CN220132811U - Cleaning robot for complex terrain - Google Patents
Cleaning robot for complex terrain Download PDFInfo
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- CN220132811U CN220132811U CN202320852529.0U CN202320852529U CN220132811U CN 220132811 U CN220132811 U CN 220132811U CN 202320852529 U CN202320852529 U CN 202320852529U CN 220132811 U CN220132811 U CN 220132811U
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- 238000004140 cleaning Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000012876 topography Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of garbage pickup equipment, and particularly relates to a complex terrain cleaning robot, which comprises an unmanned vehicle body, wherein a controller is arranged on the upper side of the unmanned vehicle body, a base is arranged on the front side of the unmanned vehicle body, a first motor is arranged on the base, a chassis is rotatably assembled at the upper end of the base, an output shaft of the first motor is in transmission connection with the chassis, a mechanical arm is arranged on the chassis, a mounting plate is arranged at the end part of the mechanical arm, and a clamping mechanism is arranged on the mounting plate; the robot adopts the track to remove, can adapt to different complicated topography, and has obstacle crossing structure, can cross the obstacle, improves the flexibility ratio of robot, can clear up the work of rubbish in more complicated topography, and the robot is small and exquisite, can replace the manual work to get into some regional narrow and small places work.
Description
Technical Field
The utility model belongs to the technical field of garbage pickup equipment, and particularly relates to a cleaning robot for complex terrains.
Background
The problem of environmental pollution is always a problem of concern of people worldwide, and a lot of garbage exists in complex environments such as mountains in suburbs, dry riverbeds and the like, so that at present, garbage pickup under the topography mainly depends on manpower, the efficiency of manual pickup is lower, and the garbage pickup has a certain danger.
Disclosure of Invention
The purpose of the utility model is that: aims at providing a complicated topography cleaning robot, and the robot adopts the track to remove, can adapt to different complicated topography, and has obstacle crossing structure, can cross the obstacle, improves the flexibility ratio of robot, can clear up the work of rubbish in more complicated topography, and the robot is small and exquisite, can replace the manual work to get into some regional narrow and small places work.
In order to achieve the technical purpose, the utility model adopts the following technical scheme:
the utility model provides a complicated topography cleaning robot, includes unmanned vehicle body, unmanned vehicle body upside installs the controller, unmanned vehicle body front side installs the frame, the first motor is installed to the frame, the frame upper end rotates and is equipped with the chassis, the output shaft of first motor with the chassis transmission is connected, install the arm on the chassis, the mounting panel is installed to the arm tip, the mounting panel is equipped with fixture;
the clamping mechanism comprises two gears rotationally assembled on the lower side of the mounting plate, the two gears are meshed with each other, a second motor is mounted on the upper side of the mounting plate, an output shaft of the second motor is in transmission connection with one of the gears, the two gears are all fixed with a fixed rod, the end parts of the fixed rod are rotationally assembled with a straight rod, the end parts of the two straight rods are rotationally assembled with a connecting rod, the other end of the connecting rod is rotationally connected with the mounting plate, the connecting rod is parallel to the fixed rod, and the front end of the straight rod is fixedly provided with a clamping rod;
six groups of walking mechanical feet which are uniformly distributed are arranged on the unmanned vehicle body.
The walking mechanical foot comprises a first double-shaft motor fixed on the upper side of the unmanned vehicle body, a first U-shaped frame is connected to an output shaft of the first double-shaft motor, a second double-shaft motor is installed in the first U-shaped frame, a second U-shaped frame is connected to an output shaft of the second double-shaft motor, a third U-shaped frame is connected to an end portion of the second U-shaped frame, a third double-shaft motor is arranged in the third U-shaped frame, an output shaft of the third double-shaft is connected with the third U-shaped frame in a rotating mode, and walking small feet are fixed on the outer side of the third double-shaft motor.
The controller is provided with a camera.
The controller is provided with an ultrasonic module.
The clamping rod end is provided with a plurality of uniformly distributed clamping teeth.
The robot moves by adopting the walking caterpillar band, can adapt to different complex terrains, has an obstacle crossing structure, can cross obstacles, improves the flexibility of the robot, can clean garbage in more complex terrains, is small and exquisite, and can replace manual work to enter places with small areas.
Drawings
The utility model may be further illustrated by means of non-limiting examples given in the accompanying drawings.
FIG. 1 is a schematic view of a complex terrain cleaning robot according to one embodiment of the present utility model;
FIG. 2 is a schematic diagram of a complex terrain cleaning robot according to a second embodiment of the present utility model;
fig. 3 is an enlarged schematic view of the structure at a in fig. 2.
The main reference numerals are as follows:
unmanned vehicle body 1, controller 11, camera 111, ultrasonic module 112, frame 12, first motor 13, chassis 14, arm 15, mounting panel 16, gear 2, second motor 21, dead lever 22, straight pole 23, connecting rod 24, clamping lever 25, walking machinery foot 3, first biax motor 3, first U-shaped frame 32, second biax motor 33, second U-shaped frame 34, third U-shaped frame 35, third biax motor 36, walking tripod 37.
Detailed Description
In order that those skilled in the art will better understand the present utility model, the following technical scheme of the present utility model will be further described with reference to the accompanying drawings and examples.
As shown in fig. 1-3, the complex terrain cleaning robot comprises an unmanned vehicle body 1, wherein a controller 11 is arranged on the upper side of the unmanned vehicle body 1, a base 12 is arranged on the front side of the unmanned vehicle body 1, a first motor 13 is arranged on the base 12, a chassis 14 is rotatably arranged at the upper end of the base 12, an output shaft of the first motor 13 is in transmission connection with the chassis 14, a mechanical arm 15 is arranged on the chassis 14, a mounting plate 16 is arranged at the end part of the mechanical arm 15, and a clamping mechanism is arranged on the mounting plate 16;
the clamping mechanism comprises two gears 2 rotationally assembled on the lower side of a mounting plate 16, the two gears 2 are meshed with each other, a second motor 21 is mounted on the upper side of the mounting plate 16, an output shaft of the second motor 21 is in transmission connection with one of the gears 2, the two gears 2 are both fixedly provided with a fixed rod 22, the end part of the fixed rod 22 is rotationally assembled with a straight rod 23, the end parts of the two straight rods 23 are rotationally assembled with a connecting rod 24, the other end of the connecting rod 24 is rotationally connected with the mounting plate 16, the connecting rod 24 is parallel to the fixed rod 22, and the front end of the straight rod 23 is fixedly provided with a clamping rod 25;
six groups of walking mechanical feet 3 which are uniformly distributed are arranged on the unmanned vehicle body 1.
The controller 11 is provided with a camera 111.
The controller 11 is provided with an ultrasonic module 112.
The unmanned vehicle body 1 moves through the walking caterpillar, can adapt to more terrains, and can be convenient to move under different terrains;
the controller 11 is used for controlling the cooperative operation of the unmanned vehicle body 1, the first motor 13, the mechanical arm 15, the second motor 21 and the six groups of walking mechanical feet 3, the mechanical arm 15 is a common mechanical arm in the prior art, can control the clamping mechanism to lift up and down, is convenient for clamping garbage at different positions, the first motor 13 can control the chassis 14 to rotate, the rotation of the mechanical arm 15 can be changed, and the angle of the clamping mechanism is changed; the camera 111 is used for capturing surrounding environment information and identifying garbage in the environment; the ultrasonic module 112 is used for detecting whether an obstacle exists on the front side of the unmanned vehicle body 1 and measuring the distance between the unmanned vehicle body 1 and the obstacle in real time;
when the device is used, the unmanned vehicle body 1 is controlled to run, the device enters a region to be cleaned, after the camera 111 recognizes that garbage exists in the environment, the mechanical arm 15 is started to enable the clamping mechanism to move downwards until the garbage is positioned between the two clamping rods 25, then the second motor 21 is started to drive one of the gears 2 to rotate, because the two gears 2 are meshed with each other, when one of the gears 2 rotates, the other gear 2 can be driven to rotate reversely, the two gears 2 can rotate relatively to drive the fixing rod 22 to rotate relatively, because the straight rod 23 rotates with the fixing rod 22, the end part rotates the connecting rod 24, the other end of the connecting rod 24 rotates with the mounting plate 16 and is parallel to the fixing rod 22, a parallelogram is formed among the fixing rods 22, the straight rod 23 and the connecting rod 24, so that the clamping rods 25 fixed with the straight rod 23 can be driven to approach the middle part when the fixing rod 22 rotates, namely, the two clamping rods 25 are synchronously driven to approach the middle part to clamp the garbage, after the unmanned vehicle body 1 moves to a garbage recovery point, the second motor 21 can be started to drive the gears 2 to rotate reversely, and even if the two clamping rods 25 are driven to move away from each other, the garbage can be driven to move away from each other, and the two clamping rods 25 can enter a small region to a complicated place, and a small region can be placed in a complicated place, and a small place is replaced by a small region to be manually worked;
furthermore, a collecting box can be arranged on the front side of the unmanned vehicle body 1, so that garbage collected by the device can be temporarily placed in the collecting box, and the back and forth distance of the unmanned vehicle body 1 is reduced;
when the front side of the unmanned vehicle body 1 has an obstacle, the controller 11 can control the six groups of walking mechanical feet 3 to prop up the unmanned vehicle body 1, and the walking mechanical feet 3 are utilized to climb over the obstacle, so that the unmanned vehicle body 1 can adapt to more complex terrains;
the robot can synchronize the captured information and the working information of the control system to the terminal, the terminal analyzes and makes a reasonable plan, and the terminal system can be used for setting or changing a travelling route and controlling the mechanical arm to work;
the robot moves by adopting the walking caterpillar band, can adapt to different complex terrains, has an obstacle crossing structure, can cross obstacles, improves the flexibility of the robot, can clean garbage in more complex terrains, is small and exquisite, and can replace manual work to enter places with small areas.
The walking mechanical foot 3 comprises a first double-shaft motor 31 fixed on the upper side of the unmanned vehicle body 1, a first U-shaped frame 32 is connected to an output shaft of the first double-shaft motor 31, a second double-shaft motor 33 is installed in the first U-shaped frame 32, a second U-shaped frame 34 is connected to an output shaft of the second double-shaft motor 33, a third U-shaped frame 35 is connected to the end part of the second U-shaped frame 34, a third double-shaft motor 36 is arranged in the third U-shaped frame 35, an output shaft of the third double-shaft motor 36 is rotatably connected with the third U-shaped frame 35, and a walking small foot 37 is fixed on the outer side of the third double-shaft motor 36;
the first double-shaft motor 31 can drive the first U-shaped frame 32 to horizontally overturn, the second double-shaft motor 33 can drive the second U-shaped frame 34 to vertically overturn, when the output shaft of the third double-shaft motor 36 rotates, the walking small foot 37 can be driven to vertically overturn, the height and the horizontal angle of the walking small foot 37 can be freely adjusted, the motors on the six groups of walking mechanical feet 3 can be controlled to cooperatively operate through the controller 11, the balance of the machine body can be ensured through the cooperation of different angles in the operation process, the machine body can stably go on in the process of crossing obstacles, and when the robot is used, the height of the unmanned vehicle body 1 can be improved through the six groups of walking mechanical feet 3 and can be driven to move forwards, so that the robot can cross the obstacles.
The end part of the clamping rod 25 is provided with a plurality of uniformly distributed clamping teeth; when two clamping rods 25 carry out the centre gripping to rubbish like this, a plurality of evenly distributed's latch can increase with the friction force of object, provides stable clamping force.
The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims of this utility model, which are within the skill of those skilled in the art, can be made without departing from the spirit and scope of the utility model disclosed herein.
Claims (5)
1. A cleaning robot for complex terrain, characterized in that: the automatic control device comprises an unmanned vehicle body, wherein a controller is arranged on the upper side of the unmanned vehicle body, a base is arranged on the front side of the unmanned vehicle body, a first motor is arranged on the base, a chassis is rotatably assembled at the upper end of the base, an output shaft of the first motor is in transmission connection with the chassis, a mechanical arm is arranged on the chassis, a mounting plate is arranged at the end part of the mechanical arm, and a clamping mechanism is arranged on the mounting plate;
the clamping mechanism comprises two gears rotationally assembled on the lower side of the mounting plate, the two gears are meshed with each other, a second motor is mounted on the upper side of the mounting plate, an output shaft of the second motor is in transmission connection with one of the gears, the two gears are all fixed with a fixed rod, the end parts of the fixed rod are rotationally assembled with a straight rod, the end parts of the two straight rods are rotationally assembled with a connecting rod, the other end of the connecting rod is rotationally connected with the mounting plate, the connecting rod is parallel to the fixed rod, and the front end of the straight rod is fixedly provided with a clamping rod;
six groups of walking mechanical feet which are uniformly distributed are arranged on the unmanned vehicle body.
2. A complex terrain cleaning robot as recited in claim 1, wherein: the walking mechanical foot comprises a first double-shaft motor fixed on the upper side of the unmanned vehicle body, a first U-shaped frame is connected to an output shaft of the first double-shaft motor, a second double-shaft motor is installed in the first U-shaped frame, a second U-shaped frame is connected to an output shaft of the second double-shaft motor, a third U-shaped frame is connected to an end portion of the second U-shaped frame, a third double-shaft motor is arranged in the third U-shaped frame, an output shaft of the third double-shaft is connected with the third U-shaped frame in a rotating mode, and walking small feet are fixed on the outer side of the third double-shaft motor.
3. A complex terrain cleaning robot as claimed in claim 2, wherein: the controller is provided with a camera.
4. A complex terrain cleaning robot as claimed in claim 3, wherein: the controller is provided with an ultrasonic module.
5. A complex terrain cleaning robot as recited in claim 4, wherein: the clamping rod end is provided with a plurality of uniformly distributed clamping teeth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320852529.0U CN220132811U (en) | 2023-04-17 | 2023-04-17 | Cleaning robot for complex terrain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320852529.0U CN220132811U (en) | 2023-04-17 | 2023-04-17 | Cleaning robot for complex terrain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220132811U true CN220132811U (en) | 2023-12-05 |
Family
ID=88954855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320852529.0U Active CN220132811U (en) | 2023-04-17 | 2023-04-17 | Cleaning robot for complex terrain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220132811U (en) |
-
2023
- 2023-04-17 CN CN202320852529.0U patent/CN220132811U/en active Active
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