CN114794999A

CN114794999A - Bionic scorpion type cleaning robot

Info

Publication number: CN114794999A
Application number: CN202210313370.5A
Authority: CN
Inventors: 徐正; 李军; 张海松; 张光波; 秦利明; 方淳
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-07-29

Abstract

The invention provides a bionic scorpion type cleaning robot, and belongs to the technical field of bionic robots. The cleaning robot comprises a head part, a trunk part, walking legs and a front chelate, wherein the trunk part is of a shell structure, and the head part is connected with the front end of the trunk part; the walking leg sets up in trunk both sides, preceding claw symmetry rotates to be connected in the head both sides, trunk built-in controller and battery, preceding claw has seted up the broom installation cavity, be provided with broom mechanism in the broom installation cavity, preceding claw bottom is provided with the rubbish accumulator, the bottom surface center department of head is provided with electric nozzle, the trunk embeds there is the storage kettle that communicates with electric nozzle, the trunk bottom is provided with elevating system and the mop subassembly of being connected with elevating system, preceding claw, the walking leg, broom mechanism, electric nozzle and elevating system divide equally do not with controller electric connection. The invention has flexible movement, can span various floors with different heights, can simultaneously realize sweeping, mopping, air drying and maintenance, and has good sweeping effect.

Description

Bionic scorpion type cleaning robot

Technical Field

The invention belongs to the technical field of bionic robots, and particularly relates to a bionic scorpion type cleaning robot.

Background

The cleaning robot is a special robot for human service, mainly used for cleaning and washing household sanitation and the like, and aims to reduce the housework burden of human beings. However, most of the existing household cleaning robots are concentrated on ground cleaning robots, the existing robots are used for better cleaning all places in a house, so that the chassis of the robots is very low, and the robots can go in and out of lower places, but a trouble is caused, namely inconvenient movement, when the floor connection parts of all parts of a house such as a living room and a kitchen are uneven, the cleaning robots are often stuck in shells at the uneven places due to small driving wheels, the phenomenon of difficult crossing and the like is caused, and the working efficiency is seriously influenced.

Disclosure of Invention

In view of the above, the present invention provides a bionic scorpion-type cleaning robot to improve the mobility and convenience of the cleaning robot.

The purpose of the invention can be realized by the following technical scheme: a bionic scorpion type cleaning robot comprises a head part, a trunk part, walking legs and a front turtle, wherein the trunk part is of a shell structure, and the head part is connected with the front end of the trunk part; the walking legs are arranged on two sides of the trunk part, the front claw is symmetrically and rotatably connected to two sides of the head part, the controller and the storage battery are arranged in the trunk part, the front claw is provided with a broom installation cavity with an opening facing the front claw, a broom mechanism is arranged in the broom installation cavity, a garbage recovery groove communicated with the broom installation cavity is formed in the bottom of the front claw, an electric nozzle is arranged in the center of the bottom surface of the head part, a water storage kettle communicated with the electric nozzle is arranged in the trunk part, a lifting mechanism and a mop assembly connected with the lifting mechanism are arranged at the bottom of the trunk part, and the front claw, the walking legs, the broom mechanism, the electric nozzle and the lifting mechanism are respectively and electrically connected with the controller.

In the above-mentioned bionic scorpion-type cleaning robot, the robot further comprises a tail part, the tail part is formed by sequentially connecting a plurality of tail sections end to end, the end part of the tail section positioned at the first order is connected with the rear end of the trunk part, the end part of the tail section positioned at the last order is connected with a fan, and the fan is electrically connected with the controller. Through set up the fan at the afterbody, can realize air-drying ground or floor after mopping, avoid water stain to corrode ground or bottom plate for a long time, realize the maintenance to ground or floor.

In the above bionic scorpion-type cleaning robot, a servo motor is arranged in the rear end of the body part, a rotating seat in transmission connection with the servo motor is arranged outside the rear end of the body part, and the end part of the first tail section is connected with the rotating seat.

In foretell bionic scorpion formula cleaning machines people, the walking leg of trunk left and right sides is three and front and back range, and is located the left three walking leg of trunk and the three walking leg on its right side and positive relative arrangement one by one respectively, and the one end of each walking leg is equallyd divide and is linked to each other with the trunk through the steering wheel, and every walking leg all includes two leg sections, connects through the steering wheel between two leg sections, the steering wheel divide equally respectively with controller electric connection.

In the above-described bionic scorpion-type cleaning robot, the total length of the middle walking leg positioned on the left side or the right side of the trunk is greater than the total length of the other walking legs. When the walking legs are not needed, the middle walking legs are controlled by the controller to be contracted towards the bottom of the trunk part and are in a suspended state, and under the conditions of crossing steps, doorsills, height falling bottom surfaces and the like, the middle walking legs are controlled by the controller to extend out to raise the height of the trunk part, and the field crossing action is finished.

In the bionic scorpion cleaning robot, the front end of the head is at least provided with a machine vision acquisition component which is a radar and/or a camera.

In foretell bionic scorpion formula cleaning machines people, the broom mechanism includes first driving motor, first axis of rotation and a plurality of brushes, first driving motor and first axis of rotation coaxial coupling, the vertical rotation of first axis of rotation is connected in the broom installation cavity, a plurality of brushes are radial installation on first axis of rotation, first driving motor and controller electric connection.

In the above bionic scorpion-type cleaning robot, the lifting mechanism includes a second driving motor, a second rotating shaft, a swinging rod, an auxiliary rod, a holding tank and a sliding chute, the second driving motor is arranged inside the trunk and electrically connected with the controller, the holding tank is arranged on the bottom surface of the trunk, the sliding chute is arranged on the tank walls on two sides of the holding tank, the second transmission shaft is arranged at one end of the holding tank, the output shaft of the second driving motor is in transmission connection with the second rotating shaft, one end of the swinging rod is fixedly connected on the second rotating shaft, the other end of the swinging rod is connected with the mop assembly, one end of the auxiliary rod is in sliding connection in the sliding chute, and the other end of the auxiliary rod is hinged at the middle part of the swinging rod.

In the above bionic scorpion-type cleaning robot, the lifting mechanism includes a second driving motor, a lifting screw and a transmission gear, the second driving motor is disposed inside the trunk portion and electrically connected to the controller, the transmission gear is connected to an output shaft of the second driving motor, and the lifting screw is vertically slidably connected to the bottom of the trunk portion and engaged with the transmission gear.

In the above bionic scorpion-type cleaning robot, the mop component comprises a connecting piece and a mop disc, the upper end of the connecting piece is hinged with the swing rod, the lower end of the connecting piece is fixedly connected with the mop disc, the lower bottom surface of the mop disc is fixedly connected with a mop cloth, and the mop cloth is at least one of a strip-shaped mop cloth, a strip-shaped mop cloth or a block-shaped sponge mop cloth.

Compared with the prior art, the bionic scorpion type cleaning robot has the following advantages: the invention adopts a mode of matching and moving walking legs with different lengths, has better obstacle crossing performance and can be suitable for complicated and changeable ground environments; meanwhile, the bionic scorpion toy adopts the appearance of the bionic scorpion, has certain interestingness, and can be used as a toy for children when not in work. The invention realizes three-step one-in-one sweeping, mopping and air drying, ensures the sweeping effect, avoids the erosion of water stains to the ground and has certain ground maintenance effect. .

Drawings

Fig. 1 is a schematic structural view of the bionic scorpion-type cleaning robot in the embodiment when being contracted and folded.

Fig. 2 is a schematic front structure view of the bionic scorpion-type cleaning robot of the embodiment.

Fig. 3 is a schematic structural view of a broom mechanism according to an embodiment.

Fig. 4 is a schematic view of a connection structure of the lifting mechanism and the mop assembly of the embodiment.

Fig. 5 is a schematic bottom structure view of the head and body of the embodiment.

Fig. 6 is a schematic structural diagram of the bionic scorpion-type cleaning robot in the embodiment in operation.

In the figure, 1, head; 2. a trunk portion; 3. a walking leg; 4. pre-chelating; 5. a tail portion; 6. a charging port; 7. a broom mounting cavity; 8. a broom mechanism; 9. a garbage recycling tank; 10. an electric nozzle; 11. a lifting mechanism; 12. a mop assembly; 13. a tail section; 14. a fan; 15. a vision hole; 16. angle whiskers; 17. a steering engine; 18. a rotating base; 19. a first drive motor; 20. a first rotating shaft; 21. a brush; 22. a second drive motor; 23. a second rotating shaft; 24. a swing rod; 25. an auxiliary rod; 26. accommodating a tank; 27. a chute; 28. a connecting member; 29. a mop plate; 30. and (4) mop cloth.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1-3, the present invention provides a bionic scorpion-type cleaning robot, which comprises a head part 1, a trunk part 2, walking legs 3, a front turtle 4 and a tail part 5. The body part 2 is of a shell structure, and the head part 1 is connected with the front end of the body part 2 into a whole; the walking legs 3 are arranged at two sides of the trunk part 2, and the front sleeves 4 are symmetrically and rotatably connected at two sides of the head part 1 and are controlled to rotate by a motor. The controller and the battery are arranged in the trunk portion 2, the battery supplies power to the controller and other components, the charging port 6 is arranged on the upper side of the rear end of the trunk portion 2, and the charging port 6 is electrically connected with the battery. The front chelate 4 is provided with a broom mounting cavity 7 with an opening facing the front of the front chelate 4, a broom mechanism 8 is arranged in the broom mounting cavity 7, and the bottom of the front chelate 4 is provided with a garbage recycling groove 9 communicated with the broom mounting cavity 7. An electric nozzle 10 is arranged at the center of the bottom surface of the head part 1, a water storage pot communicated with the electric nozzle 10 is arranged in the body part 2, a lifting mechanism 11 and a mop component 12 connected with the lifting mechanism 11 are arranged at the bottom of the body part 2, and water/mist is sprayed on the bottom surface cleaned by the broom mechanism 8 by the electric nozzle 10, so that dust and other garbage which are not cleaned by the broom mechanism 8 are easily cleaned by the mop component 12. The tail part 5 is formed by sequentially connecting a plurality of tail sections 13 end to end, the end part of the first tail section 13 is connected with the rear end of the body part 2, the end part of the last tail section 13 is connected with a fan 14, and the motor of the front turtle 4, the walking legs 3, the broom mechanism 8, the electric nozzle 10, the lifting mechanism 11 and the fan 14 are respectively and electrically connected with the controller. It should be added that the water storage kettle of the invention can also be used for storing ground maintenance liquid, and the ground maintenance liquid is sprayed through the electric nozzle while being cleaned and is uniformly smeared by the mop cloth, so that the maintenance function of the bottom surface is realized.

Specifically, four visual holes 15 are formed in the front end of the head 1, a camera is mounted in at least one visual hole 15, a pair of angle whiskers 16 is further arranged at the front end of the head 1, and a radar is arranged in the angle whiskers 16. The camera and the radar are respectively connected with the controller, and the camera and the radar are matched together to provide machine vision for the bionic scorpion-type cleaning robot, so that the bionic scorpion-type cleaning robot can walk better and avoid obstacles.

The walking legs 3 of the left and right sides of the trunk part 2 are arranged in a front-back mode and are located three walking legs 3 on the left side of the trunk part 2 and three walking legs 3 on the right side of the trunk part 2, the walking legs 3 are arranged in a forward mode one by one, one end of each walking leg 3 is connected with the trunk part 2 through a steering engine 17, each walking leg 3 comprises two leg sections, the two leg sections are connected through the steering engine 17, and the steering engines 17 are electrically connected with a controller. The total length of the middle walking leg 3 positioned at the left or right side of the trunk 2 is greater than the total length of the other walking legs 3. When the walking legs 3 are not needed, the controller controls the middle walking legs to contract towards the bottom of the trunk part 2 and be in a suspended state, and when steps, thresholds, height falling bottom surfaces and the like are crossed, the controller controls the middle walking legs to extend out to raise the height of the trunk part 2, so that the field crossing action is completed. The number of the walking legs 3 on each side of the trunk 2 is not limited to three, and four or five walking legs may be provided as necessary as long as the number of the walking legs 3 on both sides is symmetrical.

In order to reduce the volume of the bionic scorpion type cleaning robot when the bionic scorpion type cleaning robot does not work and facilitate storage, a servo motor is arranged in the rear end of the body part 2, a rotary seat 18 in transmission connection with the servo motor is arranged outside the rear end of the body part 2, the end part of the first tail section 13 is connected with the rotary seat 18, and the servo motor is electrically connected with the controller. Like this when this bionical scorpion formula cleaning machines people is in the rest state, can rotate 180 with afterbody 5 forward through servo motor to make afterbody 5 fold to trunk 2 top, no longer drag behind trunk 2, thereby reduce its volume, so that accomodate. In addition, the fan 14 arranged at the end part of the tail part 5 can be protected to a certain degree, and the possibility of collision is reduced.

The broom mechanism 8 comprises a first driving motor 19, a first rotating shaft 20 and a plurality of brushes 21, the first driving motor 19 is coaxially connected with the first rotating shaft 20, the first rotating shaft 20 is vertically and rotatably connected in the broom mounting cavity 7, the brushes 21 are radially mounted on the first rotating shaft 20, and the first driving motor 19 is electrically connected with the controller. The rotary broom mechanism 8 is adopted, so that most of garbage can be cleaned stably and reliably.

Elevating system 11 includes second driving motor 22, second axis of rotation 23, pendulum rod 24, auxiliary rod 25, holding tank 26 and spout 27, second driving motor 22 set up in trunk 2 inside and with controller electric connection, the bottom surface under trunk 2 is seted up to holding tank 26, spout 27 is seted up on the cell wall of holding tank 26 both sides, the second transmission shaft sets up the one end at holding tank 26, second driving motor 22's output shaft and the transmission of second axis of rotation 23 are connected, pendulum rod 24 one end links firmly on second axis of rotation 23, the other end of pendulum rod 24 is connected with mop subassembly 12, auxiliary rod 25 one end sliding connection is in spout 27, the other end of auxiliary rod 25 articulates at the middle part of pendulum rod 24.

The mop component 12 comprises a connecting piece 28 and a mop disc 29, the upper end of the connecting piece 28 is hinged with the swing rod 24, the lower end of the connecting piece 28 is fixedly connected with the mop disc 29, the lower bottom surface of the mop disc 29 is fixedly connected with a mop cloth 30, the mop cloth 30 is at least one of a strip-shaped mop cloth 30, a strip-shaped mop cloth 30 or a block-shaped sponge mop cloth 30, and can be replaced according to the needs in use.

Example two

The present embodiment is a further improvement based on the first embodiment, and the difference from the first embodiment is that: the lifting mechanism 11 comprises a second driving motor 22, a lifting screw and a transmission gear, the second driving motor 22 is arranged inside the trunk part 2 and is electrically connected with the controller, the transmission gear is connected with an output shaft of the second driving motor 22, and the lifting screw is vertically and slidably connected to the bottom of the trunk part 2 and is meshed with the transmission gear. Through adopting gear and lifting screw meshing complex mode, reduced drive disk assembly to also guaranteed the stability of going up and down simultaneously, be favorable to the promotion of transmission efficiency and the reduction of the whole weight of robot.

The principle of the invention is as follows:

when the robot is used as a sweeping robot, the robot is moved on a flat floor by the front and rear two sets of walking legs 3 on the side surface of the trunk 2, and the middle walking legs 3 are retracted to the lower side of the trunk 2. The controller controls the front chelate 4 to be lowered to lie against the ground. Be located in 4 interior broom mechanism 8 of preceding chela preliminary clearance of mode through rotatory sweeping the floor to 4 corresponding within range ground of preceding chela, then electric nozzle 10 is to the ground water spray or the spraying after preliminary clearance, controls elevating system 11 decline again, utilizes mop subassembly 12 to carry out the secondary clearance to ground. With the movement of the robot, the fan 14 at the tail part 5 of the robot is used for air drying the ground, and the cleaning work is completed.

When the robot runs on uneven ground, the controller controls the middle walking legs 3 to stretch, and the length of the middle walking legs 3 is larger than that of the front walking legs and the rear walking legs 3, so that the whole robot can be supported and lifted, the robot can cross the bottom surfaces with different heights, and the controller can control the middle walking legs 3 to shrink again after the robot finishes.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. A bionic scorpion type cleaning robot comprises a head part (1), a trunk part (2), walking legs (3) and a front claw (4), and is characterized in that the trunk part (2) is of a shell structure, and the head part (1) is connected with the front end of the trunk part (2); the walking legs (3) are arranged on two sides of a trunk part (2), the front claw (4) is symmetrically and rotatably connected to two sides of the head (1), a controller and a storage battery are arranged in the trunk part (2), a broom installation cavity (7) with an opening facing the front of the front claw (4) is formed in the front claw (4), a broom mechanism (8) is arranged in the broom installation cavity (7), a garbage recovery groove (9) communicated with the broom installation cavity (7) is formed in the bottom of the front claw (4), an electric nozzle (10) is arranged in the center of the bottom surface of the head (1), a water storage kettle communicated with the electric nozzle (10) is arranged in the trunk part (2), a lifting mechanism (11) and a mop assembly (12) connected with the lifting mechanism (11) are arranged at the bottom of the trunk part (2), and the front claw (4), the walking legs (3), the broom mechanism (8) and the broom mechanism (8) are arranged in the trunk part (2), The electric nozzle (10) and the lifting mechanism (11) are respectively electrically connected with the controller.

2. The bionic scorpion-type cleaning robot according to claim 1, further comprising a tail part (5), wherein the tail part (5) is formed by sequentially connecting a plurality of tail sections (13) end to end, the end of the tail section (13) at the first level is connected with the rear end of the trunk part (2), the end of the tail section (13) at the last level is connected with a fan (14), and the fan (14) is electrically connected with the controller.

3. The bionic scorpion cleaning robot according to claim 2, wherein a servo motor is arranged in the rear end of the body part (2), a rotating seat (18) in transmission connection with the servo motor is arranged outside the rear end of the body part (2), the end part of the first tail section (13) is connected with the rotating seat (18), and the servo motor is electrically connected with a controller.

4. The bionic scorpion-type cleaning robot according to claim 1, 2 or 3, wherein the walking legs (3) on the left side and the right side of the trunk part (2) are arranged in a front-back mode, the three walking legs (3) on the left side of the trunk part (2) and the three walking legs (3) on the right side of the trunk part are respectively arranged in a forward opposite mode, one end of each walking leg (3) is connected with the trunk part (2) through a steering engine (17), each walking leg (3) comprises two leg sections, the two leg sections are connected through the steering engine (17), and the steering engine (17) is respectively electrically connected with the controller.

5. The bionic scorpion-type cleaning robot according to claim 4, wherein the total length of the middle walking leg (3) positioned at the left side or the right side of the trunk part (2) is larger than the total length of other walking legs (3).

6. The scorpion-type cleaning robot as claimed in claim 1, 2 or 3, wherein the front end of the head (1) is provided with at least one machine vision acquisition component, and the machine vision acquisition component is a radar and/or a camera.

7. The bionic scorpion-type cleaning robot according to claim 1, 2 or 3, wherein the broom mechanism (8) comprises a first driving motor (19), a first rotating shaft (20) and a plurality of brushes (21), the first driving motor (19) is coaxially connected with the first rotating shaft (20), the first rotating shaft (20) is vertically and rotatably connected in the broom mounting cavity (7), the plurality of brushes (21) are radially mounted on the first rotating shaft (20), and the first driving motor (19) is electrically connected with the controller.

8. The bionic scorpion-type cleaning robot according to claim 1, 2 or 3, wherein the lifting mechanism (11) comprises a second driving motor (22), a second rotating shaft (23), a swinging rod (24), an auxiliary rod (25), a holding groove (26) and a sliding groove (27), the second driving motor (22) is arranged inside the trunk part (2) and is electrically connected with the controller, the holding groove (26) is arranged on the lower bottom surface of the trunk part (2), the sliding groove (27) is arranged on the groove wall at two sides of the holding groove (26), the second transmission shaft is arranged at one end of the holding groove (26), the output shaft of the second driving motor (22) is in transmission connection with the second rotating shaft (23), one end of the swinging rod (24) is fixedly connected on the second rotating shaft (23), and the other end of the swinging rod (24) is connected with the mop component (12), one end of the auxiliary rod (25) is connected in the sliding groove (27) in a sliding mode, and the other end of the auxiliary rod (25) is hinged to the middle of the swing rod (24).

9. The bionic scorpion-type cleaning robot according to claim 1, 2 or 3, wherein the lifting mechanism (11) comprises a second driving motor (22), a lifting screw and a transmission gear, the second driving motor (22) is arranged inside the trunk part (2) and is electrically connected with the controller, the transmission gear is connected with an output shaft of the second driving motor (22), and the lifting screw is vertically and slidably connected to the bottom of the trunk part (2) and is meshed with the transmission gear.

10. The bionic scorpion type cleaning robot according to claim 1, 2 or 3, wherein the mop assembly (12) comprises a connecting piece (28) and a mop disc (29), the upper end of the connecting piece (28) is hinged to the swing rod (24), the lower end of the connecting piece (28) is fixedly connected with the mop disc (29), a mop cloth (30) is fixedly connected to the lower bottom surface of the mop disc (29), and the mop cloth (30) is at least one of a strip-shaped mop cloth (30), a strip-shaped mop cloth (30) or a block-shaped sponge mop cloth (30).