CN108544511A - A kind of multifunctional cleaning machine people - Google Patents
A kind of multifunctional cleaning machine people Download PDFInfo
- Publication number
- CN108544511A CN108544511A CN201810650661.7A CN201810650661A CN108544511A CN 108544511 A CN108544511 A CN 108544511A CN 201810650661 A CN201810650661 A CN 201810650661A CN 108544511 A CN108544511 A CN 108544511A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- wrist
- belt wheel
- cleaning machine
- machine people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunctional cleaning machine people,Including robot body,Image collecting device and imaging sensor for acquiring surroundings,Imaging sensor bottom is equipped with connecting rod,Connecting rod bottom is equipped with general control system,Image collecting device is fixedly connected with general control system by connecting rod,Left mechanical arm and right mechanical arm are provided at left and right sides of robot body,The top of left mechanical arm is equipped with large arm and the first wrist pendulum belt wheel,Left mechanical arm is put belt wheel by the first wrist with large arm and is fixedly connected,And right mechanical arm tilts down setting,The bottom of robot body is equipped with movement chassis,The side on movement chassis is equipped with rubbish storage box and dust storage box,This kind of multifunctional cleaning machine people,The rotation that imaging sensor is driven by connecting rod rotates is controlled by general control system,Achieve the purpose that acquire surrounding image,Cleared up rubbish can be transported by rubbish storage box and dust storage box.
Description
Technical field
The present invention relates to robot device's technical field, specially a kind of multifunctional cleaning machine people.
Background technology
Traditional clean robot is very high in American-European Korean and Japanese's popularization degree, in China's Mainland recent years also to double every year
Speed universal, people are also more and more big to the demand of robot, especially the robot with sanitation and hygiene function, this
Kind robot can automatically clear up the dust on ground, but traditional clean robot can only be used as family's cleaning dust to use, right
Paying slightly bigger rubbish will be stymied by, so this clean robot only belongs to household electrical appliance classification, really
Intelligence is not known where to begin.
And traditional clean robot now, and do not have intelligentized feature, do not have yet multi-functional feature or
It is that can individually clear up rubbish or is that can individually clear up dust, the robot without multiple functions can be gathered,
Also the function of not having timing working, can not timely dispose the rubbish cleaned out.
So how to design a kind of multifunctional cleaning machine people, becoming us will currently solve the problems, such as.
Invention content
The purpose of the present invention is to provide a kind of multi-function robots, clear to solve tradition mentioned above in the background art
Clean robot does not have a variety of cleaning functions generally, and function is typically single, the narrow problem of the range that uses.
To achieve the above object, the present invention provides the following technical solutions：A kind of multifunctional cleaning machine people, including robot
Main body, image collecting device and the imaging sensor for the scene around acquiring, it is characterised in that：In described image sensor
Portion is equipped with connecting rod, and the inside of described image sensor is equipped with imaging sensor fixed link, the bottom peace of the connecting rod
Equipped with general control system, described image harvester is fixedly connected with general control system by connecting rod, in the master control system
The both sides of system are separately installed with left mechanical arm control-rod and right mechanical arm control-rod, and the left mechanical arm control-rod and master control
System is fixedly connected, and the right mechanical arm control-rod is fixedly connected with general control system, the top setting of the robot body
There are timing knob and function button, left mechanical arm and right mechanical arm, the left side are provided at left and right sides of the robot body
The top of mechanical arm is equipped with large arm and the first wrist pendulum belt wheel, and the left mechanical arm and large arm are put belt wheel and fixed by the first wrist to be connected
It connects, the top of the large arm is provided with forearm and the second wrist pendulum belt wheel, and the large arm and forearm are put belt wheel by the second wrist and fixed
Connection, the top of the forearm are provided with wrist mechanical arm and third wrist pendulum belt wheel, and the forearm and wrist mechanical arm pass through the
Three wrists pendulum belt wheel is fixedly connected, and the top of the forearm is equipped with vacuum cleaner, and the right mechanical arm tilts down setting, described
The bottom of robot body is equipped with movement chassis.
Further, the top of the wrist mechanical arm is provided with fixed rotating shaft, and the top of the fixed rotating shaft is equipped with
Mechanical gripper, the wrist mechanical arm are fixedly connected with mechanical gripper by fixed rotating shaft.
Further, the side of described image harvester is provided with clocking interface display screen.
Further, the side of the robot body is equipped with channel washer, and the bottom of the channel washer is equipped with cleaning
Cloth.
Further, wire netting is installed, the side of the vacuum cleaner is equipped with dust transport at the top of the vacuum cleaner
Pipe.
Further, the side on the movement chassis is equipped with rubbish storage box and dust storage box, the movement chassis
Bottom be provided with movement idler wheel.
Compared with prior art, the beneficial effects of the invention are as follows：
1. two mechanical arms are fitted with three wrist pendulum belt wheels, it can be rotated to any direction, increase robot cleaner
The space of health, mechanical gripper are made of elongated hard metal, can put in more narrow space, capture smaller rubbish
Rubbish；
2. the robot has the function of timing working, can automatically it work, imaging sensor can acquire all around
Scene realizes comprehensive detecting rubbish；
3. detachable, the replaceable channel washer in robot body side has the function of the dust that mops floor, clears up, further right
Ground is cleaned, and the rubbish and dust cleaned out is respectively put into rubbish storage box and dust storage box, facilitates the arrangement of rubbish.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is robot body's partial schematic diagram of the present invention；
Fig. 3 is the movement chassis partial schematic diagram of the present invention；
In figure：1- robot bodies；2- image collecting devices；3- moves chassis；4- channel washers；5- cleans cloth；6- is fixed
When interface screen；7- timing knobs；8- function buttons；9- left mechanical arms；The first wrists of 10- put belt wheel；11- large arm；12- second
Wrist puts belt wheel；13- forearms；14- third wrists put belt wheel；15- wrist mechanical arms；16- fixed rotating shafts；17- mechanical grippers；18- rubbish
Rubbish storage box；19- dust storage boxes；20- vacuum cleaners；21- dust delivery tubes；22- wire nettings；23- imaging sensors；24- joins
Tie bar；25- right mechanical arm control-rods；26- general control systems；27- left mechanical arm control-rods；28- moves idler wheel；29- images pass
Sensor fixed link；30- right mechanical arms.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "upper", "lower", "inner", "outside" " end ", " front end ",
The orientation or positional relationship of the instructions such as " rear end ", " both ends ", " one end ", " other end " is orientation based on ... shown in the drawings or position
Relationship is merely for convenience of description of the present invention and simplification of the description, and not indicating or implying the indicated device or element must have
There is specific orientation, with specific azimuth configuration and operation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Set/offer ", " connection ", etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, can also be detachably to connect
It connects, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Embodiment 1：
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of multifunctional cleaning machine people, including robot master
Body 1, image collecting device 2 and the imaging sensor 23 for the scene around acquiring, it is characterised in that：Described image sensor
Connecting rod 24 is installed, the inside of described image sensor 23 is equipped with imaging sensor fixed link 29, the connection inside 23
The bottom of bar 24 is equipped with general control system 26, and described image harvester 2 is fixed with general control system 26 by connecting rod 24
Connection, left mechanical arm control-rod 27 and right mechanical arm control-rod 25 are separately installed in the both sides of the general control system 26, and
The left mechanical arm control-rod 27 is fixedly connected with general control system 26, the right mechanical arm control-rod 25 and general control system 26
It is fixedly connected, the top of the robot body 1 is provided with timing knob 7 and function button 8, the left side of the robot body 1
Right both sides are provided with left mechanical arm 9 and right mechanical arm 30, and the top of the left mechanical arm 9 is equipped with large arm 11 and the first wrist pendulum band
Wheel 10, the left mechanical arm 9 and large arm 11 are put belt wheel 10 by the first wrist and are fixedly connected, and the top of the large arm 11 is provided with small
Arm 13 and the second wrist are put belt wheel 12, the large arm 11 and forearm 13 and are fixedly connected by the second wrist pendulum belt wheel 12, the forearm 13
Top be provided with wrist mechanical arm 15 and third wrist pendulum belt wheel 14, the forearm 13 and wrist mechanical arm 15 are put by third wrist
Belt wheel 14 is fixedly connected, and the top of the forearm 13 is equipped with vacuum cleaner 20, and the right mechanical arm 25 tilts down setting, institute
The bottom for stating robot body 1 is equipped with movement chassis 3, the above basic structure for constituting the present invention.
The present invention uses such structure setting, its working principle is that：Robot body 1 is used as the clean robot most core
The part of the heart carries the control function to all components of robot, is two different work(in the left and right sides of robot body 1
Robot, is placed on the place for needing clean rubbish by the mechanical arm of energy, then passes through the work(for pressing 1 top of robot body
Energy button 8, you can start robot and works, first, the imaging sensor 23 being fixed in imaging sensor fixed link 29
Scene information around the continual reception of meeting, general control system is sent to by the image information of capture by connecting rod 24
26, general control system 26 is handled transmitting the image information come, and analyzes rubbish to be treated, then controlled motion bottom
Disk 3 is to traveling at rubbish, and in clean rubbish, general control system 26 passes through 27 control machinery handgrip 17 of left mechanical arm control-rod and presss from both sides
Rubbish is played, rubbish is then placed on rubbish storage box 18, the first wrist puts belt wheel 10, the second wrist pendulum belt wheel 12 and third wrist and puts belt wheel
14 may be implemented the comprehensive rotation of mechanical arm, and fixed rotating shaft 16 can make 17 adjustment direction of mechanical gripper, convenient for picking up rubbish
Rubbish, general control system 26 are controlled the cleaning that right mechanical arm 30 carries out dust by right mechanical arm control-rod 25, pass through vacuum cleaner 20
The dust for drawing ground, by the transport of dust delivery tube 21 to dust storage box 19, the wire netting 22 at 20 top of vacuum cleaner avoids
Vacuum cleaner 20 sucks the rubbish such as waste paper.
More specifically, the side of the robot body 1 is equipped with channel washer 4, and 4 bottom of channel washer is provided with clearly
Clean cloth 5 can further clean the ground cleaned.
More specifically, the timing knob 7 that the top of the robot body 1 is arranged can to working time of robot into
Row setting, the time of setting may be displayed on above clocking interface display screen 6.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of multifunctional cleaning machine people, including robot body (1), image collecting device (2) and for around acquiring
The imaging sensor (23) of scene, it is characterised in that：Connecting rod (24), the figure are installed inside described image sensor (23)
The inside of picture sensor (23) is equipped with imaging sensor fixed link (29), and the bottom of the connecting rod (24) is equipped with master control
System (26), described image harvester (2) is fixedly connected with general control system (26) by connecting rod (24), in the master control
The both sides of system (26) processed are separately installed with left mechanical arm control-rod (27) and right mechanical arm control-rod (25), and the left machinery
Arm control-rod (27) is fixedly connected with general control system (26), and the right mechanical arm control-rod (25) is solid with general control system (26)
It is fixed to connect, it is provided with timing knob (7) and function button (8), the robot body at the top of the robot body (1)
(1) left mechanical arm (9) and right mechanical arm (30) are provided at left and right sides of, the top of the left mechanical arm (9) is equipped with large arm
(11) belt wheel (10) is put by the first wrist and is fixedly connected with the first wrist pendulum belt wheel (10), the left mechanical arm (9) and large arm (11),
The top of the large arm (11) is provided with forearm (13) and the second wrist pendulum belt wheel (12), and the large arm (11) and forearm (13) pass through
Second wrist pendulum belt wheel (12) is fixedly connected, and the top of the forearm (13) is provided with wrist mechanical arm (15) and third wrist pendulum belt wheel
(14), the forearm (13) is put belt wheel (14) by third wrist with wrist mechanical arm (15) and is fixedly connected, the forearm (13)
Top is equipped with vacuum cleaner (20), and the right mechanical arm (25) tilts down setting, the bottom peace of the robot body (1)
Equipped with movement chassis (3).
2. a kind of multifunctional cleaning machine people according to claim 1, it is characterised in that：The wrist mechanical arm (14)
Top is provided with fixed rotating shaft (16), and the top of the fixed rotating shaft (16) is equipped with mechanical gripper (17), the wrist machinery
Arm (14) is fixedly connected with mechanical gripper (17) by fixed rotating shaft (16).
3. a kind of multifunctional cleaning machine people according to claim 1, it is characterised in that：Described image harvester (2)
Side be provided with clocking interface display screen (6).
4. a kind of multifunctional cleaning machine people according to claim 1, it is characterised in that：The robot body (1)
Side is equipped with channel washer (4), and the bottom of the channel washer (4) is equipped with cleaning cloth (5).
5. a kind of multifunctional cleaning machine people according to claim 1, it is characterised in that：The top of the vacuum cleaner (20)
Wire netting (22) is installed, the side of the vacuum cleaner is equipped with dust delivery tube (21).
6. a kind of multifunctional cleaning machine people according to claim 1, it is characterised in that：, the one of movement chassis (3)
Side is equipped with rubbish storage box (18) and dust storage box (19), and the bottom of movement chassis (3) is provided with movement idler wheel
(28)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810650661.7A CN108544511A (en) | 2018-06-22 | 2018-06-22 | A kind of multifunctional cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810650661.7A CN108544511A (en) | 2018-06-22 | 2018-06-22 | A kind of multifunctional cleaning machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544511A true CN108544511A (en) | 2018-09-18 |
Family
ID=63494029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810650661.7A Withdrawn CN108544511A (en) | 2018-06-22 | 2018-06-22 | A kind of multifunctional cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544511A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076798A (en) * | 2019-05-20 | 2019-08-02 | 浙江大学滨海产业技术研究院 | Robot with instrument cleaning device |
| CN111636341A (en) * | 2020-05-30 | 2020-09-08 | 常艺馨 | Park garbage cleaning machine |
| CN112649439A (en) * | 2020-12-18 | 2021-04-13 | 郑燊 | Deformable bridge crack collection system |
| CN113223258A (en) * | 2021-05-28 | 2021-08-06 | 湘潭大学 | Method for detecting and removing foreign matters in underwater pipeline |
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| CN206029916U (en) * | 2016-08-29 | 2017-03-22 | 华尔嘉（泉州）机械制造有限公司 | A mobile robot for clothes display |
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| CN206200981U (en) * | 2016-10-10 | 2017-05-31 | 山东科技大学 | Clean robot |
| CN206228294U (en) * | 2016-07-26 | 2017-06-09 | 桂林电子科技大学 | A kind of workshop intelligent ground clean robot |
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| CN108086214A (en) * | 2018-01-26 | 2018-05-29 | 张伟 | A kind of outdoor sweeping robot |
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| CN203074576U (en) * | 2012-12-19 | 2013-07-24 | 南昌航空大学 | Multifunctional cleaning robot |
| CN105877620A (en) * | 2014-12-19 | 2016-08-24 | 北京雷动云合智能技术有限公司 | Cleaning mechanism combined with floor mopping robot |
| CN206228294U (en) * | 2016-07-26 | 2017-06-09 | 桂林电子科技大学 | A kind of workshop intelligent ground clean robot |
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| CN206200981U (en) * | 2016-10-10 | 2017-05-31 | 山东科技大学 | Clean robot |
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| CN206982681U (en) * | 2017-05-07 | 2018-02-09 | 黄国彬 | A kind of multi-purpose intelligent robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076798A (en) * | 2019-05-20 | 2019-08-02 | 浙江大学滨海产业技术研究院 | Robot with instrument cleaning device |
| CN111636341A (en) * | 2020-05-30 | 2020-09-08 | 常艺馨 | Park garbage cleaning machine |
| CN111636341B (en) * | 2020-05-30 | 2021-12-21 | 南京意若思智慧科技有限公司 | Park garbage cleaning machine |
| CN112649439A (en) * | 2020-12-18 | 2021-04-13 | 郑燊 | Deformable bridge crack collection system |
| CN113223258A (en) * | 2021-05-28 | 2021-08-06 | 湘潭大学 | Method for detecting and removing foreign matters in underwater pipeline |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180918 |
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| WW01 | Invention patent application withdrawn after publication |