CN108937734B

CN108937734B - Intelligent floor sweeping robot

Info

Publication number: CN108937734B
Application number: CN201810873238.3A
Authority: CN
Inventors: 赵智星; 杨譓鹏; 李霞林
Original assignee: Hunan Giantsun Power Electronics Co Ltd
Current assignee: Hunan Giantsun Power Electronics Co Ltd
Priority date: 2018-08-02
Filing date: 2018-08-02
Publication date: 2020-08-25
Anticipated expiration: 2038-08-02
Also published as: CN108937734A

Abstract

The invention belongs to the technical field of ground cleaning equipment, and particularly relates to an intelligent sweeping robot which comprises a machine body, a vision sensor, traveling wheels, a controller, control arms and a sweeping module, wherein the controller is arranged inside the machine body, the vision sensor is arranged at the upper part of the machine body, the traveling wheels are arranged at the bottom of the machine body, the control arms are respectively arranged at two sides of the machine body, the ends of the control arms are connected with the sweeping module, and the sweeping module comprises a mounting plate, a telescopic frame, a motor, a rack, a gear, an elastic belt and a suction pipe; two flexible frames of mounting panel bottom slidable mounting, the motor rotates and is used for driving two flexible frames and move in opposite directions or leave mutually, realizes the regulation of width. According to the invention, the control arm is used for controlling the cleaning module to clean, when a passage with smaller width is encountered, the motor is used for controlling the two telescopic frames to move oppositely, the width of the cleaning module is contracted, the passage or corner with smaller width can be cleaned, the adjustment can be carried out according to different use environments, and the cleaning efficiency is improved.

Description

Intelligent floor sweeping robot

Technical Field

The invention belongs to the technical field of ground sweeping equipment, and particularly relates to an intelligent sweeping robot.

Background

The floor sweeping robot is also called as an automatic sweeper and an intelligent dust collector, is one of intelligent household appliances, can automatically sweep in a living or working area by means of certain artificial intelligence, reduces the manpower input to a great extent, and ensures the cleanness and sanitation of the living or working environment on the basis of saving the time of a user.

Some technical schemes of sweeping robots also appear in the prior art, for example, a chinese patent with application number 2018101028106 discloses an intelligent sweeping robot, which includes a main cleaning machine for sweeping and storing garbage, and a sub-cleaning machine for moving garbage, wherein the sub-cleaning machine is detachably mounted on the main cleaning machine, the size of the sub-cleaning machine is smaller than that of the main cleaning machine, the main cleaning machine is disc-shaped, and the sub-cleaning machine is square; the top end of the main cleaning machine is also provided with a regulating water tank, the bottom end of the main cleaning machine is provided with a cleaning mechanism, the cleaning mechanism comprises a first cleaning piece, a second cleaning piece and a cleaning motor, and the first cleaning piece is rubbed with the second cleaning piece to generate static electricity to adsorb sundries when rotating; the bottom surface of the main cleaning machine is provided with an arc-shaped base plate at the front end of the cleaning mechanism, and the bottom surface of the arc-shaped base plate is adhered with a mop cloth through a magic hook; the device also comprises an obstacle avoidance device.

This technical scheme can clean the limited place of appearance like the place or corner that space height such as the bottom of the bed, sofa bottom is low, but this scheme adopts a cleaning device of less size, cleans the position that is difficult for cleaning, but its cleaning device can not adjust according to the width of passageway for its application scope is lower, causes its clearance efficiency not high.

Disclosure of Invention

In order to make up for the defects of the prior art, the intelligent sweeping robot provided by the invention controls the sweeping module to carry out cleaning through the control arm, controls the two telescopic frames to move oppositely through the motor when meeting a passage with a smaller width, contracts the width of the sweeping module, can sweep the passage or corner with the smaller width, can adjust the passage or corner according to different use environments, and improves the sweeping efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention discloses an intelligent sweeping robot which comprises a machine body, a vision sensor, walking wheels, a controller, control arms and a sweeping module, wherein the controller is arranged inside the machine body, the vision sensor is arranged at the upper part of the machine body, the walking wheels are arranged at the bottom of the machine body, the control arms are respectively arranged at two sides of the machine body, the ends of the control arms are connected with the sweeping module, and the sweeping module comprises a mounting plate, a telescopic frame, a motor, a rack, a driving gear, an elastic belt and a suction pipe; the bottom of the mounting plate is provided with two telescopic frames in a sliding mode, the mounting plate is fixedly connected with a motor, the two telescopic frames are arranged on two sides of the motor in a centrosymmetric mode, a rack is arranged on one side wall of each telescopic frame, the end of the motor is fixedly connected with a driving gear, the driving gear is meshed with the rack, the motor rotates to drive the two telescopic frames to move in the opposite direction or in the opposite direction, the bottoms of the two telescopic frames are provided with elastic belts, and bristles and through holes are arranged on the surfaces of the elastic belts; the suction pipe is arranged at the top of the telescopic frame. During operation, the control arm control cleans the module and clears up, when meetting the less passageway of width, through two flexible frame relative motion of motor control, the width that the module was cleaned in the shrink can clean the less passageway of width or corner, can adjust the efficiency that cleans of improvement to different service environment.

Preferably, the roller is arranged in one end of the telescopic frame, the elastic belt bypasses two opposite rollers and is connected to two ends of the connecting plate, and the connecting plate is connected with the mounting plate. Along with clean the width shrink of module, surpass the flexible scope of elastic webbing, can tighten up the elastic webbing through spring and commentaries on classics roller for the width control range who cleans the module is bigger, and the elastic webbing changes through the dust of roller roll upset to the suction tube position and takes out through the suction tube and leave, has improved the efficiency of cleaning.

Preferably, a cam is further fixedly connected to a rotating shaft of the motor, and the connecting plate is slidably mounted at the bottom of the mounting plate through a sliding block. The cam rotates and extrudes the sliding block, so that the connecting plate reciprocates, the suction pipe can suck different positions of the elastic belt, and the cleaning workload of the elastic belt is reduced.

Preferably, the side of the telescopic frame is provided with an air exhaust hole, the inner side of the side plate of the telescopic frame is also provided with a sliding plate, an elastic tube is nested in the air exhaust hole penetrating through the side plate of the telescopic frame and the sliding plate, one end of the sliding plate is provided with a bulge, and the outer side of the other telescopic frame is provided with a group of elastic pieces corresponding to the bulge. The side of flexible frame sets up the dust that the pore pair of bleeding was raised and sucks, easily causes the pore that bleeds to block up, and when two flexible frame relative movement, the shell fragment promotes the sliding plate in proper order and slides for elasticity pipe intermittent type nature warp, can avoid the jam of bleeder, has avoided the frequent clearance of equipment.

Preferably, the surface of the elastic belt is provided with wave shapes. When the two telescopic frames move towards or away from each other, the elastic belts correspondingly stretch, dust on the surfaces of the elastic belts is not easy to adhere to the elastic belts, and frequent cleaning of equipment is avoided.

Preferably, a cleaning roller arranged on the side wall of the telescopic frame is arranged below the suction pipe, a group of scraping plates extending out of the cleaning roller are arranged on the outer ring of the cleaning roller, and the cleaning roller is controlled to rotate in a single direction through a built-in ratchet wheel and a built-in pawl. When connecting plate pulling elastic webbing moved to one side, the cleaning roller was not changeed in ratchet pawl control, and the scraper blade was scraped the dust of elastic webbing, then when the elastic webbing was gyration, the cleaning roller rotated and was changeed the scraper blade to the suction tube below, can in time clear up the elastic webbing, and the brush hair of avoiding the elastic webbing is mingled with too much dust, causes the cleaning efficiency to reduce.

Preferably, the scraping plate is inserted into the periphery of the cleaning roller through a slot. The scraper blade is worn and decreases comparatively fast under the friction of elastic webbing, through setting the scraper blade to detachable, the change of the scraper blade of being convenient for improves the suitability of device.

The invention has the following beneficial effects:

1. according to the invention, the control arm is used for controlling the cleaning module to clean, when a passage with smaller width is encountered, the motor is used for controlling the two telescopic frames to move oppositely, the width of the cleaning module is contracted, the passage or corner with smaller width can be cleaned, the adjustment can be carried out according to different use environments, and the cleaning efficiency is improved.

2. According to the cleaning device, the elastic belt can be tightened through the spring and the rotating roller, so that the width adjusting range of the cleaning module is larger, dust which is turned to the position of the suction pipe by the elastic belt through the roller shaft is more easily sucked out through the suction pipe, the cam rotates and extrudes the sliding block, the connecting plate reciprocates, the suction pipe can suck different positions of the elastic belt, the elastic belt can be cleaned in time, and the problem that cleaning efficiency is reduced due to the fact that too much dust is mixed with bristles of the elastic belt is avoided.

3. According to the invention, the outer ring of the cleaning roller is provided with the group of scraping plates extending out of the cleaning roller, when the connecting plate pulls the elastic belt to move to one side, the cleaning roller is controlled to be not rotated by the ratchet wheel and the pawl, the scraping plates scrape dust of the elastic belt, and then when the elastic belt rotates, the cleaning roller rotates and rotates the scraping plates to the lower part of the suction pipe, so that the elastic belt can be cleaned in time, and the cleaning efficiency is improved.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a front view of the present invention;

FIG. 2 is a block diagram of the cleaning module of the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 2;

in the figure: the cleaning machine comprises a machine body 1, a vision sensor 2, a traveling wheel 3, a controller, a control arm 4, a cleaning module 5, a mounting plate 51, a telescopic frame 52, a motor 53, a rack 54, a driving gear 55, an elastic belt 56, a suction pipe 57, a roller shaft 6, a connecting plate 61, a cam 62, a sliding block 63, an air suction hole 7, a sliding plate 71, an elastic pipe 72, a bulge 73, an elastic sheet 74, a cleaning roller 8 and a scraper 81.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 3, the intelligent floor sweeping robot of the present invention includes a machine body 1, a vision sensor 2, traveling wheels 3, a controller, control arms 4 and a sweeping module 5, wherein the controller is arranged inside the machine body 1, the vision sensor 2 is arranged on the upper portion of the machine body 1, the traveling wheels 3 are arranged at the bottom of the machine body 1, the control arms 4 are respectively arranged on two sides of the machine body 1, the end of each control arm 4 is connected to the sweeping module 5, and the sweeping module 5 includes a mounting plate 51, a telescopic frame 52, a motor 53, a rack 54, a driving gear 55, an elastic belt 56 and a suction pipe 57; the bottom of the mounting plate 51 is slidably provided with two telescopic frames 52, the mounting plate 51 is fixedly connected with a motor 53, the two telescopic frames 52 are arranged at two sides of the motor 53 in a central symmetry manner, a rack 54 is arranged on one side wall of each telescopic frame 52, the end of the motor 53 is fixedly connected with a driving gear 55, the driving gear 55 is meshed with the rack 54, the motor 53 rotates to drive the two telescopic frames 52 to move in an opposite direction or in an opposite direction, the bottoms of the two telescopic frames 52 are provided with elastic belts 56, and the surfaces of the elastic belts 56 are provided with bristles and through holes; the suction pipe 57 is provided on the top of the expansion frame 52. During operation, control arm 4 control cleans module 5 and clears up, when meetting the less passageway of width, through two flexible frame 52 relative motion of motor 53 control, the width that module 5 was cleaned in the shrink can clean the less passageway of width or corner, can adjust the efficiency of cleaning of improvement to different service environment.

In one embodiment of the present invention, a roller shaft 6 is provided inside one end of the expansion frame 52, the elastic band 56 is wound around the two roller shafts 6 which are oppositely arranged and is connected to both ends of a connecting plate 61, and the connecting plate 61 is connected to the mounting plate 51. Along with the width shrink of cleaning module 5, surpass the flexible scope of elastic webbing 56, can tighten up elastic webbing 56 through spring and commentaries on classics roller 6 for cleaning module 5's width control range is bigger, and elastic webbing 56 is changeed the dust of suction tube 57 position through roller 6 and is taken out through suction tube 57 more, has improved the efficiency of cleaning.

In one embodiment of the present invention, a cam 62 is further fixed to the rotating shaft of the motor 53, and the connecting plate 61 is slidably mounted at the bottom of the mounting plate 51 through a slider 63. The cam 62 rotates and presses against the slider 63, so that the link plate 61 reciprocates and the suction tube 57 can suck to different positions of the elastic band 56, reducing the cleaning work of the elastic band 56.

In one embodiment of the present invention, the side of the telescopic frame 52 is provided with an air exhaust hole 7, the inner side of the side plate of the telescopic frame 52 is further provided with a sliding plate 71, an elastic tube 72 is embedded in the air exhaust hole 7 penetrating through the side plate of the telescopic frame 52 and the sliding plate 71, one end of the sliding plate 71 is provided with a protrusion 73, and the outer side of the other telescopic frame 52 is provided with a set of elastic pieces 74 corresponding to the protrusion 73. The side of flexible frame 52 sets up aspirating hole 7 and pumps the dust of raising, easily causes aspirating hole 7 to block up, and when two flexible frame 52 relative movement, shell fragment 74 promotes sliding plate 71 in proper order and slides for elasticity pipe 72 intermittent type nature warp, can avoid the jam of aspirating hole 7, has avoided the frequent clearance of equipment.

In one embodiment of the present invention, the surface of the elastic band 56 is provided in a wave shape. When the two telescopic frames 52 move towards or away from each other, the elastic belt 56 correspondingly stretches, so that dust on the surface is not easy to adhere to the elastic belt, and the equipment is prevented from being cleaned frequently.

In one embodiment of the invention, a cleaning roller 8 mounted on the side wall of the telescopic frame 52 is arranged below the suction pipe 57, a group of scrapers 81 extending out of the cleaning roller 8 are arranged on the outer ring of the cleaning roller 8, and the cleaning roller 8 is controlled to rotate in one direction by a built-in ratchet pawl. When connecting plate 61 pulling elastic webbing 56 moved to one side, cleaning roller 8 was not changeed in ratchet pawl control, and scraper blade 81 scrapes elastic webbing 56's dust, then when elastic webbing 56 turned round, cleaning roller 8 rotated and rotated scraper blade 81 to suction tube 57 below, can in time clear up elastic webbing 56, and the brush hair of avoiding elastic webbing 56 is mingled with too much dust, causes the cleaning efficiency to reduce.

In one embodiment of the present invention, the scraper 81 is inserted into the outer periphery of the cleaning roller 8 through an insertion groove. The scraper 81 is worn down faster under the friction action of elastic webbing 56, through setting the scraper 81 to detachable, the change of the scraper 81 of being convenient for improves the suitability of device.

When the cleaning device works, the control arm 4 controls the cleaning module 5 to clean, when a passage with a smaller width is encountered, the motor 53 controls the two telescopic frames 52 to move oppositely, the width of the cleaning module 5 is contracted, the passage or the corner with the smaller width can be cleaned, the cleaning device can be adjusted according to different use environments, and the cleaning efficiency is improved; along with the width contraction of the cleaning module 5, the width contraction exceeds the expansion range of the elastic belt 56, the elastic belt 56 can be tightened through the spring and the rotating roller 6, the width adjustment range of the cleaning module 5 is larger, dust in the position where the elastic belt 56 overturns to the suction pipe 57 through the roller shaft 6 is more easily sucked away through the suction pipe 57, the cam 62 rotates and extrudes the sliding block 63, the connecting plate 61 reciprocates, the suction pipe 57 can suck different positions of the elastic belt 56, the elastic belt 56 can be cleaned in time, and the problem that the cleaning efficiency is reduced due to the fact that excessive dust is mixed with bristles of the elastic belt 56 is avoided; simultaneously, through being equipped with a set of scraper blade 81 that stretches out cleaning roller 8 in the cleaning roller 8 outer lane, when connecting plate 61 pulling elastic webbing 56 moved to one side, cleaning roller 8 did not change at ratchet pawl control, scraper blade 81 scraped the dust of elastic webbing 56, then when elastic webbing 56 turned round, cleaning roller 8 rotated and rotated scraper blade 81 to the suction tube 57 below, can in time clear up elastic webbing 56, improved cleaning efficiency.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. The utility model provides an intelligence robot of sweeping floor, includes organism (1), visual sensor (2), walking wheel (3), controller, control arm (4) and cleans module (5), the inside of organism (1) is equipped with the controller, the upper portion of organism (1) sets up visual sensor (2), the bottom of organism (1) is equipped with walking wheel (3), organism (1) both sides set up one control arm (4) respectively, control arm (4) end is being connected and is cleaning module (5), its characterized in that: the cleaning module (5) comprises a mounting plate (51), a telescopic frame (52), a motor (53), a rack (54), a driving gear (55), an elastic belt (56) and a suction pipe (57); the bottom of the mounting plate (51) is slidably provided with two telescopic frames (52), the mounting plate (51) is fixedly connected with a motor (53), the two telescopic frames (52) are arranged on two sides of the motor (53) in a central symmetry manner, a rack (54) is arranged on one side wall of each telescopic frame (52), the end of the motor (53) is fixedly connected with a driving gear (55), the driving gear (55) is meshed with the rack (54), the motor (53) rotates to drive the two telescopic frames (52) to move in an opposite direction or in an opposite direction, the bottoms of the two telescopic frames (52) are provided with elastic belts (56), and the surfaces of the elastic belts (56) are provided with bristles and through holes; the suction pipe (57) is arranged at the top of the telescopic frame (52);

a roll shaft (6) is arranged in one end of the telescopic frame (52), the elastic belt (56) bypasses the two roll shafts (6) which are oppositely arranged and is connected to the two ends of a connecting plate (61), and the connecting plate (61) is connected with the mounting plate (51);

a cam (62) is fixedly connected to a rotating shaft of the motor (53), and the connecting plate (61) is slidably mounted at the bottom of the mounting plate (51) through a sliding block (63);

the side edge of the telescopic frame (52) is provided with an air suction hole (7), the inner side of the side plate of the telescopic frame (52) is also provided with a sliding plate (71), an elastic pipe (72) is nested in the air suction hole (7) penetrating through the side plate of the telescopic frame (52) and the sliding plate (71), one end of the sliding plate (71) is provided with a bulge (73), and the outer side of the other telescopic frame (52) is provided with a group of elastic sheets (74) corresponding to the bulge (73);

the surface of the elastic belt (56) is designed into a wave shape;

a cleaning roller (8) arranged on the side wall of the telescopic frame (52) is arranged below the suction pipe (57), a group of scraping plates (81) extending out of the cleaning roller (8) are arranged on the outer ring of the cleaning roller (8), and the cleaning roller (8) is controlled to rotate in a single direction through a built-in ratchet pawl;

the scraping plates (81) are inserted into the periphery of the cleaning roller (8) through slots.