CN109674403A - A kind of portable type sweeping robot with obstacle crossing function - Google Patents
A kind of portable type sweeping robot with obstacle crossing function Download PDFInfo
- Publication number
- CN109674403A CN109674403A CN201910042274.XA CN201910042274A CN109674403A CN 109674403 A CN109674403 A CN 109674403A CN 201910042274 A CN201910042274 A CN 201910042274A CN 109674403 A CN109674403 A CN 109674403A
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- China
- Prior art keywords
- main body
- sweeping robot
- rotating wheel
- driving assembly
- dust collecting
- Prior art date
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Classifications
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- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Electric Suction Cleaners (AREA)
Abstract
The present invention relates to a kind of portable type sweeping robot with obstacle crossing function, including main body, dust exhaust apparatus and two clearing apparatus, it further include Liang Ge mobile mechanism and collecting mechanism, the mobile mechanism includes connecting shaft, rotating casing, first rotating wheel, second rotating wheel, air bag, first driving assembly, second gear, thrust assemblies and two support rods, the collecting mechanism includes the second driving assembly, second drive rod, dust collecting trough, second cylinder and baffle, first driving assembly includes first motor and first gear, the thrust assemblies include the first cylinder and directive wheel, in the portable type sweeping robot with obstacle crossing function, the distance between main body and ground are adjusted by mobile mechanism, sweeping robot is set to pass through barrier, to improve the practicability of sweeping robot, it is driven by collecting mechanism Dust collecting trough rotation, makes sweeping robot can be with Automatic-dumping inside rubbish, to improve the working efficiency of sweeping robot.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of portable type sweeping robot with obstacle crossing function.
Background technique
Why intelligent robot is intelligent robot, this is because it has quite flourishing " brain ", acts as in brain
It is central processing unit, this computer has direct connection with operating its people, and most importantly, such computer can
To carry out the movement by purpose arrangement, Just because of this, we just say that this robot is only real robot, although they
Appearance may be different.
With the development of technology, intelligent robot is widely used in every field, and existing sweeping robot is cleaning ground
During, if encountering the threshold of protrusion, sweeping robot will be unable to pass through, to reduce the cleaning model of sweeping robot
It encloses, reduces the practicability of sweeping robot, moreover, after the rubbish inside existing sweeping robot is filled, sweeper
Device people can not clear up rubbish automatically, cause sweeping robot that can not work on, and reduce the working efficiency of sweeping robot.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of with obstacle crossing function
Portable type sweeping robot.
The technical solution adopted by the present invention to solve the technical problems is: a kind of portable type sweeper with obstacle crossing function
The middle part of main body, two cleaning dresses are arranged in device people, including main body, dust exhaust apparatus and two clearing apparatus, the dust exhaust apparatus
The two sides for being separately positioned on the lower section of main body are set, further include Liang Ge mobile mechanism and collecting mechanism, Liang Ge mobile mechanism sets respectively
The two sides in the inside of main body are set, the collecting mechanism is arranged above main body；
The mobile mechanism includes connecting shaft, rotating casing, the first rotating wheel, the second rotating wheel, air bag, the first driving group
Part, second gear, thrust assemblies and two support rods, two support rods are vertically provided at the top of the inner wall of main body, institute respectively
The both ends for stating connecting shaft are connect with the bottom end of two support rods respectively, and the rotating casing is set in connecting shaft, and described first
Rotating wheel and the second rotating wheel are set on rotating casing, and the bottom of the inner wall of the main body is equipped with hole, and described second turn
The bottom end of driving wheel and the first rotating wheel both passes through hole, and the air bag is circumferentially arranged around rotating casing, and the air bag setting exists
Between first rotating wheel and the second rotating wheel, the second gear is set in one end close to the first rotating wheel of rotating casing
On periphery, first driving assembly is arranged in two support rods on a support rod of second gear, the thrust
Component is arranged on a support rod in two support rods far from second gear, and the thrust assemblies are supported with the second rotating wheel
It leans on；
The collecting mechanism includes the second driving assembly, the second drive rod, dust collecting trough, the second cylinder and baffle, and described the
The top of the inner wall of main body is arranged in two driving assemblies, and separate second driving assembly of the top of main body is arranged in the dust collecting trough
Side, the dust collecting trough connect with dust exhaust apparatus, and the bottom end of the side far from the second driving assembly of the dust collecting trough is hinged
In the side far from the second driving assembly at the top of main body, the side far from the first driving assembly of the dust collecting trough is equipped with one
A opening, for the baffle plate setting in the opening of dust collecting trough, the top of the baffle is hinged on the top of the opening of dust collecting trough, institute
The one end for stating the second cylinder is hinged on the side of dust collecting trough, and the other end of second cylinder is hinged on the side of baffle, described
One end of second drive rod be hinged on dust collecting trough close to the second driving assembly side, the other end of second drive rod with
The connection of second driving assembly.
Preferably, in order to improve the intelligence degree of robot, the inside of the main body is equipped with wireless signal and receives and dispatches mould
Block and processor, the wireless signal transceiver module are electrically connected with processor.
Preferably, in order to rotating casing rotation provide power, first driving assembly include first motor and
First gear, the first motor are positioned close on a support rod of the first rotating wheel, the first motor and the first tooth
Wheel transmission connection, the first gear are engaged with second gear.
Preferably, the thrust assemblies include the first cylinder in order to drive the second rotating wheel to move along rotating casing
And directive wheel, the cylinder body of first cylinder are horizontally set on a support rod of the first rotating wheel, the directive wheel
It is hinged on the top of gas bar of cylinder, the directive wheel is resisted against the side of the separate air bag of the second rotating wheel, the guiding
The direction of wheel is consistent with the rotation direction of the second rotating wheel.
Preferably, in order to provide power to the rotation of dust collecting trough, second driving assembly includes screw rod, the second electricity
Machine, drive block and the first drive rod, the both ends of the screw rod are respectively equipped with a bearing block, and two bearing blocks are separately positioned on master
The top of the inner wall of main body is arranged in the top of the inner wall of body, second motor, and second motor is connect with screw rod transmission,
The drive block is set on screw rod, and the screw rod is threadedly coupled with drive block, and the top of the main body is equipped with fluting, and described the
One drive rod is vertically provided at the top of drive block, and the top of first drive rod and the other end of the second drive rod are hinged,
The screw rod, the second drive rod and fluting are in same plane.
Preferably, in order to improve the sealing performance of baffle, the side of the close dust collecting trough of the baffle is equipped with sealing ring.
Preferably, in order to improve the mobile stability of robot, the one of the separate clearing apparatus of the lower section of the main body
Side is hinged with auxiliary wheel.
Preferably, being coated with lubricating grease in the connecting shaft to improve the smooth degree of rotating casing rotation.
Preferably, in order to mitigate the weight of robot, the making material of the main body is plastics.
Preferably, in order to reduce the probability that the first rotating wheel and the second rotating wheel are rotated around rotating casing, described turn
The side of dynamic casing is equipped with positive stop strip, and the inside of first rotating wheel and the second rotating wheel is equipped with sliding slot, and the positive stop strip is set
It sets in the inside of sliding slot.
The invention has the advantages that this has in the portable type sweeping robot of obstacle crossing function, pass through mobile mechanism's tune
The distance between main body and ground are saved, so that sweeping robot is passed through barrier, to improve sweeping robot
Practicability, compared with existing mobile mechanism, which is operated alone by the first driving assembly, to make two moving machines
When Gou Zhongyige mobile mechanism breaks down, another mobile mechanism can also drive sweeping robot mobile, to drop
The probability that low sweeping robot breaks down moreover drives dust collecting trough rotation by collecting mechanism, makes sweeping robot
Can be with Automatic-dumping inside rubbish, to improve the working efficiency of sweeping robot, compared with existing collecting mechanism, the collection
Mechanism structure is simple, reduces the quantity of the mechanism-trouble point, reduces the probability of the mechanism malfunction.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the portable type sweeping robot with obstacle crossing function of the invention；
Fig. 2 is the mobile mechanism of the portable type sweeping robot with obstacle crossing function of the invention and the connection structure of main body
Schematic diagram；
Fig. 3 is the structural schematic diagram of the mobile mechanism of the portable type sweeping robot with obstacle crossing function of the invention；
Fig. 4 is the structural schematic diagram of the collecting mechanism of the portable type sweeping robot with obstacle crossing function of the invention；
In figure: 1. clearing apparatus, 2. main bodys, 3. support rods, 4. first rotating wheels, 5. second rotating wheels, 6. first cylinders,
7. directive wheel, 8. air bags, 9. first gears, 10. first motors, 11. connecting shafts, 12. rotating casings, 13. positive stop strips, 14.
Two gears, 15. dust exhaust apparatuses, 16. auxiliary wheels, 17. first drive rods, 18. drive blocks, 19. screw rods, 20. second drive rods,
21. the second motor, 22. dust collecting troughs, 23. second cylinders, 24. baffles.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in Figure 1, a kind of portable type sweeping robot with obstacle crossing function, including main body 2, dust exhaust apparatus 15 and two
The middle part of main body 2 is arranged in a clearing apparatus 1, the dust exhaust apparatus 15, and two clearing apparatus 1 are separately positioned under main body 2
The two sides of side, further include Liang Ge mobile mechanism and collecting mechanism, Liang Ge mobile mechanism is separately positioned on the two of the inside of main body 2
Side, the collecting mechanism setting are square on the body 2；
Wherein, when sweeping robot encounters obstacle, sweeping robot is risen by mobile mechanism, makes sweeper
Device people can be normal through so that improve the practicability of sweeping robot, through collecting mechanism inside sweeping robot
It, can be with Automatic-dumping rubbish, to further improve the practicability of sweeping robot after rubbish is filled；
As Figure 2-3, the mobile mechanism includes connecting shaft 11, rotating casing 12, the rotation of the first rotating wheel 4, second
Wheel 5, air bag 8, the first driving assembly, second gear 14, thrust assemblies and two support rods 3, two support rods 3 are vertically set respectively
It sets at the top of the inner wall of main body 2, the both ends of the connecting shaft 11 are connect with the bottom end of two support rods 3 respectively, the rotation
Casing 12 is set in connecting shaft 11, and first rotating wheel 4 and the second rotating wheel 5 are set on rotating casing 12, described
The bottom of the inner wall of main body 2 is equipped with hole, and the bottom end of second rotating wheel 5 and the first rotating wheel 4 both passes through hole, the gas
Capsule 8 is arranged between the first rotating wheel 4 and the second rotating wheel 5 around the circumferential setting of rotating casing 12, the air bag 8, and described the
Two gears 14 are set on the periphery of one end of close first rotating wheel 4 of rotating casing 12, the first driving assembly setting
In two support rods 3 on a support rod 3 of second gear 14, the thrust assemblies are arranged in two support rods 3
On a support rod 3 far from second gear 14, the thrust assemblies and the second rotating wheel 5 against；
Wherein, under the supporting role of two support rods 3, the stability of rotating casing 12 is improved by connecting shaft 11,
Rotate rotating casing 12 around connecting shaft 11, actually the side of 2 moving direction of main body is equipped with supersonic sensing
Device detects front obstacle by ultrasonic sensor and is controlled when sweeping robot encounters barrier by processor
First driving assembly provides power, and then under the transmission effect of second gear 14, and driving rotating casing 12 rotates, to pass through
Rotating casing 12 drives the first rotating wheel 4 and the rotation of the second rotating wheel 5, thus in the work of the first rotating wheel 4 and the second rotating wheel 5
It is mobile with lower driving sweeping robot, under the action of thrust assemblies, push the second rotating wheel 5 along rotating casing 12 to close
The direction of first rotating wheel 4 is mobile, thus by 5 extruding gasbag 8 of the first rotating wheel 4 and the second rotating wheel, to keep air bag 8 swollen
It is swollen, later in the case where the support author of air bag 8 uses, the front end of sweeping robot is lifted, passes through the first rotating wheel 4 and second later
Rotating wheel 5 drives air bag 8 to rotate, to allow sweeping robot to break the barriers, to improve the reality of sweeping robot
With property, when sweeping robot breaks the barriers, thrust assemblies reduce the thrust of the second rotating wheel 5, in returning for air bag 8
Under the action of multiple power, the second rotating wheel 5 of driving is moved along rotating casing 12 to the direction far from the first rotating wheel 4, to make
Air bag 8 resets, and can work normally sweeping robot；
As shown in figure 4, the collecting mechanism includes the second driving assembly, the second drive rod 20, dust collecting trough 22, the second cylinder
23 and baffle 24, second driving assembly top of the inner wall of main body 2 is set, main body 2 is arranged in the dust collecting trough 22
The side far from the second driving assembly of top, the dust collecting trough 22 connect with dust exhaust apparatus 15, the dust collecting trough 22 it is separate
The bottom end of the side of second driving assembly is hinged on the side far from the second driving assembly at the top of main body 2, the dust collecting trough
22 side far from the first driving assembly is equipped with an opening, and the opening of dust collecting trough 22 is arranged in the baffle 24, described
The top of baffle 24 is hinged on the top of the opening of dust collecting trough 22, and one end of second cylinder 23 is hinged on the one of dust collecting trough 22
Side, the other end of second cylinder 23 are hinged on the side of baffle 24, and one end of second drive rod 20 is hinged on dust
The side close to the second driving assembly of slot 22, the other end of second drive rod 20 are connect with the second driving assembly；
Wherein, by the second driving assembly provide power, under the action of the second drive rod 20 drive dust collecting trough 22 around
It is rotated up with the hinge joint of main body 2, later under the action of the second cylinder 23, opens baffle 24, and then by dust collecting trough 22
Internal rubbish is poured into fixed position, drives baffle 24 to close by the second cylinder 23 later, while passing through the second drive rod
20 driving dust collecting troughs 22 rotate down, so that dust collecting trough 22 be made to reset, so that sweeping robot be allow to work on, improve
The practicability of sweeping robot.
Preferably, in order to improve the intelligence degree of robot, the inside of the main body 2 is equipped with wireless signal and receives and dispatches mould
Block and processor, the wireless signal transceiver module are electrically connected with processor, by wireless signal transceiver module make processor with
Mobile device establishes communication, is run by mobile device remote control sweeping robot, to improve the intelligence of robot
Degree.
As shown in figure 3, first driving assembly includes first motor 10 and first gear 9, the first motor 10 is set
It sets on a support rod 3 close to the first rotating wheel 4, the first motor 10 is sequentially connected with first gear 9, and described first
Gear 9 is engaged with second gear 14；
Wherein, it drives first gear 9 to rotate by first motor 10, drives second gear 14 to rotate by first gear 9,
To drive rotating casing 12 to rotate by second gear 14.
As shown in figure 3, the thrust assemblies include the first cylinder 6 and directive wheel 7, the cylinder body of first cylinder 6 is horizontal
It is positioned close on a support rod 3 of the first rotating wheel 4, the directive wheel 7 is hinged on the top of gas bar of cylinder, described
Directive wheel 7 is resisted against the side of the separate air bag 8 of the second rotating wheel 5, turn in the direction of the directive wheel 7 and the second rotating wheel 5
Dynamic direction is consistent；
Wherein, when the first cylinder 6 extends, drive the second rotating wheel 5 to close to the first rotation by the first cylinder 6
The direction of wheel 4 is mobile, so that air bag 8 is expanded, when the first cylinder 6 shortens, under the action of the restoring force of air bag 8,
It is mobile to the direction far from the first rotating wheel 4 to drive the second rotating wheel 5, at the same under the action of directive wheel 7 by the first cylinder 6 with
Sliding friction between second rotating wheel 5 is converted into rolling friction, to reduce between the first cylinder 6 and the second rotating wheel 5
Frictional force, thus improve the second rotating wheel 5 rotation smooth degree.
As shown in figure 4, second driving assembly includes screw rod 19, the second motor 21, drive block 18 and the first drive rod
17, the both ends of the screw rod 19 are respectively equipped with a bearing block, and two bearing blocks are separately positioned on the top of the inner wall of main body 2,
The top of the inner wall of main body 2 is arranged in second motor 21, and second motor 21 is sequentially connected with screw rod 19, the driving
Block 18 is set on screw rod 19, and the screw rod 19 is threadedly coupled with drive block 18, and the top of the main body 2 is equipped with fluting, described
First drive rod 17 is vertically provided at the top of drive block 18, and the top of first drive rod 17 is another with the second drive rod 20
One end is hinged, and the screw rod 19, the second drive rod 20 and fluting are in same plane；
Wherein, screw rod 19 is driven to rotate by the second motor 21, under the transmission effect of drive block 18, the first transmission of driving
Bar 17 is mobile in the inside of fluting, to drive dust collecting trough 22 to rotate around with the hinge joint of main body 2 by the first drive rod 17.
Preferably, in order to improve the sealing performance of baffle 24, the side of the close dust collecting trough 22 of the baffle 24 is equipped with
Sealing ring reduces the gap between baffle 24 and dust collecting trough 22 by sealing ring, to improve the sealing performance of baffle 24.
Preferably, in order to improve the mobile stability of robot, the separate clearing apparatus 1 of the lower section of the main body 2
Side is hinged with auxiliary wheel 16, by the supporting role of auxiliary wheel 16, improves the stability of main body 2, sweeps the floor to improve
The mobile stability of robot.
Preferably, being coated with lubricating grease in order to improve the smooth degree of the rotation of rotating casing 12 in the connecting shaft 11, passing through
Lubricating grease reduces the frictional force between rotating casing 12 and connecting shaft 11, to improve the smooth of the rotation of rotating casing 12
Degree.
Preferably, the making material of the main body 2 is plastics, since plastics are compared in order to mitigate the weight of robot
In metal material, not only intensity is higher, while having lighter weight, to alleviate the weight of robot.
Preferably, in order to reduce the probability that the first rotating wheel 4 and the second rotating wheel 5 are rotated around rotating casing 12, institute
The side for stating rotating casing 12 is equipped with positive stop strip 13, and the inside of first rotating wheel 4 and the second rotating wheel 5 is equipped with sliding slot, institute
The inside that sliding slot is arranged in positive stop strip 13 is stated, by the mutual position-limiting action between positive stop strip 13 and sliding slot, reduces first turn
The probability that driving wheel 4 and the second rotating wheel 5 are rotated around rotating casing 12.
When sweeping robot encounters obstacle, sweeping robot is risen by mobile mechanism, makes sweeping robot
Can be normal through, to improve the practicability of sweeping robot, pass through rubbish of the collecting mechanism inside sweeping robot
It, can be with Automatic-dumping rubbish, to further improve the practicability of sweeping robot after filling.
Compared with prior art, this has in the portable type sweeping robot of obstacle crossing function, is adjusted and is led by mobile mechanism
The distance between body 2 and ground, allow sweeping robot to pass through barrier, to improve the practical of sweeping robot
Property, compared with existing mobile mechanism, which is operated alone by the first driving assembly, thus in Shi Liangge mobile mechanism
When one mobile mechanism breaks down, another mobile mechanism can also drive sweeping robot mobile, to reduce
The probability that sweeping robot breaks down moreover drives dust collecting trough 22 to rotate, makes sweeping robot can by collecting mechanism
With Automatic-dumping inside rubbish, so that the working efficiency of sweeping robot is improved, compared with existing collecting mechanism, the collection machine
Structure structure is simple, reduces the quantity of the mechanism-trouble point, reduces the probability of the mechanism malfunction.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of portable type sweeping robot with obstacle crossing function, including main body (2), dust exhaust apparatus (15) and two cleaning dresses
It sets (1), the dust exhaust apparatus (15) is arranged at the middle part of main body (2), and two clearing apparatus (1) are separately positioned on main body (2)
The two sides of lower section, which is characterized in that further include Liang Ge mobile mechanism and collecting mechanism, Liang Ge mobile mechanism is separately positioned on main body
(2) two sides of inside, the collecting mechanism setting is above main body (2)；
The mobile mechanism includes connecting shaft (11), rotating casing (12), the first rotating wheel (4), the second rotating wheel (5), air bag
(8), the first driving assembly, second gear (14), thrust assemblies and two support rods (3), two support rods (3) vertically set respectively
It sets at the top of the inner wall of main body (2), the both ends of the connecting shaft (11) are connect with the bottom end of two support rods (3) respectively, institute
It states rotating casing (12) to be set on connecting shaft (11), first rotating wheel (4) and the second rotating wheel (5) are set in rotation
On casing (12), the bottom of the inner wall of the main body (2) is equipped with hole, second rotating wheel (5) and the first rotating wheel (4)
Bottom end both passes through hole, and the air bag (8) is circumferentially arranged around rotating casing (12), and air bag (8) setting is in the first rotation
It takes turns between (4) and the second rotating wheel (5), the second gear (14) is set in close first rotating wheel of rotating casing (12)
(4) on the periphery of one end, first driving assembly is arranged in two support rods (3) one close to second gear (14)
On support rod (3), a support rod (3) far from second gear (14) is arranged in two support rods (3) in the thrust assemblies
On, the thrust assemblies and the second rotating wheel (5) against；
The collecting mechanism includes the second driving assembly, the second drive rod (20), dust collecting trough (22), the second cylinder (23) and baffle
(24), the top of inner wall of the second driving assembly setting in main body (2), the dust collecting trough (22) are arranged in main body (2)
The side far from the second driving assembly of top, the dust collecting trough (22) connect with dust exhaust apparatus (15), the dust collecting trough (22)
Far from the second driving assembly side bottom end be hinged on main body (2) top far from the second driving assembly side, institute
The side far from the first driving assembly for stating dust collecting trough (22) is equipped with an opening, and the baffle (24) is arranged in dust collecting trough (22)
Opening, the top of the baffle (24) is hinged on the top of the opening of dust collecting trough (22), the one of second cylinder (23)
End is hinged on the sides of dust collecting trough (22), and the other end of second cylinder (23) is hinged on the side of baffle (24), and described the
One end of two drive rods (20) is hinged on the side close to the second driving assembly of dust collecting trough (22), second drive rod (20)
The other end connect with the second driving assembly.
2. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the main body (2)
Inside be equipped with wireless signal transceiver module and processor, the wireless signal transceiver module is electrically connected with processor.
3. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that first driving
Component includes first motor (10) and first gear (9), and the first motor (10) is positioned close to the one of the first rotating wheel (4)
On a support rod (3), the first motor (10) and first gear (9) are sequentially connected, the first gear (9) and second gear
(14) it engages.
4. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the thrust assemblies
Including the first cylinder (6) and directive wheel (7), the cylinder body of first cylinder (6) is horizontally set on close to the first rotating wheel (4)
On one support rod (3), the directive wheel (7) is hinged on the top of gas bar of cylinder, and the directive wheel (7) is resisted against second
The side of the separate air bag (8) of rotating wheel (5), the direction of the directive wheel (7) and the rotation direction one of the second rotating wheel (5)
It causes.
5. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that second driving
Component includes screw rod (19), the second motor (21), drive block (18) and the first drive rod (17), the both ends point of the screw rod (19)
Not She You a bearing block, two bearing blocks are separately positioned on the top of the inner wall of main body (2), the second motor (21) setting
At the top of the inner wall of main body (2), second motor (21) and screw rod (19) are sequentially connected, and the drive block (18) is set in
On screw rod (19), the screw rod (19) is threadedly coupled with drive block (18), and the top of the main body (2) is equipped with fluting, and described the
One drive rod (17) is vertically provided at the top of drive block (18), the top of first drive rod (17) and the second drive rod
(20) the other end is hinged, and the screw rod (19), the second drive rod (20) and fluting are in same plane.
6. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the baffle (24)
Close dust collecting trough (22) side be equipped with sealing ring.
7. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the main body (2)
The side of separate clearing apparatus (1) of lower section be hinged with auxiliary wheel (16).
8. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the connecting shaft
(11) lubricating grease is coated on.
9. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the main body (2)
Making material be plastics.
10. as described in claim 1 with the portable type sweeping robot of obstacle crossing function, which is characterized in that the turning set
The side for managing (12) is equipped with positive stop strip (13), and the inside of first rotating wheel (4) and the second rotating wheel (5) is equipped with sliding slot, institute
State the inside that sliding slot is arranged in positive stop strip (13).
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| CN112754362A (en) * | 2021-01-22 | 2021-05-07 | 侯成 | Crossing type sweeping robot |
| CN113349681A (en) * | 2021-06-15 | 2021-09-07 | 郑州科技学院 | Robot with obstacle removing mechanism |
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| CN109674403B (en) | 2021-01-15 |
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