CN114393591A - Bionic leech cleaning robot based on spiral transmission and control method - Google Patents

Abstract

The invention discloses a spiral transmission-based bionic leech cleaning robot, which comprises an adsorption module, a steering module, a control module and a mechanical module, and is characterized in that: the adsorption module is installed on the front bottom plate and the rear bottom plate, the control module is installed on the rear bottom plate, the mechanical module comprises a spiral transmission mechanism and a gear transmission mechanism which are installed in the middle and a scissor type lifting mechanism which is installed on the rotary disk, and the control module controls the spiral transmission mechanism, the adsorption module, the scissor type lifting mechanism and the steering module to move, steer and cross over the obstacle in a bionic leech mode. The invention relates to the field of civil bionic robots which are relatively few in research. The bionic leech cleaning robot mainly adopts the gear transmission mechanism and the spiral transmission mechanism to carry out power transmission, well simulates gait movement of leeches, has flexible movement, can span obstacles with different heights, is designed with a structure for scrubbing and dust collection, has a cleaning function, and particularly cleans window glass and floors.

Description

Bionic leech cleaning robot based on spiral transmission and control method

The technical field is as follows:

the invention relates to the technical field of manufacturing of intelligent cleaning robots, in particular to a bionic leech cleaning robot which can be widely used for civil use.

Background art:

the bionic robot is a rapidly developing research field, and the main research direction is prototype design, development and application.

With the continuous and deep development of computer technology, tools and methods for machine design are constantly being updated and upgraded, and many new theories and new technical fields are being migrated and penetrated.

The bionic machinery design aims to realize the harmony between people and nature in the era, focuses on learning complex organisms, gives full play to the exquisite and excellent characteristics of the organisms, establishes a bionic machinery product with more competitive power in the aspects of structure, function, control, energy and other aspects, improves and perfects the technical performance of the existing machinery product in production or life, and meets the requirements of new production or life.

In order to better apply the bionic robot to daily life of people, realize work such as independently cleaning glass at high altitude and the like, reduce manual work in high-risk environment, the development of the bionic robot with simple structure and low manufacturing cost has practical application value.

The invention content is as follows:

aiming at the defects and shortcomings of the prior art, the invention provides a bionic leech cleaning robot which can be widely used for civil use, and the bionic leech cleaning robot belongs to the field of relatively few researches at present. The bionic leech cleaning robot has the advantages of simple working principle, compact structure and the like, well simulates the gait motion of leeches, can be stably adsorbed on a working plane, is designed with a structure for scrubbing and dust collection, has a cleaning function, and particularly has the function of cleaning window glass.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a bionical leech cleaning machines people based on helical drive, includes absorption module, turns to module, control module and mechanical module, its characterized in that: the adsorption module is installed on front bottom plate and rear bottom plate, and control module installs on the rear bottom plate, mechanical module is including installing screw drive mechanism and the gear drive mechanism at the middle part to and install the first fork elevating system of cutting on preceding carousel and install the second fork elevating system of cutting on the carousel of back, by control module control screw drive mechanism and adsorption module, cut fork elevating system and turn to the module and carry out the motion of bionical leech, turn to and stride across the barrier.

In one embodiment, the front adsorption module comprises a dust collection box, a wind collection cover, a centrifugal impeller, a first direct current motor and a filter, the dust collection box and the wind collection cover are installed on the front bottom plate, the filter is installed in an exhaust hole of the dust collection box, the wind collection cover is axially connected with the exhaust hole of the dust collection box, the centrifugal impeller is installed in the wind collection cover, an output end of the first direct current motor is axially connected with a transmission shaft through a coupler, the transmission shaft is axially connected with the centrifugal impeller, the first direct current motor is fixed on the front bottom plate through a motor base, and an air suction port is formed in the bottom plate of the dust collection box.

In one embodiment, the rear adsorption module comprises an air pump, a conduit and a sucker, the air pump is mounted on the rear bottom plate through the fixing support, an air inlet of the air pump is connected with the conduit, the other end of the conduit is connected with the sucker, and the upper end of the sucker is fixed on the rear bottom plate.

In one embodiment, the steering module consists of a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a first rudder machine frame, a second rudder machine frame, a third rudder machine frame and a fourth rudder machine frame; the first steering engine is fixed on the front bottom plate through a fixing support, and the output end of the first steering engine is connected with the bottom surface of the front rotating disc through a steering engine disc; the second steering engine is fixed on the rear bottom plate through a fixed support, and the output end of the second steering engine is connected with the bottom surface of the rear rotating disk through a steering engine disk; the third steering engine is fixed on a front connecting frame, the front connecting frame is fixed on a top plate of the scissor-fork type lifting mechanism, the output end of the third steering engine is connected with a steering engine bracket through a steering engine plate, and the steering engine bracket is connected with an internal thread pipe; the fourth steering engine is fixed on the rear connecting frame, the rear connecting frame is fixed on a top plate of the rear scissor-fork type lifting mechanism, the output end of the fourth steering engine is connected with the steering engine frame through a steering engine plate, and the steering engine frame is connected with the end face of the casing.

In one embodiment, the screw transmission mechanism is composed of a threaded shaft and an internally threaded tube, and the external thread of the threaded shaft is screwed with the internal thread of the internally threaded tube to form a thread pair.

In one embodiment, the output of the second dc motor is transmitted to the threaded shaft through a gear train.

In one embodiment, the gear transmission mechanism comprises a coupling, a driving shaft, a pinion and a gearwheel; the output end of the second direct current motor is axially connected with the driving shaft through a coupler, a pinion of coaxiality is installed on the outer wall of the driving shaft, a gear wheel of coaxiality is installed on the outer wall of the threaded shaft, the gear wheel is meshed with the pinion, and the gear wheel drives the corresponding threaded shaft.

In one embodiment, the pinion is in limit connection with the driving shaft through a jackscrew.

In one embodiment, the threaded shaft mounts a deep groove ball bearing.

In one embodiment, the gearwheel and the threaded shaft are circumferentially fixed through a flat key, a sleeve is arranged between the gearwheel and the deep groove ball bearing for limiting connection, and the other side of the gearwheel and the deep groove ball bearing are fixed through a stop washer and a round nut.

In one embodiment, the deep groove ball bearing is fixedly installed in the machine shell.

In one embodiment, the casing is composed of a left casing half and a right casing half, and the left casing half and the right casing half are fixedly connected through screws.

In one embodiment, the scissor lift mechanism is composed of a base plate, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a top plate, a first sliding block, a second sliding block, a third sliding block and a fourth sliding block. The first end of the first connecting rod is rotatably connected with the first connecting end of the chassis, and the second end of the first connecting rod is rotatably connected with the third sliding block; the first end of the second connecting rod is rotatably connected with the second connecting end of the chassis, and the second section of the second connecting rod is rotatably connected with the fourth sliding block; the first connecting rod is rotatably connected with the center of the second connecting rod; the first end of the third connecting rod is rotatably connected with the first sliding block, and the second end of the third connecting rod is rotatably connected with the first connecting end of the top disc; the first end of the fourth connecting rod is rotatably connected with the second sliding block, the second end of the fourth connecting rod is rotatably connected with the second connecting end of the top disc, and the third connecting rod is rotatably connected with the center of the fourth connecting rod; the first sliding block and the second sliding block are respectively arranged in two track grooves of the bottom disc, and the third sliding block and the fourth sliding block are respectively arranged in two track grooves of the top disc.

In one embodiment, the output of the direct current motor is transmitted to the first sliding block and the second sliding block through the lead screw transmission mechanism.

In one embodiment, the screw transmission mechanism comprises a push rod, a screw rod and a coupling; the output end of the third direct current motor is axially connected with the lead screw through the coupler, the push rod is provided with a threaded through hole, and the lead screw and the hole thread are screwed.

In one embodiment, the control module includes a control board and a control board power supply mounted on the rear base plate, and a motor base supports the motor.

In one embodiment, the sensor is arranged at the bottom of the internally threaded tube, and the sensors are arranged on the front bottom plate and the rear bottom plate.

In one embodiment, the front and rear chassis may mount a cleaning tray.

The material object control mode:

s1, a user can control the forward movement, backward movement, steering and obstacle jumping of the bionic leech through the Bluetooth app control;

s2, a user sends an advancing or retreating instruction to the bionic leech through a Bluetooth app and a Bluetooth function, the single chip microcomputer receives signals and sends motor forward or reverse signals to the second direct current motor driving chip, forward and reverse rotation of the threaded shaft is controlled through forward and reverse rotation of the motor, and meanwhile, the single chip microcomputer controls the first direct current motor of the front adsorption module and the air pump of the rear adsorption module to achieve advancing and retreating; in one embodiment, when a forward command is sent, the single chip receives a signal, sends a forward signal to the second direct current motor driving chip, the motor rotates forward and is transmitted to the threaded shaft through the gear transmission mechanism, the threaded shaft performs spiral motion in the internal threaded pipe, and simultaneously sends a starting signal to the first direct current motor driving chip of the forward adsorption module, the first direct current motor drives the centrifugal impeller to rotate to generate adsorption force, so that the front bottom plate is adsorbed on the working plane, the threaded shaft drives the rear bottom plate to move forward through the spiral motion, when a sensor at the bottom of the internal threaded pipe detects the threaded shaft, a reverse signal is sent to the second direct current motor driving chip, a starting signal is sent to the air pump driving chip, a stopping signal is sent to the first direct current motor driving chip, the adsorption force of the front bottom plate disappears, the rear bottom plate is adsorbed on the working plane, and the threaded shaft rotates reversely and is fixed, the internal thread pipe drives the front bottom plate to advance through spiral motion, and a motion cycle is completed.

S3, the user sends a steering instruction to the bionic leech through the Bluetooth app and the Bluetooth function, the single chip microcomputer receives signals and sends steering signals to the second steering engine, and the second steering engine drives the rotating disc to rotate so as to achieve steering.

S4, a user sends an obstacle crossing instruction to the bionic leech through Bluetooth app and a Bluetooth function, the single chip microcomputer receives a signal and sends a starting signal to a third direct current motor driving chip, the motor rotates forwards and backwards to control a scissor type lifting mechanism to adjust the overall height of the bionic leech, the bionic leech stops when the height of the bionic leech exceeds a certain height of an obstacle, the single chip microcomputer controls four steering engines of a steering module to control steering to enable the bionic leech to cross the obstacle, a third steering engine controls a front connecting frame to swing clockwise on a vertical plane, all parts connected with the front connecting frame swing along with the front connecting frame and stop when the height of the obstacle exceeds the height of the obstacle, a second steering engine controls the bionic leech to rotate around a second steering engine shaft on a horizontal plane through a rotating disc and stop when the bionic leech crosses the obstacle, the third steering engine controls the front connecting frame to swing anticlockwise on the vertical plane, and stops when a front bottom plate completely falls on a working plane and is stably adsorbed on the working plane, the fourth steering engine controls the rear connecting frame to swing anticlockwise on the vertical plane, all parts connected with the rear connecting frame swing along with the rear connecting frame and stop when the height of the obstacle is exceeded, the first steering engine controls the bionic leech to rotate around a first steering engine shaft on the horizontal plane and stop when the bionic leech passes the obstacle, the fourth steering engine controls the rear connecting frame to swing clockwise on the vertical plane and stops when the bottom surface of the rear bottom plate completely falls on a working surface and is stably adsorbed on the working surface, and therefore crossing of the obstacle is achieved;

and S5, a sensor is installed in the control module for signal feedback, surrounding obstacles are sensed through an infrared sensor, the rotating speed of the direct current motor is sensed by an encoder and then fed back to the single chip microcomputer, and the single chip microcomputer adjusts the rotating speed and the direction of the motor and the steering engine, so that the bionic mechanical leech can perform bionic motion better.

The invention has the main beneficial effects that:

the invention relates to the field of civil bionic robots which are relatively few in research. The bionic leech cleaning robot mainly adopts the gear transmission mechanism and the spiral transmission mechanism to carry out power transmission, has the advantages of simple working principle, compact structure, easy control, convenient manufacture and the like, better simulates the gait motion of leeches, has flexible motion, can span obstacles with different heights, is designed with a structure for scrubbing and dust collection, has a cleaning function, and particularly cleans window glass and floors.

The scissor-type lifting mechanism can realize the crossing of obstacles with different heights by matching with a steering engine of the steering module.

Description of the drawings:

FIG. 1 illustrates an overall structure of an embodiment of the present invention;

FIG. 2 is a diagram illustrating the overall arrangement of the adsorption module and the electrical module according to an embodiment of the present invention;

FIG. 3 illustrates an exploded view of the front attachment module in accordance with one embodiment of the present invention;

FIG. 4 illustrates a general layout of a steering module in accordance with an embodiment of the present invention;

FIG. 5 illustrates an exploded view of the connection of the screw drive mechanism and the gear drive mechanism in accordance with one embodiment of the present invention;

FIG. 6 illustrates an exploded view of a scissor lift mechanism in accordance with an embodiment of the present invention;

FIG. 7 illustrates an exploded view of the lead screw drive mechanism according to an embodiment of the present invention;

fig. 8 is a schematic design diagram of a control method of a spiral transmission mechanism-based bionic leech cleaning robot according to an embodiment of the present invention.

1. A front bottom plate, 2 a front shell, 3 a front rotary disc,

4. a scissor-type lifting mechanism is arranged on the upper portion of the lifting mechanism,

5. a connecting frame, 6 steering engines, 7 steering engine frames, 8 internal threaded pipes, 9 threaded shafts, 10 machine body shells, 11 motor shells,

12. a lead screw transmission mechanism is arranged on the upper portion of the guide rod,

13. rear rotating disk, 14 rear shell, 15 rear bottom plate, 16 dust collecting box, 17 fan cover, 18 centrifugal impeller, 19 motor base, 20 first DC motor, 21 control panel power supply, 22 control panel, 23 air pump, 24 guide tube, 25 suction cup, 26 pinion, 27 drive shaft, 28 coupling, 29 second DC motor, 30 key, 31 bull gear, 32 sleeve, 33 deep groove ball bearing, 34 stop washer, 35 round nut,

41. a bottom plate, 42, a first connecting rod, 43, a second connecting rod, 44, a third connecting rod, 45, a fourth connecting rod, 46, a top plate, 47, a first sliding block, 48, a second sliding block, 49, a third sliding block, 50, a fourth sliding block, 51, a bolt, 52, a washer, 53, a nut,

54. push rod, 55 leading screw, 56 coupler, 57 motor base, 58 third DC motor, 59 filter.

The specific implementation mode is as follows:

the following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.

The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 in combination with fig. 2, in the embodiment of fig. 1, a spiral transmission-based bionic leech cleaning robot includes a front base plate 1, a rear base plate 15, a front housing 2, a rear housing 14, an adsorption module, a steering module, a control module and a mechanical module, and is characterized in that: the adsorption module is installed on front bottom plate 1 and rear bottom plate 15, and control module installs on rear bottom plate 15, mechanical module is including installing screw drive mechanism, gear drive mechanism, the lead screw drive mechanism at the middle part and installing the first fork lift mechanism of cutting on preceding carousel 3 and installing the second fork lift mechanism of cutting on rear rotary disk 13, by control module control screw drive mechanism and adsorption module, the fork lift mechanism of cutting and turn to the module and carry out the motion of bionical leech, turn to and stride across the barrier.

In the embodiment of fig. 2, the adsorption module comprises a front adsorption module mounted on the front base plate and a rear adsorption module mounted on the rear base plate, the electrical module comprises a control panel power supply 21 and a control panel 22, and the control panel power supply 21 and the control panel power supply 22 are both mounted on the rear base plate;

in the embodiment of fig. 3, the front adsorption module includes a dust collection box 16, a wind collection cover 17, a centrifugal impeller 19 and a first dc motor 20, the dust collection box 16 and the wind collection cover 17 are installed on the front base plate 1, a filter 59 is installed in an exhaust hole of the dust collection box 16, the wind collection cover 17 is axially connected with an exhaust hole of the dust collection box 16, the centrifugal impeller 19 is installed in the wind collection cover 17, an output end of the first dc motor 20 is axially connected with a transmission shaft 19 through a coupling 28, the transmission shaft 19 is axially connected with the centrifugal impeller 18, and the first dc motor 20 is fixed on the front base plate 1 through a motor base.

The rear adsorption module comprises an air pump 23, a conduit 24 and a sucker 25, the air pump is installed on the rear bottom plate 15 through the fixing support, an air inlet of the air pump 23 is connected with the conduit 24, the other end of the conduit 24 is connected with the sucker 25, and the upper end of the sucker 25 is fixed on the rear bottom plate 15.

In the embodiment of fig. 4, the steering module has 4 steering engines, wherein a first steering engine 61 is fixed on the front bottom plate 1, and the output end of the first steering engine 61 is connected with the front rotary table 3 through a steering engine disc 19; a second steering engine 62 is fixed on the rear bottom plate 15, and the output end of the second steering engine 62 is connected with the rear rotating disk 13 through a steering engine disk; a third steering engine 6 is fixed on a front connecting frame 5, the front connecting frame 5 is fixed on a top plate 4 of the scissor-fork type lifting mechanism, the output end of the third steering engine 6 is connected with a steering engine bracket 7 through a steering engine plate, and the steering engine bracket 7 is connected with an internal threaded pipe 8; the fourth steering engine 64 is fixed on the rear connecting frame, the rear connecting frame is fixed on a top plate of the rear scissor-fork type lifting mechanism, the output end of the fourth steering engine 64 is connected with the steering engine frame through a steering engine plate, and the steering engine frame is connected with the machine shell 11.

Preferably, the screw transmission mechanism is composed of a threaded shaft 9 and an internally threaded tube 8, and the external thread of the threaded shaft and the internal thread of the internally threaded tube are screwed to form a thread pair.

Preferably, the output of the second dc motor 29 is transmitted to the threaded shaft 9 through a gear transmission mechanism.

In the embodiment of fig. 5, the gear transmission comprises a coupling 28, a drive shaft 27, a pinion 26, a gearwheel 31; the output end of the second dc motor 29 is axially connected to the driving shaft 27 through a coupling 28, a pinion 26 with coaxiality is mounted on the outer wall of the driving shaft 28, a gearwheel 31 with coaxiality is mounted on the outer wall of the threaded shaft 9, the gearwheel 31 is engaged with the pinion 26, and the gearwheel 31 drives the corresponding threaded shaft 9.

Preferably, the pinion 26 is connected to the drive shaft 27 in a limited manner by a jackscrew.

As a preference, the threaded shaft 9 is fitted with deep groove ball bearings 33.

Preferably, the large gear 31 and the threaded shaft 9 are circumferentially fixed through a flat key 30, a sleeve is mounted between the large gear 31 and the deep groove ball bearing 33 for limiting connection, and the other side of the large gear is fixed through a stop washer 34 and a round nut 34.

Preferably, the deep groove ball bearing 33 is installed and fixed in the casing 10.

Preferably, the housing 10 is composed of a left housing half and a right housing half, and the left housing half and the right housing half are fixedly connected by screws.

In the embodiment of fig. 6, the scissor lift mechanism is comprised of a base plate 41, a first link 42, a second link 43, a third link 44, a fourth link 45, a top plate 46, a first slider 47, a second slider 48, a third slider 49, and a fourth slider 50. The first end of the first connecting rod is rotatably connected with the first connecting end of the chassis, and the second end of the first connecting rod is rotatably connected with the third sliding block; the first end of the second connecting rod is rotatably connected with the second connecting end of the chassis, and the second section of the second connecting rod is rotatably connected with the fourth sliding block; the first connecting rod is rotatably connected with the center of the second connecting rod; the first end of the third connecting rod is rotatably connected with the first sliding block, and the second end of the third connecting rod is rotatably connected with the first connecting end of the top disc; the first end of the fourth connecting rod is rotatably connected with the second sliding block, the second end of the fourth connecting rod is rotatably connected with the second connecting end of the top disc, and the third connecting rod is rotatably connected with the center of the fourth connecting rod; the first sliding block and the second sliding block are respectively arranged in two track grooves of the bottom disc, and the third sliding block and the fourth sliding block are respectively arranged in two track grooves of the top disc.

Preferably, the output of the third dc motor 58 is transmitted to the first slider 47 and the second slider 48 through the screw transmission mechanism 12.

In the embodiment of fig. 7, the screw transmission mechanism includes a push rod 54, a screw 55, a coupling 56; the output end of the third direct current motor 58 is axially connected with the lead screw 55 through the coupler 56, a threaded through hole is processed on the push rod, and the lead screw and the hole are screwed.

The bottom plate of the scissor-type lifting mechanism is provided with a through hole, the bottom plate is fixedly connected with the rotating disk through a screw, and connecting rods in the scissor-type lifting mechanism are connected through pins to form a revolute pair.

It can be understood that, the housing and the bottom plate play a role in supporting and bearing, the front housing and the front bottom plate and the rear housing and the rear bottom plate are respectively assembled through joggles, and screws are used for fixing.

The control module plays a role in power supply and control.

The direct current motor is connected with the bottom plate through the motor base and is fixed with the bottom plate through the fixing screws.

The material object control mode:

s1, a user can control the forward movement, backward movement, steering and obstacle jumping of the bionic leech through the Bluetooth app control;

s2, a user sends an advancing or retreating instruction to the bionic leech through a Bluetooth app and a Bluetooth function, the single chip microcomputer receives signals and sends motor forward or reverse signals to the second direct current motor driving chip, forward and reverse rotation of the threaded shaft is controlled through forward and reverse rotation of the motor, and meanwhile, the single chip microcomputer controls the first direct current motor of the front adsorption module and the air pump of the rear adsorption module to achieve advancing and retreating; in one embodiment, when a forward command is sent, the single chip receives a signal, sends a forward signal to the second direct current motor driving chip, the motor rotates forward and is transmitted to the threaded shaft through the gear transmission mechanism, the threaded shaft performs spiral motion in the internal threaded pipe, and simultaneously sends a starting signal to the first direct current motor driving chip of the forward adsorption module, the first direct current motor drives the centrifugal impeller to rotate to generate adsorption force, so that the front bottom plate is adsorbed on the working plane, the threaded shaft drives the rear bottom plate to move forward through the spiral motion, when a sensor at the bottom of the internal threaded pipe detects the threaded shaft, a reverse signal is sent to the second direct current motor driving chip, a starting signal is sent to the air pump driving chip, a stopping signal is sent to the first direct current motor driving chip, the adsorption force of the front bottom plate disappears, the rear bottom plate is adsorbed on the working plane, and the threaded shaft rotates reversely and is fixed, the internal thread pipe drives the front bottom plate to advance through spiral motion, and a motion cycle is completed.

S3, the user sends a steering instruction to the bionic leech through the Bluetooth app and the Bluetooth function, the single chip microcomputer receives signals and sends steering signals to the second steering engine, and the second steering engine drives the rotating disc to rotate so as to achieve steering.

S4, a user sends an obstacle crossing instruction to the bionic leech through Bluetooth app and a Bluetooth function, the single chip microcomputer receives a signal and sends a starting signal to a third direct current motor driving chip, the motor rotates forwards and backwards to control a scissor type lifting mechanism to adjust the overall height of the bionic leech, the bionic leech stops when the height of the bionic leech exceeds a certain height of an obstacle, the single chip microcomputer controls four steering engines of a steering module to control steering to enable the bionic leech to cross the obstacle, a third steering engine controls a front connecting frame to swing clockwise on a vertical plane, all parts connected with the front connecting frame swing along with the front connecting frame and stop when the height of the obstacle exceeds the height of the obstacle, a second steering engine controls the bionic leech to rotate around a second steering engine shaft on a horizontal plane through a rotating disc and stop when the bionic leech crosses the obstacle, the third steering engine controls the front connecting frame to swing anticlockwise on the vertical plane, and stops when a front bottom plate completely falls on a working plane and is stably adsorbed on the working plane, the fourth steering engine controls the rear connecting frame to swing anticlockwise on the vertical plane, all parts connected with the rear connecting frame swing along with the rear connecting frame and stop when the height of the obstacle is exceeded, the first steering engine controls the bionic leech to rotate around a first steering engine shaft on the horizontal plane and stop when the bionic leech passes the obstacle, the fourth steering engine controls the rear connecting frame to swing clockwise on the vertical plane and stops when the bottom surface of the rear bottom plate completely falls on a working surface and is stably adsorbed on the working surface, and therefore crossing of the obstacle is achieved;

and S5, a sensor is installed in the control module for signal feedback, surrounding obstacles are sensed through an infrared sensor, the rotating speed of the direct current motor is sensed by an encoder and then fed back to the single chip microcomputer, and the single chip microcomputer adjusts the rotating speed and the direction of the motor and the steering engine, so that the bionic mechanical leech can perform bionic motion better.

The potential for a civilian market is enormous for those skilled in the art, and many modifications and variations will be possible in light of the teaching of this invention. It will be evident that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. The utility model provides a bionical leech cleaning machines people based on helical drive, includes absorption module, turns to module, control module and mechanical module, its characterized in that: the adsorption module is installed on front bottom plate and rear bottom plate, and control module installs on the rear bottom plate, mechanical module is including installing screw drive mechanism and the gear drive mechanism at the middle part to and install the first fork elevating system of cutting on preceding carousel and install the second fork elevating system of cutting on the carousel of back, by control module control screw drive mechanism and adsorption module, cut fork elevating system and turn to the module and carry out the motion of bionical leech, turn to and stride across the barrier.

2. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: the adsorption module comprises a front adsorption module and a rear adsorption module;

the front adsorption module comprises a dust collection box, a wind collection cover, a centrifugal impeller, a first direct current motor and a filter, the dust collection box and the wind collection cover are installed on the front base plate, the filter is installed in an exhaust hole of the dust collection box, the wind collection cover is axially connected with an exhaust hole of the dust collection box, the centrifugal impeller is installed in the wind collection cover, an output end of the first direct current motor is axially connected with a transmission shaft through a coupler, the transmission shaft is axially connected with the centrifugal impeller, the first direct current motor is fixed on the front base plate through a motor base, and an air suction port is formed in the bottom plate of the dust collection box.

The rear adsorption module comprises an air pump, a guide pipe and a sucker, the air pump is installed on the rear bottom plate through the fixing support, an air inlet of the air pump is connected with the guide pipe, the other end of the guide pipe is connected with the sucker, and the upper end of the sucker is fixed on the rear bottom plate.

3. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: the steering module consists of a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a first steering engine frame, a second steering engine frame, a third steering engine frame and a fourth steering engine frame; the first steering engine is fixed on the front bottom plate through a fixing support, and the output end of the first steering engine is connected with the bottom surface of the front rotating disc through a steering engine disc; the second steering engine is fixed on the rear bottom plate through a fixed support, and the output end of the second steering engine is connected with the bottom surface of the rear rotating disk through a steering engine disk; the third steering engine is fixed on a front connecting frame, the front connecting frame is fixed on a top plate of the scissor-fork type lifting mechanism, the output end of the third steering engine is connected with a steering engine bracket through a steering engine plate, and the steering engine bracket is connected with an internal thread pipe; the fourth steering engine is fixed on the rear connecting frame, the rear connecting frame is fixed on a top plate of the rear scissor-fork type lifting mechanism, the output end of the fourth steering engine is connected with the steering engine frame through a steering engine plate, and the steering engine frame is connected with the end face of the casing.

4. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: in one embodiment, the screw transmission mechanism comprises a threaded shaft and an internally threaded tube, the external thread of the threaded shaft and the internal thread of the internally threaded tube are screwed to form a thread pair, and the output of the first direct current motor is transmitted to the threaded shaft through the gear transmission mechanism.

5. The spiral transmission-based bionic leech cleaning robot as claimed in claim 4, wherein the spiral transmission-based bionic leech cleaning robot comprises: the gear transmission mechanism comprises a coupling, a driving shaft, a pinion and a bull gear; the output end of the second direct current motor is axially connected with the driving shaft through a coupler, a pinion of coaxiality is installed on the outer wall of the driving shaft, a gear wheel of coaxiality is installed on the outer wall of the threaded shaft, the gear wheel is meshed with the pinion, and the gear wheel drives the corresponding threaded shaft.

6. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: the scissor type lifting mechanism consists of a chassis, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a top disc, a first sliding block, a second sliding block, a third sliding block and a fourth sliding block. The first end of the first connecting rod is rotatably connected with the first connecting end of the chassis, and the second end of the first connecting rod is rotatably connected with the third sliding block; the first end of the second connecting rod is rotatably connected with the second connecting end of the chassis, and the second end of the second connecting rod is rotatably connected with the fourth sliding block; the first connecting rod is rotatably connected with the center of the second connecting rod; the first end of the third connecting rod is rotatably connected with the first sliding block, and the second end of the third connecting rod is rotatably connected with the first connecting end of the top disc; the first end of the fourth connecting rod is rotatably connected with the second sliding block, the second end of the fourth connecting rod is rotatably connected with the second connecting end of the top disc, and the third connecting rod is rotatably connected with the center of the fourth connecting rod; the first sliding block and the second sliding block are respectively arranged in two track grooves of the bottom disc, and the third sliding block and the fourth sliding block are respectively arranged in two track grooves of the top disc.

7. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: and the output of the direct current motor is transmitted to the first sliding block and the second sliding block through the lead screw transmission mechanism.

8. The spiral transmission-based bionic leech cleaning robot as claimed in claim 7, wherein: the screw rod transmission mechanism comprises a push rod, a screw rod and a coupler; the output end of the third direct current motor is axially connected with the lead screw through the coupler, the push rod is provided with a threaded through hole, and the lead screw and the hole thread are screwed.

9. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein: the cleaning plate can be installed at the bottom of the front bottom plate and the bottom of the rear bottom plate, the sensors are installed on the side faces of the front bottom plate and the rear bottom plate, and the sensors are installed at the bottom of the internal thread pipe.

10. The spiral transmission-based bionic leech cleaning robot as claimed in claim 1, wherein the material object control mode is as follows:

s1, a user can control the forward movement, backward movement, steering and obstacle jumping of the bionic leech through the Bluetooth app control;

s2, a user sends an advancing or retreating instruction to the bionic leech through a Bluetooth app and a Bluetooth function, the single chip microcomputer receives signals and sends motor forward or reverse signals to the second direct current motor driving chip, forward and reverse rotation of the threaded shaft is controlled through forward and reverse rotation of the motor, and meanwhile, the single chip microcomputer controls the first direct current motor of the front adsorption module and the air pump of the rear adsorption module to achieve advancing and retreating; in one embodiment, when a forward command is sent, the single chip receives a signal, sends a forward signal to the second direct current motor driving chip, the motor rotates forward and is transmitted to the threaded shaft through the gear transmission mechanism, the threaded shaft performs spiral motion in the internal threaded pipe, and simultaneously sends a starting signal to the first direct current motor driving chip of the forward adsorption module, the first direct current motor drives the centrifugal impeller to rotate to generate adsorption force, so that the front bottom plate is adsorbed on the working plane, the threaded shaft drives the rear bottom plate to move forward through the spiral motion, when a sensor at the bottom of the internal threaded pipe detects the threaded shaft, a reverse signal is sent to the second direct current motor driving chip, a starting signal is sent to the air pump driving chip, a stopping signal is sent to the first direct current motor driving chip, the adsorption force of the front bottom plate disappears, the rear bottom plate is adsorbed on the working plane, and the threaded shaft rotates reversely and is fixed, the internal thread pipe drives the front bottom plate to advance through spiral motion, and a motion cycle is completed.

S3, the user sends a steering instruction to the bionic leech through the Bluetooth app and the Bluetooth function, the single chip microcomputer receives signals and sends steering signals to the second steering engine, and the second steering engine drives the rotating disc to rotate so as to achieve steering.

S4, a user sends an obstacle crossing instruction to the bionic leech through Bluetooth app and a Bluetooth function, the single chip microcomputer receives a signal and sends a starting signal to a third direct current motor driving chip, the motor rotates forwards and backwards to control a scissor type lifting mechanism to adjust the overall height of the bionic leech, the bionic leech stops when the height of the bionic leech exceeds a certain height of an obstacle, the single chip microcomputer controls four steering engines of a steering module to control steering to enable the bionic leech to cross the obstacle, a third steering engine controls a front connecting frame to swing clockwise on a vertical plane, all parts connected with the front connecting frame swing along with the front connecting frame and stop when the height of the obstacle exceeds the height of the obstacle, a second steering engine controls the bionic leech to rotate around a second steering engine shaft on a horizontal plane through a rotating disc and stop when the bionic leech crosses the obstacle, the third steering engine controls the front connecting frame to swing anticlockwise on the vertical plane, and stops when a front bottom plate completely falls on a working plane and is stably adsorbed on the working plane, the fourth steering engine controls the rear connecting frame to swing anticlockwise on the vertical plane, all parts connected with the rear connecting frame swing along with the rear connecting frame and stop when the height of the obstacle is exceeded, the first steering engine controls the bionic leech to rotate around a first steering engine shaft on the horizontal plane and stop when the bionic leech passes the obstacle, the fourth steering engine controls the rear connecting frame to swing clockwise on the vertical plane and stops when the bottom surface of the rear bottom plate completely falls on a working surface and is stably adsorbed on the working surface, and therefore crossing of the obstacle is achieved;

and S5, a sensor is installed in the control module for signal feedback, surrounding obstacles are sensed through an infrared sensor, the rotating speed of the direct current motor is sensed by an encoder and then fed back to the single chip microcomputer, and the single chip microcomputer adjusts the rotating speed and the direction of the motor and the steering engine, so that the bionic mechanical leech can perform bionic motion better.

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