CN208768754U - A kind of fish jar clean robot - Google Patents
A kind of fish jar clean robot Download PDFInfo
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- CN208768754U CN208768754U CN201820459458.7U CN201820459458U CN208768754U CN 208768754 U CN208768754 U CN 208768754U CN 201820459458 U CN201820459458 U CN 201820459458U CN 208768754 U CN208768754 U CN 208768754U
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- propeller
- fish jar
- rack body
- robot
- clean robot
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Abstract
The utility model discloses a kind of fish jar clean robots, including Rack Body, the running gear and cleaning device that are arranged on Rack Body, wherein, the running gear includes active walking mechanism, the first propeller and the second propeller, first propeller and the second propeller are arranged on the bottom surface of the Rack Body, and first propeller and the second propeller direction of propulsion are vertical with the soffit plane of the Rack Body.Movement of the robot on six-freedom degree is realized by active walking mechanism and two propellers using above-mentioned fish jar clean robot, movement is flexible, it realizes plane walking, turn to and turn over conversion surface function, cooperate cleaning device, realize high coverage rate, improve cleaning efficiency and cleaning effect.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of fish jar clean robot.
Background technique
The inner wall of fish jar and bottom meeting attachment, can endanger the health of fish, also will affect the ornamental value to fish, user needs
Clean fish jar periodically to keep the cleaning ambient of fish jar, the cleaning mode of existing fish jar is usually the artificial cleaning for using most original
Mode after fish is vacateed fish jar, changes water, then fish is reentered into fish jar after manually cleaning to fish jar.This artificial cleaning
It mode labor intensive and wastes time, reduces the experience of feeding fish.Alternatively, there is also can automatically clean fish in existing way
The clean robot of cylinder, the main operation by propeller realize that clean robot contacts cleaning and traffic direction with fish bowl wall
Conversion, but this clean robot rely only on propeller carry out cleaning effect and coverage rate realization, so cleaning effect is not
Ideal and coverage rate is lower.
Utility model content
Based on this, the technical problem to be solved by the present invention is to provide a kind of movements flexibly, cleaning effect is good, coverage rate
High fish jar clean robot.
It is achieved in order to solve the above technical problems, the utility model adopts the following technical solutions:
A kind of fish jar clean robot, including Rack Body, the running gear and cleaning device that are arranged on Rack Body,
In, the running gear includes active walking mechanism, the first propeller and the second propeller, and first propeller and second push away
Be arranged on the bottom surface of the Rack Body into device, first propeller and the second propeller direction of propulsion with the Rack Body
Soffit plane it is vertical.
The propeller includes screw propeller or hydraulic propeller in one of the embodiments,；Active vehicle with walking machine
Structure includes pedrail mechanism or drive wheel mechanism.
The middle part of Rack Body bottom surface is arranged in the active walking mechanism in one of the embodiments, and described first pushes away
It is oppositely arranged into device and the second propeller, and the left and right sides or front and rear sides of the active walking mechanism is set.
The active walking mechanism includes two crawler belts in one of the embodiments, and two crawler belts are arranged in Rack Body
The left and right sides of bottom surface, first propeller and the second propeller are oppositely arranged, and are arranged among two crawler belts, and left and right is simultaneously
Column setting or front and back are set side by side.
The cleaning device includes connecting plate, cleaning member and elastic mechanism in one of the embodiments,；The cleaning
The bottom surface of the connecting plate is arranged in component；The subjacent of the Rack Body is arranged in the connecting plate, passes through elastic mechanism
Connect with the Rack Body, the connecting plate can by the elastic mechanism can the relatively described Rack Body stretching motion, with
Stay clean object compresses fitting.
The robot further includes obstacle detection sensor in one of the embodiments, and the obstacle detection passes
Sensor include laser acquisition sensor, infra-red detection sensor, ultrasonic listening sensor or visual sensor one kind or
It is a variety of.
The robot further includes water surface emersion detection device in one of the embodiments, the water surface emersion detection
Device includes the upper conductor and lower conductor being arranged on rack body side surface, passes through resistance variations between detection upper conductor and lower conductor
Detect whether the fish jar clean robot is discharged.
The robot further includes level detection sensor in one of the embodiments, for detecting the robot
Water level in water.
The robot further includes anticollision device, collision-prevention device in one of the embodiments, and the anticollision device, collision-prevention device includes microswitch
The surrounding of the Rack Body is arranged in mechanism, multiple anticollision device, collision-prevention devices.
Soft protective layer is also enclosed with outside the Rack Body in one of the embodiments,.
Compared with prior art, the advantages and positive effects of the utility model are as follows:
Above-mentioned fish jar clean robot, active walking mechanism are used for the walking of robot, realize X by active walking mechanism
With the movement of Y both direction freedom degree, robot is driven to be turned to switch by active walking mechanism between X and Y；By two
The freedom degree switching of Z-direction is realized in the cooperation of positive and negative rotation simultaneously of a propeller；By revolving speed and the rotation direction conversion of two propellers
Carry out the movement of freedom degree on the direction of rotation realization X, Y and Z.By active walking mechanism and two propellers, robot is realized
Movement on six-freedom degree, movement flexibly, realizes plane walking, turns to and turn over conversion surface function, cooperate cleaning device, real
Show high coverage rate, improve cleaning efficiency and cleaning effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model fish jar clean robot；
Fig. 2 is the side view of the utility model fish jar clean robot；
Fig. 3 is the operation principle schematic diagram of the utility model fish jar clean robot；
Fig. 4 is the schematic diagram one of the running gear of the utility model fish jar clean robot；
Fig. 5 is the schematic diagram two of the running gear of the utility model fish jar clean robot；
Fig. 6 is the schematic diagram three of the running gear of the utility model fish jar clean robot；
Fig. 7 is the schematic diagram four of the running gear of the utility model fish jar clean robot；
Fig. 8 is the structural schematic diagram of the water surface emersion detection device in the utility model fish jar clean robot；
Fig. 9 is the structural schematic diagram of the anticollision device, collision-prevention device in the utility model fish jar clean robot；
Description of symbols:
Rack Body 100；
Running gear 200；Active walking mechanism 210；First propeller 220；Second propeller 230；
Cleaning device 300；Connecting plate 310；Elastic mechanism 320；
Obstacle detection sensor 400；
Water surface emersion detection device 500；Upper conductor 510；Lower conductor 520；
Anticollision device, collision-prevention device 600；Shell 610；Microswitch 620；Touch bar 630；
Gyroscope 700.
Specific embodiment
It is described in detail below with reference to specific embodiment of the Figure of description to the utility model, but this is practical
The novel multitude of different ways that can be defined by the claims and cover is implemented.
- Fig. 2 referring to Fig.1, the fish jar clean robot in one embodiment of the utility model, including Rack Body 100, set
Set running gear 200 and cleaning device 300 on Rack Body 100.Wherein, running gear 200 includes active walking mechanism
210, the first propeller 220 and the second propeller 230, the first propeller 220 and the second propeller 230 are arranged in Rack Body 100
Bottom surface on, the first propeller 220 and 230 direction of propulsion of the second propeller are vertical with the soffit plane of Rack Body 100.Reference
Fig. 3, active walking mechanism 210 are used for the walking of robot, realize X and Y both direction freedom degree by active walking mechanism 210
Movement, drive robot to be turned to by active walking mechanism 210 between X and Y and switch；By 220 He of the first propeller
Second propeller, 230 cooperation of positive and negative rotation simultaneously, realizes the freedom degree switching of Z-direction；By the first propeller 220 and the second propeller
230 revolving speed and rotation direction conversion carries out the movement of freedom degree on the direction of rotation realization X, Y and Z.Pass through active walking mechanism
210 and two propellers, realize that movement of the robot on six-freedom degree, movement flexibly, realize plane walking, turn to and turn over
Conversion surface function cooperates cleaning device 300, realizes high coverage rate, improves cleaning efficiency and cleaning effect.
The active walking mechanism 210 of robot can accurately calculate recorder people's travel distance, be accurately positioned.Machine
Be additionally provided with gyroscope 700 in people, cooperate running gear 200, ensure robot location's precision, may be implemented high coverage rate and
Cleaning efficiency.
Specifically, propeller includes but is not limited to screw propeller, hydraulic propeller etc.；Active walking mechanism 210 is wrapped
Include but be not limited to pedrail mechanism or drive wheel mechanism.In the present embodiment, active walking mechanism 210 is preferably pedrail mechanism, is carried out
Band mechanism includes two crawler belts.Referring to Fig. 4-Fig. 7, the left and right sides of 100 bottom surface of Rack Body is arranged in two crawler belts, and first promotes
Device 220 and the second propeller 230 are oppositely arranged, and are arranged among two crawler belts, and left and right is set side by side.Certain two propellers
Can also front and back be set side by side.
In other examples, the middle part of 100 bottom surface of Rack Body, the first propeller is arranged in active walking mechanism 210
220 and second propeller 230 be oppositely arranged, and the left and right sides or front and rear sides of active walking mechanism 210 are set.
Specifically, cleaning device 300 includes connecting plate 310, cleaning member and elastic mechanism 320.Cleaning member setting exists
The bottom surface of connecting plate 310；The subjacent of Rack Body 100 is arranged in connecting plate 310, passes through elastic mechanism 320 and Rack Body 100
Connection, connecting plate 310 can be bonded with respect to 100 stretching motion of Rack Body with fish bowl wall compression by elastic mechanism 320.
Cleaning device 300 can be made to float by elastic mechanism 320, guarantee that the cleaning member of robot bottom can comprehensively and fish bowl wall
Fitting compresses, and during clean run, can guarantee cleaning dynamics and promote cleaning effect.
In order to further increase cleaning effect, cleaning device 300 is additionally provided with vibration mode.Specifically, cleaning device 300
Including vibrating mechanism (not shown).Vibrating mechanism is arranged between connecting plate 310 and bottom plate, for being drivingly connected plate 310 along even
310 soffit plane horizontal vibration of fishplate bar.Preferably, vibrating mechanism is vibrating motor, drives connecting plate 310 to shake by vibrating motor
It is dynamic.When fish jar wall surface is dirtier, vibration mode can be opened, increases cleaning dynamics, guarantees that fish bowl wall dirt is completely removed.
Further, robot further includes obstacle detection sensor 400, and obstacle detection sensor 400 includes laser
Detection sensor, infra-red detection sensor, ultrasonic listening sensor or visual sensor it is one or more.Obstacle physical prospecting
When survey sensor 400 detects the barrier on operating path, robot controller is transmitted signals to, controls robot ambulation
200 avoiding obstacles of device.Obstacle detection sensor 400 cooperates gyroscope 700, active walking mechanism 210, ensures robot
Position precision and realization high coverage rate.
Further, robot further includes water surface emersion detection device 500, and water surface emersion detection device 500 is for detecting
Whether robot emerges, and prevents robot from emerging work.Specifically, as shown in figure 8, water surface emersion detection device
500 include the upper conductor 510 and lower conductor 520 being arranged on 100 side of Rack Body, and upper conductor 510 and lower conductor 520 are band
The stainless conductor of electricity, by between detection upper conductor 510 and lower conductor 520 in water and air two media resistance variations detection machine
Whether device people is discharged.Cooperate sensed water level by 210 measurement data of active walking mechanism and water surface emersion detection device 500, and
The equipment such as controller or intelligent mobile terminal can be transferred to.
In other examples, level detection sensor can also be arranged in robot, and level detection sensor is for examining
Survey the water level of robot in water.
Fish bowl wall is collided in robot kinematics in order to protect, is damaged, and robot is also further provided with anti-
Collision device 600.As shown in figure 9, anticollision device, collision-prevention device 600 includes 620 mechanism of microswitch, multiple anticollision device, collision-prevention devices 600 are arranged in rack
The surrounding of body 100.620 mechanism of microswitch includes shell 610, microswitch 620 and touching bar 630.Shell 610 is fixedly installed
In the side of Rack Body 100, microswitch 620 is arranged in shell 610.First end and the shell 610 for touching bar 630 are hinged,
The second end for touching bar 630 is arranged outside shell 610, and touching bar 630 is provided with touching portion and microswitch at first end
620 are correspondingly arranged.When robot collides fish bowl wall, touch 630 stress of bar, touching bar 630 will around shell 610 rotate from
And microswitch 620 is touched by the touching portion of touching bar 630, switch triggering is largely reduced by lever principle
Power makes robot be effectively protected.
Further, soft protective layer (not shown) is also enclosed with outside Rack Body 100.Soft protective layer can for sponge,
The flexible materials such as rubber, soft protective layer are covered on the peripheral side and top surface of Rack Body 100, and the bottom surface of robot is in addition to walking
At device 200, other parts also carry out package setting.Robot can be greatly reduced in the process of walking by soft protective layer
To the collision damage of the rare fingerling in fish jar.
The working principle of the fish jar clean robot of the utility model is described in detail below:
Six-freedom degree sports immunology: using the base angle of fish jar as origin, establishing X-Y-Z coordinate system on the inside of fish jar, and six
Freedom degree is respectively as follows: the positive negative direction of X-axis, the positive negative direction of Y-axis, the positive negative direction of Z axis, rotates along X-axis rotation, along Y-axis and revolve along Z axis
Turn.
Robot is when the face A works: the movement in Y-axis and Z-direction is completed by active walking mechanism 210, by propeller
Complete the movement in X-direction.
Change to the face B by the face A to be cleaned: when robot is after the cleaning of the face A, robot passes through walking mechanism tune
Complete machine body keeps walking mechanism parallel with Y-axis, and propeller provides power, keeps Robot X forward motion completely de- until robot
From fish jar glass inner wall.Then the first propeller 220 persistently provides the power of X positive direction, and it is square that the second propeller 230 provides X
To less than the power in the first propeller 220 or X negative direction, realize that robot fuselage is rotated by 90 ° along Z-direction, at this time machine
People bottom surface is parallel with the face B, and two propellers provide power in robot Y negative direction, so that robot is adjacent to fish jar glass inner wall, so
Movement of the robot in X-axis and Z-direction is completed by active walking mechanism 210 afterwards.
Change to the face C by the face B to be cleaned: when robot is after the cleaning of the face B, robot passes through walking mechanism tune
Complete machine body keeps active walking mechanism 210 parallel with Z axis, and two propellers provide power, moves Robot Y-axis positive direction,
Until robot completely disengages fish jar glass inner wall.Then the first propeller 220 persistently provides the power of Y positive direction, and second pushes away
The power that Y positive direction is less than in propeller A or Y negative direction is provided into device 230, realizes that robot fuselage rotates along the x axis
90 °, robot bottom surface is parallel with the face C at this time, and two propellers, which provide Z negative direction power, makes robot be adjacent to the bottom of the tank glass
Then inner wall completes movement of the robot in X-axis and Y direction by active walking mechanism 210.
Change to the face A by the face C to be cleaned: when robot is after the cleaning of the face C, robot passes through active vehicle with walking machine
Structure 210 adjusts fuselage, keeps walking mechanism parallel with X-axis, and two propellers provide power, moves Robot Z axis positive direction
Until robot completely disengages fish jar glass inner wall, then the first propeller 220 persistently provides the power of Z axis positive direction, and second
Propeller 230 provides the power being less than in propeller A or Z negative direction in Z positive direction, realizes that robot fuselage revolves along the y axis
Turn 90 °, robot bottom surface is parallel with the face A at this time, and two propellers, which provide X-axis negative direction power, makes robot be adjacent to fish jar glass
Then inner wall completes cleaning action of the robot in Y-axis and Z-direction by active walking mechanism 210.
The fish jar clean robot of the utility model realizes that robot exists by active walking mechanism and two propellers
Movement on six-freedom degree moves more flexible.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of fish jar clean robot, including Rack Body, the running gear and cleaning device that are arranged on Rack Body, feature
It is, the running gear includes active walking mechanism, the first propeller and the second propeller, first propeller and second
Propeller is arranged on the bottom surface of the Rack Body, first propeller and the second propeller direction of propulsion with the rack
The soffit plane of body is vertical.
2. a kind of fish jar clean robot according to claim 1, which is characterized in that the propeller includes that propeller pushes away
Into device or hydraulic propeller；Active walking mechanism includes pedrail mechanism or drive wheel mechanism.
3. a kind of fish jar clean robot according to claim 2, which is characterized in that the active walking mechanism setting exists
The middle part of Rack Body bottom surface, first propeller and the second propeller are oppositely arranged, and are arranged in the active walking mechanism
The left and right sides or front and rear sides.
4. a kind of fish jar clean robot according to claim 2, which is characterized in that the active walking mechanism includes two
The left and right sides of Rack Body bottom surface is arranged in crawler belt, two crawler belts, and first propeller and the second propeller are oppositely arranged,
And be arranged among two crawler belts, left and right is set side by side or front and back is set side by side.
5. a kind of fish jar clean robot according to claim 1, which is characterized in that the cleaning device includes connection
Plate, cleaning member and elastic mechanism；The bottom surface of the connecting plate is arranged in the cleaning member；The connecting plate is arranged described
The subjacent of Rack Body is connect by elastic mechanism with the Rack Body, and the connecting plate can pass through the elastic mechanism
Can the relatively described Rack Body stretching motion, with stay clean object compression be bonded.
6. a kind of fish jar clean robot according to claim 1, which is characterized in that the robot further includes barrier
Detection sensor, the obstacle detection sensor include laser acquisition sensor, infra-red detection sensor, ultrasonic listening
Sensor or visual sensor it is one or more.
7. a kind of fish jar clean robot according to claim 1, which is characterized in that the robot further includes water surface floating
Detection device out, the water surface emersion detection device include the upper conductor and lower conductor being arranged on rack body side surface, pass through inspection
It surveys resistance variations between upper conductor and lower conductor and detects whether the fish jar clean robot is discharged.
8. a kind of fish jar clean robot according to claim 1, which is characterized in that the robot further includes water level inspection
Sensor is surveyed, for detecting the water level of the robot in water.
9. a kind of fish jar clean robot according to claim 1, which is characterized in that the robot further includes anticollision dress
It sets, the anticollision device, collision-prevention device includes micro switch mechanism, and the surrounding of the Rack Body is arranged in multiple anticollision device, collision-prevention devices.
10. a kind of fish jar clean robot according to claim 1, which is characterized in that be also enclosed with outside the Rack Body
Soft protective layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820459458.7U CN208768754U (en) | 2018-04-02 | 2018-04-02 | A kind of fish jar clean robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820459458.7U CN208768754U (en) | 2018-04-02 | 2018-04-02 | A kind of fish jar clean robot |
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| CN208768754U true CN208768754U (en) | 2019-04-23 |
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ID=66140696
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| CN201820459458.7U Active CN208768754U (en) | 2018-04-02 | 2018-04-02 | A kind of fish jar clean robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896917A (en) * | 2019-11-05 | 2020-03-24 | 上海第二工业大学 | Intelligent fish tank cleaning robot |
-
2018
- 2018-04-02 CN CN201820459458.7U patent/CN208768754U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896917A (en) * | 2019-11-05 | 2020-03-24 | 上海第二工业大学 | Intelligent fish tank cleaning robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 266101 Qingdao Blue Silicon Valley Business Center, Qingdao, Shandong Province Co-patentee after: Qingdao Tabor Robot Technology Co.,Ltd. Patentee after: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. Address before: 266101 Qingdao Blue Silicon Valley Business Center, Qingdao, Shandong Province Co-patentee before: QINGDAO TAB ROBOT TECHNOLOGY Co.,Ltd. Patentee before: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 266101 Qingdao Blue Silicon Valley Business Center, Qingdao, Shandong Province Patentee after: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. Patentee after: Haier Robotics (Qingdao) Co.,Ltd. Address before: 266101 Qingdao Blue Silicon Valley Business Center, Qingdao, Shandong Province Patentee before: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. Patentee before: Qingdao Tabor Robot Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |