Automatic spider thread cleaning device and method

Abstract

The invention provides an automatic spider thread cleaning device and method.The automatic spider thread cleaning device comprises a crawling mechanism, a rotating mechanism, a winding mechanism, a spider web collector, a display screen, a camera, a power source master button and a control system.The rotating mechanism is installed on the crawling mechanism, the winding mechanism is installed on the rotating mechanism, the spider web collector is installed below the crawling mechanism, and the display screen is installed on the camera; the display screen is installed above the crawling device, at least one camera is installed on the laying mechanism and the crawling mechanism, and the control system conducts automatic analysis through route images and environment images shot by the cameras and controls the crawling mechanism, the rotating mechanism and the winding mechanism to operate according to the planned route and action. According to the cleaning device, automatic cleaning of family cobwebs can be achieved, and then the cleaning efficiency is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of household products, and in particular relates to an automatic spider silk cleaning device and method. Background Art

[0002] Most of the existing spider web cleaning devices are manual cleaning tools. For example, CN108577704A discloses a spider web cleaning tool, which includes a main frame, side scrapers, a top scraper, a connecting spring, a connecting rod, and a telescopic rod. The main frame is in the middle and consists of five supporting members. The side scrapers are installed on both sides of the main frame. The top scraper is installed on the top of the main frame. The connecting spring is installed between the supporting members in the main frame. The connecting rod is installed at the rear end of the main frame. The telescopic rod is connected to the rear end of the connecting rod. The above cleaning device requires manual operation, has low work efficiency, and has high labor intensity for operators.

[0003] For another example, CN201520947531.1 also discloses a substation spider web cleaning device, including an insulating rod, a motor is provided at one end of the insulating rod, an insulating handle is provided at the other end of the insulating rod, a switch is provided on the insulating handle, a cleaning disk is provided on the motor, a battery box is provided in the middle of the insulating rod, a battery is provided in the battery box, and the battery, switch and motor are connected in series through a wire. This spider web cleaning device can only be cleaned manually, and the cleaning efficiency is relatively low. Summary of the invention

[0004] The object of the present invention is to provide an automated spider silk cleaning device and method, which can realize automated cleaning of household spider webs, thereby effectively improving the cleaning efficiency.

[0005] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: an automated spider silk cleaning device and method, comprising a crawling mechanism, a rotating mechanism, a winding mechanism, a spider web collector, a display screen, a camera, a main power button and a control system, wherein the rotating mechanism is installed on the crawling mechanism, the winding mechanism is installed on the rotating mechanism, the spider web collector is installed below the crawling mechanism, the display screen is installed above the crawling device, at least one camera is installed on the laying mechanism and the crawling mechanism, the control system automatically analyzes the route image and the environmental image captured by the camera, and controls the crawling mechanism, the rotating mechanism, and the winding mechanism to operate according to the planned path and action.

[0006] The crawling mechanism includes a support frame 1 and a support frame 2, the heads of the support frame 1 and the support frame 2 are installed with hub motors through threaded connections, and Mecanum wheels are installed at both ends of the hub motors through key connections. Crawling suction cup sleeves 1 and 2 are installed on the sides of the support frame 1 and the support frame 2, respectively. In addition, crawling suction cups 1 and 2 are installed in crawling suction cup sleeves 1 and 2, respectively, through hydraulic devices. Battery packs are installed on the heads of the support frame 1 and the support frame 2, and the battery packs are used to supply power to the hub motors, rotating mechanisms, display screens, cameras, and control systems.

[0007] The rotating mechanism includes a rotating chassis, a rolling bearing, a rotating motor and a rolling bearing cover. The rolling bearing is installed in a circular hole of a support frame. The rotating motor cooperates with the rotating chassis through a key connection. The rolling bearing cover is installed on the support frame through a screw connection to fix the rolling bearing cover. The rotating motor is installed on the rolling bearing cover through a screw connection.

[0008] The winding mechanism includes a frame, a tilting and rotating servo, a rotating servo, a large gear, a small gear, a rotating shaft and a winding blade. The frame is connected and installed on a rotating chassis through an axial hole, and the tilting and rotating servo is installed in the axial hole of the frame; the rotating servo is installed in the axial hole of the large gear, and the small gears are symmetrically distributed on both sides of the frame. The rotating shaft is installed on the output shaft of the small gear, and a winding blade is installed at the front end of the rotating shaft, and the winding blade is rotatably installed at one end of the rotating shaft.

[0009] The spider web collector comprises two side baffles, a middle baffle, a spider silk baffle, a wire-carrying wheel hub shaft, fine spider silk, medium spider silk, thick spider silk and a spider silk guide groove. The two side baffles and the middle baffle are installed at the lower end of the support frame, and the wire-carrying wheel hub shaft is sleeved in the baffles and the circular holes between the baffles. The three baffles divide the wire-carrying wheel hub shaft into three parts, which are respectively sleeved with fine spider silk, medium spider silk and thick spider silk.

[0010] The support plate 1 and the support plate 2 are matched together through a mortise and tenon structure, and lubricating oil is added in the middle to improve the sliding flexibility between the two support plates; the four cameras are respectively installed at the four top corners of the entire device to sample external environmental changes, and a single motor is used to drive the rotation of the Mecanum wheels at both ends; the two wheels of the Mecanum wheels on a diagonal line have the same steering direction; the crawling suction cup device is divided into a crawling suction cup sleeve and a crawling suction cup, and is evenly distributed on the edge of the support frame.

[0011] Four triangles are evenly distributed on the circumference of the rotating motor to fix the rotating motor. The battery pack 2 is adsorbed in the designated groove of the support frame by a magnet; the battery pack 2 supplies power to the rotating motor; a remote sensing device is installed on the upper end of the rotating motor to receive command information from the user, and then send it to the control system to control the rotation of the rotating motor.

[0012] The spider silk baffle is equipped with a spider silk guide groove for smoothly winding the spider silk around the wire-carrying wheel hub shaft. The two side baffles and one middle baffle divide the spider silk collector into three parts to collect different spider silks.

[0013] A cleaning method of an automated household spider silk cleaning device, characterized in that it comprises the following steps: S1, the user draws a spider silk cleaning route on the wall in advance, and then places the device at the starting point of the spider silk cleaning, with the camera in the winding mechanism aimed at the starting point of the planned spider silk cleaning route; S2, start the main power supply, the control system controls the crawling suction cup 1 to expand and contract, so that the suction cup is adsorbed on the wall; at this time, the support frame 1 is fixed on the wall, and the support frame 2 moves forward; after moving a certain distance, the crawling suction cup 1 contracts, and the crawling suction cup 2 is adsorbed on the wall surface, and the winding mechanism moves forward together; S3, the camera located at the lower end of the spider silk guide groove identifies the laying route and transmits the information to the control system, the control system controls the rotary motor to rotate the rotary chassis to the specified position, the tilting steering gear controls the entire winding mechanism to tilt to be parallel to the wall, then the rotary steering gear rotates, the winding blades at the front end rotate, and the spider web at the specified position is wound up; S4, when the support frame moves to a certain distance, repeat the steps of S1 and S2; S5, the cameras located at the four corners of the device monitor the changes in the surrounding environment in real time to adjust the running direction of the device; when the camera located at the lower end of the spider silk guide groove recognizes the end point of the spider silk cleaning route, the control system will issue a warning sound to inform the user.

[0014] S6, after the spider silk cleaning is completed, the crawling mechanism receives the command from the control computer and stops running. The entire device stops at the end position and enters the standby state.

[0015] The present invention has the following beneficial effects: 1. This cleaning device can realize the automatic cleaning of household spider webs, thereby effectively improving the cleaning efficiency.

[0016] 2. The above-mentioned crawling mechanism can be used to drive the entire spider web cleaning device to achieve automatic movement.

[0017] 3. The inclination angle can be adjusted by the above-mentioned rotating mechanism.

[0018] 4. The winding mechanism mentioned above can realize the winding of the spider web.

[0019] 5. The spider web collector can be used to collect spider silk. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure from another viewing angle of the present invention.

[0023] Figure 3 It is a transverse cross-sectional view of the present invention.

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the winding mechanism of the present invention.

[0025] Figure 5 It is a top view of the present invention.

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the spider web collecting device of the present invention.

[0027] In the figure: crawling mechanism 1, support frame 11, support frame 2 12, support frame 1 11, support frame 2 12, hub motor 13, Mecanum wheel 14, crawling suction cup sleeve 1 15, crawling suction cup sleeve 2 16, crawling suction cup 1 17, crawling suction cup 2 18, battery pack 19, Rotating mechanism 2, rotating chassis 21, rolling bearing 22, rotating motor 23, rolling bearing cover 24, Winding mechanism 3, frame 31, tilting and rotating steering gear 32, rotating steering gear 33, large gear 34, small gear 35, rotating shaft 36, winding blade 37, Spider web collector 4, baffles 41 on both sides, middle baffle 42, spider silk baffle 43, wire carrying wheel hub shaft 44, thin spider silk 45, medium spider silk 46, thick spider silk 47, spider silk guide groove 48, Display screen 5, camera 6, main power button 7. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0029] Embodiment 1: See also Figure 1-6An automated spider silk cleaning device and method, comprising a crawling mechanism 1, a rotating mechanism 2, a winding mechanism 3, a spider web collector 4, a display screen 5, a camera 6, a main power button 7 and a control system, wherein the rotating mechanism 2 is mounted on the crawling mechanism 1, the winding mechanism 3 is mounted on the rotating mechanism 2, the spider web collector 4 is mounted below the crawling mechanism 1, the display screen 5 is mounted above the crawling device 1, at least one camera 6 is mounted on the laying mechanism 3 and the crawling mechanism 1, and the control system automatically analyzes the route image and environment image captured by the camera 6, and controls the crawling mechanism 1, the rotating mechanism 2, and the winding mechanism 3 to run according to the planned path and action. This cleaning device can realize the automated cleaning of household spider webs, thereby effectively improving the cleaning efficiency.

[0030] Preferably, the device uses a Mecanum wheel to achieve turning of the entire device.

[0031] See also Figure 2 The crawling mechanism 1 includes a support frame 11 and a support frame 2 12. The heads of the support frames 11 and 12 are connected by threads and are equipped with a hub motor 13. The two ends of the hub motor 13 are connected by keys and are equipped with Mecanum wheels 14. The sides of the support frames 11 and 12 are respectively equipped with a crawling suction cup sleeve 15 and a crawling suction cup sleeve 2 16. In addition, a crawling suction cup 17 and a crawling suction cup 2 18 are respectively installed in the crawling suction cup sleeve 15 and the crawling suction cup sleeve 2 16 through a hydraulic device. A battery pack 19 is installed at the heads of the support frames 11 and 12. The battery pack 19 is used to power the hub motor 12, the rotating mechanism 2, the display screen 5, the camera 6 and the control system. The crawling mechanism 1 can be used to drive the entire spider web cleaning device to achieve automatic movement.

[0032] See also Figure 3 The rotating mechanism 2 includes a rotating chassis 21, a rolling bearing 22, a rotating motor 23, and a rolling bearing cover 24. The rolling bearing 22 is installed in a round hole of a support frame 11. The rotating motor 23 is connected with the rotating chassis 21 by a key connection. The rolling bearing cover 26 is installed on the support frame by screw connection to fix the rolling bearing cover 24. The rotating motor 23 is installed on the rolling bearing cover 24 by screw connection. The above-mentioned rotating mechanism 2 can realize the adjustment of the inclination angle.

[0033] In a preferred embodiment, see Figure 4The winding mechanism 3 includes a frame 31, a tilting rotary steering gear 32, a rotating steering gear 33, a large gear 34, a small gear 35, a rotating shaft 36, and a winding blade 37. The frame 31 is connected and mounted on the rotating chassis 21 through an axial hole. The tilting rotary steering gear 32 is mounted in the axial hole of the frame 31. The rotating steering gear 33 is mounted in the axial hole of the large gear 34. The small gear 35 is symmetrically distributed on both sides of the frame 31. The rotating shaft 36 is mounted on the output shaft of the small gear 35. The front end of the rotating shaft 36 is equipped with a winding blade 37, and the winding blade 37 is rotatably mounted at one end of the rotating shaft 36. The winding mechanism 3 described above can realize the winding of the spider web.

[0034] See also Figure 4 The spider web collector 4 includes two side baffles 41, a middle baffle 42, a spider silk baffle 43, a wire carrying hub shaft 44, fine spider silk 45, medium spider silk 46, thick spider silk 47, and a spider silk guide groove 48. The two side baffles 41 and the middle baffle 42 are installed at the lower end of the support frame 11, and the wire carrying hub shaft 44 is sleeved in the circular hole between the baffles 41 and the baffles 42. The three baffles divide the wire carrying hub shaft 44 into three parts, which are respectively sleeved with fine spider silk 45, medium spider silk 46, and thick spider silk 47. The spider web collector 4 can realize the collection of spider silk.

[0035] Specifically, support plate 1 11 and support plate 2 12 are matched together by a mortise and tenon structure, and lubricating oil is added in the middle to improve the sliding flexibility between the two support plates. The four cameras 6 are respectively installed at the four top corners of the entire device to sample external environmental changes. The hub motor 13 uses a single motor at both ends to drive the rotation of the Mecanum wheels 14 at both ends. The two wheels of the Mecanum wheel 14 on a diagonal line have the same steering. The crawling suction cup device is divided into a crawling suction cup sleeve 15 and a crawling suction cup 17, which are evenly distributed on the edge of the support frame.

[0036] Specifically, four triangles are evenly distributed on the circumference of the rotary motor 23 to fix the rotary motor 23, and the second battery pack 28 is adsorbed in a designated groove of the support frame 11 by a magnet. The second battery pack 28 supplies power to the rotary motor 23. A remote sensing device is installed on the upper end of the rotary motor 23 to receive command information from the user, and then send it to the control system to control the rotation of the rotary motor 23.

[0037] For further information, see Figure 3 The spider silk baffle 43 is provided with a spider silk guide groove 45, which can realize the smooth winding of the spider silk on the wire-carrying wheel hub shaft 44. The two side baffles 41 and the middle baffle 42 divide the spider silk collector into three parts to realize the collection of different spider silks.

[0038] Embodiment 2: A cleaning method of an automated household spider silk cleaning device, characterized in that it comprises the following steps: S1, the user draws a spider silk cleaning route on the wall in advance, and then places the device at the starting point of the spider silk cleaning, and the camera 6 in the winding mechanism 3 is aligned with the starting point of the planned spider silk cleaning route; S2, start the main power supply, the control system controls the crawling suction cup 17 to expand and contract, so that the suction cup is adsorbed on the wall; at this time, the support frame 11 is fixed on the wall, and the support frame 2 12 moves forward; after moving a certain distance, the crawling suction cup 17 contracts, the crawling suction cup 2 18 is adsorbed on the wall surface, and the winding mechanism 3 moves forward together; S3, the camera 6 located at the lower end of the spider silk guide groove identifies the laying route and transmits the information to the control system, the control system controls the rotary motor 25 to rotate the rotary chassis 21 to the specified position, the tilting steering gear 32 controls the entire winding mechanism 3 to tilt to be parallel to the wall surface, then the rotary steering gear 33 rotates, the winding blades 37 at the front end rotate, and the spider web at the specified position is wound up; S4, when the support frame 11 is displaced to a certain distance, steps S1 and S2 are repeated; S5, the cameras 6 located at the four corners of the device monitor the changes in the surrounding environment in real time to adjust the running direction of the device; when the camera 6 located at the lower end of the spider silk guide groove recognizes the end point of the spider silk cleaning route, the control system will emit a warning sound to inform the user.

[0039] S6, after the spider silk cleaning is completed, the crawling mechanism 1 receives the command of the control computer and stops running. The whole device stops at the end position and enters the standby state.

Claims

1. An automated spider silk cleaning device and method, characterized in that: The invention comprises a crawling mechanism (1), a rotating mechanism (2), a winding mechanism (3), a spider web collector (4), a display screen (5), a camera (6), a main power button (7) and a control system, wherein the rotating mechanism (2) is mounted on the crawling mechanism (1), the winding mechanism (3) is mounted on the rotating mechanism (2), the spider web collector (4) is mounted below the crawling mechanism (1), the display screen (5) is mounted above the crawling mechanism (1), and at least one camera (6) is mounted on the laying mechanism (3) and the crawling mechanism (1). The control system automatically analyzes the route image and the environment image captured by the camera (6), and controls the crawling mechanism (1), the rotating mechanism (2) and the winding mechanism (3) to operate according to the planned path and action.

2. An automated spider silk cleaning device and method according to claim 1, characterized in that: The crawling mechanism (1) comprises a support frame 1 (11) and a support frame 2 (12), the heads of the support frame 1 (11) and the support frame 2 (12) are installed with a hub motor (13) through a threaded connection, and the two ends of the hub motor (13) are installed with a Mecanum wheel (14) through a key connection, and the sides of the support frame 1 (11) and the support frame 2 (12) are respectively installed with a crawling suction cup sleeve 1 (15) and a crawling suction cup sleeve 2 (16), and in addition, a crawling suction cup 1 (17) and a crawling suction cup 2 (18) are respectively installed in the crawling suction cup sleeve 1 (15) and the crawling suction cup sleeve 2 (16) through a hydraulic device, and a battery pack (19) is installed at the heads of the support frame 1 (11) and the support frame 2 (12), and the battery pack (19) is used to supply power to the hub motor (12), the rotating mechanism (2), the display screen (5), the camera (6) and the control system.

3. The automated spider silk cleaning device and method according to claim 1, characterized in that: The rotating mechanism (2) comprises a rotating chassis (21), a rolling bearing (22), a rotating motor (23) and a rolling bearing cover (24); the rolling bearing (22) is mounted in a circular hole of a support frame (11); the rotating motor (23) cooperates with the rotating chassis (21) via a key connection; the rolling bearing cover (26) is mounted on the support frame via a screw connection to fix the rolling bearing cover (24); and the rotating motor (23) is mounted on the rolling bearing cover (24) via a screw connection.

4. The automated spider silk cleaning device and method according to claim 1, characterized in that: The winding mechanism (3) comprises a frame (31), a tilting rotary steering gear (32), a rotating steering gear (33), a large gear (34), a small gear (35), a rotating shaft (36) and a winding blade (37). The frame (31) is connected and mounted on a rotating chassis (21) via a shaft hole, the tilting rotary steering gear (32) is mounted in the shaft hole of the frame (31); the rotating steering gear (33) is mounted in the shaft hole of the large gear (34), the small gear (35) is symmetrically distributed on both sides of the frame (31), the rotating shaft (36) is mounted on the output shaft of the small gear (35), and a winding blade (37) is mounted at the front end of the rotating shaft (36), and the winding blade (37) is rotatably mounted on one end of the rotating shaft (36).

5. The automated spider silk cleaning device and method according to claim 1, characterized in that: The spider web collector (4) comprises two side baffles (41), a middle baffle (42), a spider silk baffle (43), a wire carrying wheel hub shaft (44), fine spider silk (45), medium spider silk (46), thick spider silk (47) and a spider silk guide groove (48). The two side baffles (41) and the middle baffle (42) are installed at the lower end of the support frame (11). The wire carrying wheel hub shaft (44) is sleeved in the circular hole between the baffles (41) and the baffles (42). The three baffles divide the wire carrying wheel hub shaft (44) into three parts, which are respectively sleeved with fine spider silk (45), medium spider silk (46) and thick spider silk (47).

6. The automated spider silk cleaning device and method according to claim 2, characterized in that: The support plate 1 (11) and the support plate 2 (12) are matched together through a mortise and tenon structure, and lubricating oil is added in the middle to improve the sliding flexibility between the two support plates; the four cameras (6) are respectively installed at the four top corners of the entire device to sample external environmental changes, and a single motor is used to drive the rotation of the Mecanum wheels (14) at both ends; the two wheels of the Mecanum wheels (14) on a diagonal line have the same steering direction; the crawling suction cup device is divided into a crawling suction cup sleeve (15) and a crawling suction cup (17), and is evenly distributed on the edge of the support frame.

7. The automated spider silk cleaning device and method according to claim 3, characterized in that: Four triangular irons are evenly distributed on the circumference of the rotary motor (23) for fixing the rotary motor (23); the second battery pack (28) is adsorbed in a designated groove of the support frame (11) by a magnet; the second battery pack (28) supplies power to the rotary motor (23); and a remote sensing device is installed on the upper end of the rotary motor (23) for receiving command information sent by a user and then sending it to a control system to control the rotation of the rotary motor (23).

8. The automated spider silk cleaning device and method according to claim 5, characterized in that: The spider silk baffle (43) is provided with a spider silk guide groove (45) for enabling the spider silk to be smoothly wound around the wire-carrying wheel hub shaft (44); the two side baffles (41) and the middle baffle (42) divide the spider silk collector into three parts, thereby enabling the collection of different spider silks.

9. A cleaning method using an automated household spider silk cleaning device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the user draws a spider silk cleaning route on the wall in advance, and then places the device at the starting point of the spider silk cleaning, and the camera (6) in the winding mechanism (3) is aimed at the starting point of the planned spider silk cleaning route; S2, start the main power supply, the control system controls the crawling suction cup 1 (17) to expand and contract, so that the suction cup is adsorbed on the wall; at this time, the support frame 1 (11) is fixed on the wall, and the support frame 2 (12) moves forward; after moving a certain distance, the crawling suction cup 1 (17) contracts, and the crawling suction cup 2 (18) is adsorbed on the wall surface, and the winding mechanism (3) moves forward together; S3, a camera (6) located at the lower end of the spider silk guide groove identifies the laying route and transmits the information to the control system, the control system controls the rotary motor (25) to rotate the rotary chassis (21) to a specified position, the tilting steering gear (32) controls the entire winding mechanism (3) to tilt to be parallel to the wall surface, then the rotary steering gear (33) rotates, the winding blades (37) at the front end rotate, and the spider web at the specified position is wound up; S4, when the support frame 1 (11) moves to a certain distance, repeat steps S1 and S2; S5, the cameras (6) located at the four corners of the device monitor the changes in the surrounding environment in real time to adjust the running direction of the device; when the camera (6) located at the lower end of the spider silk guide groove recognizes the end point of the spider silk cleaning route, the control system will emit a warning sound to inform the user. S6, after the spider silk cleaning is completed, the crawling mechanism (1) receives the command of the control computer and stops running. The entire device stops at the end position and enters the standby state.

Images