17 is fixedly connected to the inlet end of a high-pressure water pump 19, the outlet end of the water pump high-pressure robot 19 is provided with a water outlet pipe 20, and one end of the water outlet pipe 20 is fixedly connected to the atomizing nozzle 21. An ash inlet chamber 24 is provided in the robot body 1, an air pump 22 is mounted on the inner wall of the robot body 1, and an annular ash inlet pipe 23 is mounted at the outlet end of the air pump 22, an accommodating groove 25 is provided on the outer surface of the robot body 1, the inner wall of the accommodating groove 25 is provided with a permanent magnetic sheet 29. An ash storage box 26 with two opposing sliding plates 27 can be inserted into the accommodating groove 25, in which a metal block 28 is fixedly connected to the ash storage box 26 on one side, and a handle 33 is mounted on the ash storage box 26 on the other side. the other side of the ash inlet 23 is connected and communicated with the ash inlet chamber 24, the sliding plate 27 is slidably connected to the inner wall of the receiving groove 25. When the robot body 1 is to be used for washing, by starting the first motor 12 to rotate the helical gear set 13, the rotating shaft 14 is driven to rotate inside the robot body 1, and the brush 16 located at the lower part of the rotating shaft 14 rotates with the rotating shaft 14 to brush the floor, while the brush 16 brushes the floor, the water in the water tank 17 is pumped to the water outlet pipe 20 by starting the high-pressure water pump 19, and then the water is atomized by the atomizing nozzle 21 connected to one end of the water outlet pipe 20 and sprayed on the floor at and/or near the brush 16 to achieve the effect of washing the floor while spraying water. When sweeping the dust of the floor or carpet before washing with the brush 16, by starting the air pump 22 to pump air, the dust of the floor is sucked into the ash inlet annular pipe 23 and then into the ash storage box 26 through the ash inlet chamber 24 for storage, so as to achieve the effect of washing and sweeping the floor simultaneously.

In one embodiment, a second motor 30 is mounted on the inner wall of the lower part of the robot body 1, the output end of the second motor 30 is fixedly connected to a rotating rod 32, and the lower end of the rotating rod 32 is provided with a plurality of ash sweeping strips 31, and the number of the ash sweeping strips 31 can be fixed to three, the second motor 30 and the ash sweeping strips 31 are arranged under the ash inlet annular pipe 23. When only the air pump 22 is turned on to suck the dust on the ground, due to the weight of the dust itself and static electricity, the dust sticks to the ground and it is difficult to suck it; At this time, the second motor 30 is started to drive the three groups of ash sweeping belts 31 to sweep the ground, thereby removing the dust from the ground, and then the dust can be sucked into the ash storage box 26 by the air pump 22, thereby improving the cleaning performance of the robot body 1.

In one embodiment, the pin rods 5 are arranged in two groups, the two groups of pin rods 5 are each coupled (indirectly) to the gear 8, the moving device 4 can rotate along the inner wall of the rotating groove 11, and the moving device 4 and the rotating groove 11 are both configured in two groups. When the robot body 1 encounters an uphill condition, the inclination measuring device or electronic level 34 inside the robot body 1 will detect that the robot body 1 is in an inclined state, when the inclination angle is greater than 20 degrees, the electronic inclination measuring device 34 will send information to the control unit 35, and the control unit 35 will start the linear telescopic motor 3 to extend the traveling device 4 downward, the crawler 9 and the tire 10 are extended so that the chassis of the robot body 1 is elevated; at this time, the conveyor belt 7 is driven by the second gear motor 6 to drive the gear 8 to rotate, and the gear 8 rotates the crawler belt 9, the crawler belt 9 and the tire 10 sleeved therewith walk on the slope and climb the slope, when the robot body 1 walks to the flat ground, the electronic inclination measuring device 34 detects that the inclination angle of the robot body 1 is less than 20 degrees, the electronic inclination measuring device 34 sends information to the control unit 35 again, and the control unit 35 again controls the linear telescopic motor 3 to retract the traveling device 4, and the traveling device 4 returns to its original position, the brush 16 and the ash sweeping strips 31 continue to contact the ground to wash and sweep the ground, so as to achieve the effect of climbing the slope. When the robot body 1 needs to be rotated, the rotation operation can be completed by starting any one of the two groups of the first gear motors 2 to rotate the moving device 4 in the rotating groove 11.

The material of the tire 10 is configured with nitrile rubber (eg NBR), the width of the tire 10 can be set to 5cm, the nitrile rubber has the advantages of wear resistance and strong friction force, which improves the friction between the tire 10 and the ground, and is conducive to the climbing of the robot. Since the outer surface of the tire 10 can be provided with a number of rubber rods, when passing through puddles or uneven roads, it can pass smoothly, two sets of crawlers 9 and tires 10 with a width of five centimeters are put in tandem to improve the stability of the robot body 1. The electronic inclination measuring device 34 is electrically connected to the control unit 35, the electronic inclination measuring device 34 has the function of detecting the slope, and the control unit 35 has the function of controlling the robot body 1 to turn on or off the climbing mode.

The method of using the present disclosure is as follows: when the robot body 1 is to be used for mopping the floor, the helical gear set 13 is rotated by starting the first motor 12, and the rotating shaft 14 is rotated inside the robot body 1, the brush 16 at the lower part of the rotating shaft 14 rotates with the rotating shaft 14 to brush the floor, simultaneously, by starting the high-pressure water pump 19, the water in the water tank 17 is pumped to the water outlet pipe 20, then, the water is atomized by the atomizing nozzle 21 connected to one end of the water outlet pipe 20 and sprayed onto the floor at and/or near the brush 16 to achieve the effect of mopping the floor while spraying water, when sweeping dust from the floor or carpet. before washing with the brush 16, by starting the air pump 22 to pump air, the dust on the ground is sucked into the ash inlet annular pipe 23 and then into the ash storage box 26 through the ash inlet chamber 24 for storage, when the dust in the ash storage box 26 needs to be cleaned, the user can directly pull the handle 33 by hand, and directly apply a force greater than the suction force between the permanent magnet 29 and the metal block 28 at the back of the ash storage box 26 to remove the ash box 26 from the receiving groove 25 for cleaning. When installing the ash storage box 26, the sliding plates 27 arranged on both sides of the ash storage box 26 can be directly inserted into the receiving groove 25; at this time, the metal block 28 located on the ash storage box 26 is attracted by the permanent magnet 29, so as to achieve the effect of sweeping the floor while washing the floor and facilitate the cleaning of the ash storage box 26, when the air pump 22 is turned on to suck the dust on the floor, due to the gravity of the dust itself and static electricity, the dust on the floor is difficult to suck, the second motor 30 is started to drive the three groups of ash sweeping belts 31 to sweep the floor, sweep the dust and suck it into the ash storage box 26 through the air pump 22, thereby improving the cleaning performance of the robot body 1. When the robot body 1 encounters an uphill slope, the electronic tilt measuring device 34 inside the robot body 1 will detect that the robot body 1 is in an inclined state, when the tilt angle is greater than 20 degrees, the electronic inclination measuring device 34 will send information to the control unit 35, and the control unit 35 will start the linear telescopic motor 3 to extend the moving device 4 downward, the crawler belt 9 and the tire 10 are extended to lift the robot body chassis 1, the conveyor belt 7 is driven by the second gear motor 6 to drive the sprocket 8 to rotate, and the sprocket 8 rotates the crawler belt 9, the crawler belt 9 and the tire 10 wrapped on the outer surface of the crawler belt 9 walk on the slope and go up the slope. When the robot body 1 moves to the flat ground, the electronic inclination measuring device 34 will detect that when the inclination angle of the robot body 1 is less than 20 degrees, the electronic inclination measuring device 34 sends information to the control unit 35 again, and the control unit 35 again controls the linear telescopic motor 3 to retract the traveling device 4, and the traveling device 4 returns to the original position, at this time, the brush 16 and the ash sweeping belt 30 continue to contact the ground to wash and sweep the ground, so as to achieve the effect of the robot body 1 climbing the slope; when the robot body 1 needs to be rotated, the rotation operation can be completed by starting any one of the two groups of first gear motors 2 to rotate the moving device 4 in the rotating groove 11. The nitrile rubber has the advantages of wear resistance and high friction, which improves the friction between the tires 10 and the ground, and is conductive to climbing; when passing puddles or uneven roads, it can pass smoothly. Two sets of crawler strips 9 and tires 10 with a width of five centimeters are placed in tandem to improve the stability of the robot body 1, the electronic inclination measuring device 34 is electrically connected to the control unit 35; the electronic inclination measuring device 34 has the function of detecting the slope, and the control unit 35 has the function of controlling the robot body 1 to turn on or off the climbing mode.

The above constitutes only preferred embodiments of the present disclosure, and any person skilled in the art may modify the present disclosure using the technical solutions described above or modify them into equivalent technical solutions. Therefore, any simple modifications or equivalent replacements made according to the technical solutions of the present disclosure fall within the scope of protection of the present disclosure.

Claims (4)

A climbing robot for sweeping and mopping, comprising a robot body (1), wherein, a first gear motor (2) is mounted on the inner wall of an upper portion of the robot body (1), and the first gear motor (2) has an output end fixedly connected to a linear telescopic motor (3), a moving device (4) is mounted at an output end of the linear telescopic motor (3), a lower portion of the moving device (4) is fixedly connected to a pin rod (5), and a second gear motor (6) is mounted at the lower portion of the moving device (4), the second gear motor (6) is coupled to a gear (8) by a conveyor belt (7), and the outer surface of the gear (8) is provided with a crawler belt (9), the crawler belt (9) is provided with a tire (10) on the outer surface thereof, and wherein the robot body comprises a rotating groove (11) at the base thereof, a device electronic tilt measuring device (34) is mounted on the inner wall of the robot body (1), the electronic tilt measuring device (34) is electrically connected to a control unit (35) provided on the inner wall of the robot body (1), and a first motor (12) is mounted on the inner wall of a lower portion of the robot body (1), an output end of the first motor (12) is fixedly connected to a helical gear set (13) configured to receive a rotating shaft (14), and a brush is mounted at a lower portion of the rotating shaft (14), a water tank (17) is mounted on the inner wall of the robot body, and one side of the water tank (17) is fixedly connected to a water inlet pipe (18); a lower part of the water tank (17) is fixedly connected to an inlet end of a high-pressure water pump (19), an outlet end of the high-pressure water pump (19) is provided with a water outlet pipe (20), and one end of the water outlet pipe (20) is fixedly connected to an atomizing nozzle, an ash inlet chamber (24) is provided in the robot body (1), an air pump (22) is mounted on the inner wall of the robot body, and an annular ash inlet pipe (23) is mounted at an outlet end of the air pump (22), an accommodating groove (25) is provided on the outer surface of the robot body (1), a permanent magnetic sheet (29) is mounted on the inner wall of the accommodating groove (25), and an ash storage box (26) with two opposing sliding plates is able to fit into the accommodating groove (25), a metal block (28) is fixedly connected to one end of the ash storage box (26). A climbing robot for sweeping and washing according to claim 1, wherein a handle (33), opposite the metal block (28), is mounted on the ash storage box (26), the annular ash inlet pipe (23) is connected and communicated with the ash inlet chamber, and the sliding plate (27) is slidably connected to the inner wall of the receiving groove. A climbing robot for sweeping and washing according to claim 1, wherein a second motor (30) is mounted on the inner wall of the lower part of the robot body (1), and the second motor (30) has an output end fixedly connected to a rotating rod (32), the rotating rod (32) is provided with three sets of ash sweeping strips (31), and the second motor (30) and the ash sweeping strips (31) are arranged under the annular ash inlet pipe. A climbing robot for sweeping and washing according to claim 1, wherein the pin rods (5) are arranged in two groups, the two groups of pin rods (5) are each coupled to the corresponding gear, and the moving device (4) is capable of rotating along the inner wall of the rotating groove (11), two groups of the moving device (4) and the rotating groove (11) are provided, the material of the tire (10) is NBR, and the width of the tire (10) is five centimeters.