Intelligent sweeping robot

Abstract

The invention discloses an intelligent floor sweeping robot. The intelligent floor sweeping robot comprises an intelligent floor sweeping robot body and stair climbing mechanisms arranged on the two opposite sides of the intelligent floor sweeping robot. Wherein the stair climbing mechanism comprises a driving assembly, rotating frames, an arc-shaped plate and a first driving gear, the driving assembly is arranged on the upper surface of the intelligent floor sweeping robot body, the rotating frames are rotatably arranged on the two opposite sides of the intelligent floor sweeping robot body correspondingly, and a plurality of frame bodies are arranged on the circumferential sides of the rotating frames in a surrounding mode; an arc-shaped plate is rotatably arranged at the outer end of each frame body, and an incomplete gear is arranged at the rotating joint of each arc-shaped plate and the corresponding frame body. The problem that in the prior art, a sweeping robot cannot climb stairs to the upper layer for sweeping is solved. Therefore, the intelligent floor sweeping robot can climb stairs to the upper layer for cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home equipment, and in particular to an intelligent sweeping robot. Background Art

[0002] With the improvement of living standards, smart homes are becoming more and more popular. In the process of freeing hands and realizing housework automation, sweeping robots are one of the most popular products. Sweeping robots usually have a walking system and a vacuuming system. Thanks to technological advances, sweeping robots can achieve route planning and automatic obstacle avoidance through navigation and positioning algorithms. At present, the main development direction of sweeping robots is to optimize algorithms, so that robots can go deep into the corners of the home to clean and identify obstacles, etc., but there is not much change in their structure, although they can be used on flat ground.

[0003] However, for residences with stairs inside, such as duplex structures and villas, the sweeping robot cannot climb the stairs to the upper floors for cleaning.

[0004] Therefore, providing an intelligent sweeping robot that can climb stairs to the upper level for cleaning is an urgent problem to be solved by the present invention. Summary of the invention

[0005] In view of the above technical problems, the purpose of the present invention is to overcome the problem that the cleaning robot in the prior art cannot climb stairs to the upper floor for cleaning, thereby providing an intelligent cleaning robot that can climb stairs to the upper floor for cleaning.

[0006] In order to achieve the above-mentioned purpose, the present invention provides an intelligent sweeping robot, which includes: an intelligent sweeping robot body and a climbing mechanism arranged on opposite sides of the intelligent sweeping robot; wherein the climbing mechanism includes: a driving assembly, a rotating frame, an arc plate and a first driving gear, the driving assembly is arranged on the upper surface of the intelligent sweeping robot body, the rotating frames are rotatably arranged on the opposite sides of the intelligent sweeping robot body, a plurality of frames are arranged around the circumference of the rotating frame, and an arc plate is rotatably arranged on the outer end of each frame, and an incomplete gear is arranged at the rotation connection between the arc plate and its corresponding frame, and the first driving gear meshing with each incomplete gear is coaxially arranged on the opposite sides of the intelligent sweeping robot body; all the arc plates on either side of the intelligent sweeping robot body can be combined into a tire shape, and the driving assembly can drive the rotating frame and the first driving gear to rotate synchronously; the driving assembly can drive the first driving gear to rotate alone, so as to drive the arc plate to rotate around the rotation connection between it and the corresponding frame through the incomplete gear.

[0007] Preferably, the rotating frame is coaxially provided with a first connecting column, and is rotatably arranged on one side of the intelligent sweeping robot body through the first connecting column, the first connecting column extends into one end of the intelligent sweeping robot and is coaxially provided with a first transmission gear, the first driving gear is coaxially provided with a second connecting column passing through the first connecting column, and is rotatably arranged on one side of the intelligent sweeping robot through the second connecting column, the second connecting column extends out of the first connecting column and is coaxially provided with a second transmission gear, the driving component can drive the second transmission gear to rotate alone, and can also drive the first transmission gear and the second transmission gear to rotate synchronously.

[0008] Preferably, the driving assembly includes: a dual-axis motor, a screw rod, a sliding block, a rotary drive motor and a second drive gear. The upper surface of the intelligent sweeping robot body is respectively recessed with limiting slide grooves on opposite sides, and a sliding block is movably provided in each limiting slide groove. The dual-axis motor is arranged between adjacent limiting slide grooves, and its two relative output ends are respectively coaxially fixed with screw rods, the screw rod thread passes through the sliding block, and is horizontally rotatably arranged in the limiting slide groove. The rotary drive motor is arranged on the sliding block, and its output end is provided with a second drive gear that can mesh with the second transmission gear, and can also mesh with the first transmission gear and the second transmission gear at the same time.

[0009] Preferably, a plurality of anti-slip grooves are arranged on the outer side of the arc-shaped plate.

[0010] Preferably, a garbage gathering component and a garbage recovery component are sequentially arranged at the bottom of the intelligent robot body, and the garbage gathering components are arranged on opposite sides of the garbage recovery component to gather the garbage in front of the garbage recovery component.

[0011] Preferably, the garbage gathering assembly comprises a plurality of rotating sweeping heads arranged on opposite sides of the garbage recycling assembly.

[0012] Preferably, the garbage collection component includes: a rolling brush and a vacuum cleaner, the entrances of the rolling brush and the vacuum cleaner are arranged in sequence at the bottom of the intelligent sweeping robot body, and the side of the rolling brush away from the vacuum cleaner is provided with several rotating sweeping heads for gathering garbage in the middle of the rolling brush.

[0013] Preferably, a protective baffle is provided on the intelligent sweeping robot body to prevent the intelligent sweeping robot body from being damaged.

[0014] Preferably, a gyroscope for maintaining balance is provided inside the body of the intelligent sweeping robot.

[0015] Preferably, a first laser radar sensor and a camera for detecting obstacles are arranged on the body of the intelligent sweeping robot, and a second laser radar sensor for detecting whether the ground is concave is arranged at the bottom of the body of the intelligent sweeping robot.

[0016] According to the above technical scheme, the beneficial effects of the present invention compared with the prior art are as follows: when the intelligent sweeping robot of the present application needs to climb stairs, the driving assembly is started to drive the first driving gear to rotate alone, thereby driving the corresponding arc plate to unfold through the incomplete gear to facilitate climbing stairs, and then the driving assembly drives the rotating frame and the first driving gear to rotate synchronously, thereby driving each unfolded arc plate to rotate to achieve climbing stairs; when it is not necessary to climb stairs, the driving assembly is started to drive the first driving gear to rotate alone, thereby driving the corresponding arc plate to return to its original state through the incomplete gear and merge into a tire shape. In this state, the arc plate does not contact the ground and will not affect the movement of the intelligent sweeping robot body.

[0017] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation mode; and the parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 A three-dimensional intelligent sweeping robot provided in a preferred embodiment of the present invention Figure 1 .

[0020] Figure 2 A three-dimensional intelligent sweeping robot provided in a preferred embodiment of the present invention Figure 2 .

[0021] Figure 3 A three-dimensional intelligent sweeping robot provided in a preferred embodiment of the present invention Figure 3 .

[0022] Figure 4 A three-dimensional intelligent sweeping robot provided in a preferred embodiment of the present invention Figure 4 .

[0023] Figure 5 It is a local stereoscopic image of an intelligent sweeping robot provided in a preferred embodiment of the present invention. Figure 1 .

[0024] Figure 6 It is a local stereoscopic image of an intelligent sweeping robot provided in a preferred embodiment of the present invention. Figure 2 .

[0025] Figure 7It is a local stereoscopic image of an intelligent sweeping robot provided in a preferred embodiment of the present invention. Figure 3 .

[0026] Figure 8 It is a local stereoscopic image of an intelligent sweeping robot provided in a preferred embodiment of the present invention. Figure 4 .

[0027] Fig. 9 It is a local stereoscopic image of an intelligent sweeping robot provided in a preferred embodiment of the present invention. Figure 5 .

[0028] Description of reference numerals: 1- intelligent sweeping robot body; 101- limiting slide; 102- garbage gathering component; 10201- rotating sweeping head; 103- garbage recycling component; 10301- rolling brush; 10302- vacuum cleaner; 104- protective baffle; 105- first laser radar sensor; 106- second laser radar sensor; 107- camera; 2- climbing mechanism; 201- driving component; 20101- dual-axis motor ; 20102-screw rod; 20103-sliding block; 20104-rotational drive motor; 20105-second drive gear; 202-rotating frame; 20201-frame body; 20202-first connecting column; 20203-first transmission gear; 203-arc plate; 20301-incomplete gear; 20302-anti-slip groove; 204-first drive gear; 20401-second connecting column; 20402-second transmission gear. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0030] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like are used to indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, if the terms "first", "second", "third" and the like appear, they are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, if the terms "horizontal", "vertical", "overhanging" and the like appear, it does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Reference Figure 1 , Figure 2 and Figure 6: An intelligent sweeping robot, the intelligent sweeping robot comprising: an intelligent sweeping robot body 1 and a climbing mechanism 2 arranged on opposite sides of the intelligent sweeping robot; wherein the climbing mechanism 2 comprises: a driving component 201, a rotating frame 202, an arc plate 203 and a first driving gear 204, the driving component 201 is arranged on the upper surface of the intelligent sweeping robot body 1, the intelligent sweeping robot body 1 is rotatably provided with rotating frames 202 on opposite sides, a plurality of frames 20201 are arranged around the circumference of the rotating frame 202, and each frame 20201 is rotatably provided with an arc plate 203 at the outer end, and the arc plate 203 and its An incomplete gear 20301 is provided at the rotating connection of the corresponding frame 20201, and the first driving gear 204 meshing with each incomplete gear 20301 is coaxially arranged on the opposite sides of the intelligent sweeping robot body 1 with each rotating frame 202; all the arc plates 203 on either side of the intelligent sweeping robot body 1 can be combined into a tire shape, and the driving component 201 can drive the rotating frame 202 and the first driving gear 204 to rotate synchronously; the driving component 201 can drive the first driving gear 204 to rotate alone, so as to drive the arc plate 203 to rotate around the rotating connection between it and the corresponding frame 20201 through the incomplete gear 20301.

[0034] When the intelligent sweeping robot of the present application needs to climb stairs, the driving component 201 is started to drive the first driving gear 204 to rotate alone, thereby driving the corresponding arc plate 203 to unfold through the incomplete gear 20301 to facilitate climbing stairs, and then the driving component 201 drives the rotating frame 202 and the first driving gear 204 to rotate synchronously, thereby driving each unfolded arc plate 203 to rotate to achieve climbing stairs; when it is not necessary to climb stairs, the driving component 201 is started to drive the first driving gear 204 to rotate alone, thereby driving the corresponding arc plate 203 to return to its original state through the incomplete gear 20301 and merge into a tire shape. In this state, the arc plate 203 does not contact the ground and will not affect the movement of the intelligent sweeping robot body 1.

[0035] Reference Figure 6-Figure 9: The rotating frame 202 is coaxially provided with a first connecting column 20202, and is rotatably provided on one side of the intelligent sweeping robot body 1 through the first connecting column 20202; the first connecting column 20202 extends into one end of the intelligent sweeping robot and is coaxially provided with a first transmission gear 20203; the first driving gear 204 is coaxially passed through the first connecting column 20202 and is provided with a second connecting column 20401, and is rotatably provided on one side of the intelligent sweeping robot through the second connecting column 20401; the second connecting column 20401 extends out of one end of the first connecting column 20202 and is coaxially provided with a second transmission gear 20402; the driving assembly 201 can drive the second transmission gear 20402 to rotate alone, and can also drive the first transmission gear 20203 and the second transmission gear 20402 to rotate synchronously.

[0036] The driving component 201 of the present application can independently drive the second transmission gear 20402 to rotate, thereby driving the first driving gear 204 to rotate, thereby driving the corresponding arc plate 203 to unfold through the incomplete gear 20301 to facilitate climbing stairs; the driving component 201 can also drive the first transmission gear 20203 and the second transmission gear 20402 to rotate synchronously, thereby driving the rotating frame 202 and the first driving gear 204 to rotate synchronously, and then driving each unfolded arc plate 203 to rotate to achieve climbing stairs; this setting method facilitates the flexible change of the state of the arc plate 203.

[0037] Reference Figure 4 and Figure 5 : The driving component 201 includes: a dual-axis motor 20101, a screw rod 20102, a sliding block 20103, a rotation drive motor 20104 and a second driving gear 20105. The upper surface of the intelligent sweeping robot body 1 is respectively recessed with limited slots 101 on opposite sides. A sliding block 20103 is movably arranged in each limited slot 101. The dual-axis motor 20101 is arranged between adjacent limited slots 101, and its two relative output ends are coaxially fixed with screw rods 20102 respectively. The screw rod 20102 is threaded through the sliding block 20103 and is horizontally rotatably arranged in the limited slot 101. The rotation drive motor 20104 is arranged on the sliding block 20103, and its output end is provided with a second driving gear 20105 that can mesh with the second transmission gear 20402, and can also mesh with the first transmission gear 20203 and the second transmission gear 20402 at the same time.

[0038] The present application starts the dual-axis motor 20101 to drive the screw rod 20102 to rotate, thereby driving the sliding block 20103 to reciprocate along the length direction of the limiting slide groove 101, thereby driving the rotary drive motor 20104 to move, and then the second drive gear 20105 is meshed with the second transmission gear 20402 to drive the first drive gear 204 to rotate, thereby driving the corresponding arc plate 203 to unfold through the incomplete gear 20301 to facilitate climbing; it is also possible to make the second drive gear 20105 mesh with the first transmission gear 20203 and the second transmission gear 20402 at the same time, thereby driving the rotating frame 202 and the first drive gear 204 to rotate synchronously, thereby driving each unfolded arc plate 203 to rotate to achieve climbing.

[0039] Reference Figure 6 and Fig. 9 : A plurality of anti-slip grooves 20302 are arranged on the outer side of the arc plate 203.

[0040] The present application provides anti-skid grooves 20302 to prevent slipping during stair climbing, and the outer side of the arc plate 203 can also be made of rubber material to prevent slipping.

[0041] Reference Figure 2 and Figure 3 : A garbage gathering component 102 and a garbage recycling component 103 are sequentially arranged at the bottom of the intelligent robot body. The garbage gathering component 102 is arranged on opposite sides of the garbage recycling component 103 to gather the garbage in front of the garbage recycling component 103.

[0042] The intelligent robot body of the present application can gather garbage in front of the garbage recovery component 103 through the garbage gathering component 102, and then suck the garbage into the garbage recovery component 103 to achieve garbage cleaning.

[0043] Reference Figure 3 : The garbage gathering component 102 includes a plurality of rotating sweeping heads 10201 arranged on opposite sides of the garbage recycling component 103.

[0044] The garbage gathering component 102 of the present application gathers garbage in front of the garbage recovery component 103 through the relatively rotating rotary sweeping head 10201.

[0045] Reference Figure 3 The garbage collection component 103 includes: a rolling brush 10301 and a vacuum cleaner 10302. The entrances of the rolling brush 10301 and the vacuum cleaner 10302 are arranged at the bottom of the intelligent sweeping robot body 1 in sequence. The side of the rolling brush 10301 away from the vacuum cleaner 10302 is provided with a plurality of rotating sweeping heads 10201 for gathering garbage in the middle of the rolling brush 10301.

[0046] The present application uses a rolling brush 10301 to push garbage into the open opening of a vacuum cleaner 10302, and then the vacuum cleaner 10302 sucks the garbage into the interior thereof.

[0047] Reference Figure 3 : The intelligent sweeping robot body 1 is provided with a protective baffle 104 for preventing the intelligent sweeping robot body 1 from being damaged.

[0048] The present application provides a protective baffle 104 to prevent the intelligent sweeping robot from being damaged, thereby extending its service life.

[0049] A gyroscope for maintaining balance is arranged inside the intelligent sweeping robot body 1 .

[0050] The present application provides a gyroscope to ensure that the intelligent sweeping robot body 1 can move stably and will not deviate, which is not shown in the figure.

[0051] Reference Figure 2 and Figure 3 : The intelligent sweeping robot body 1 is provided with a first laser radar sensor 105 and a camera 107 for detecting obstacles, and the bottom of the intelligent sweeping robot body 1 is provided with a second laser radar sensor 106 for detecting whether the ground is concave.

[0052] The present application sets a first laser radar sensor 105 and a camera 107 to identify the road condition ahead, and sets a second laser radar sensor 106 to identify whether the ground is sunken, thereby controlling the opening and closing of the stair climbing mechanism 2.

[0053] When the device provided by the present invention is in use, when the intelligent sweeping robot needs to climb stairs, the driving component 201 is started to drive the first driving gear 204 to rotate alone, thereby driving the corresponding arc plate 203 to unfold through the incomplete gear 20301 to facilitate climbing, and then the driving component 201 drives the rotating frame 202 and the first driving gear 204 to rotate synchronously, thereby driving each unfolded arc plate 203 to rotate to achieve climbing; when climbing stairs is not needed, the driving component 201 is started to drive the first driving gear 204 to rotate alone, thereby driving the corresponding arc plate 203 to return to its original state through the incomplete gear 20301 and merge into a tire shape. In this state, the arc plate 203 does not contact the ground and will not affect the movement of the intelligent sweeping robot body 1.

[0054] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0056] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An intelligent sweeping robot, characterized in that: The intelligent sweeping robot comprises: an intelligent sweeping robot body (1) and stair climbing mechanisms (2) arranged on opposite sides of the intelligent sweeping robot; wherein: The stair climbing mechanism (2) comprises: a driving component (201), a rotating frame (202), a curved plate (203) and a first driving gear (204); the driving component (201) is arranged on the upper surface of the intelligent sweeping robot body (1); the intelligent sweeping robot body (1) is rotatably provided with rotating frames (202) on opposite sides thereof; a plurality of frames (20201) are arranged around the rotating frame (202); the outer end of each frame (20201) is rotatably provided with a curved plate (203); an incomplete gear (20301) is arranged at a rotationally connected position between the curved plate (203) and its corresponding frame (20201); and the first driving gear (204) meshing with each incomplete gear (20301) is also coaxially provided on opposite sides of the intelligent sweeping robot body (1) with each rotating frame (202); All the arc-shaped plates (203) on either side of the intelligent sweeping robot body (1) can be combined into a tire shape, and the driving component (201) can drive the rotating frame (202) and the first driving gear (204) to rotate synchronously; The driving assembly (201) is capable of independently driving the first driving gear (204) to rotate, so as to drive the arc plate (203) to rotate around the rotating connection between the arc plate (203) and the corresponding frame (20201) through the incomplete gear (20301).

2. The intelligent sweeping robot according to claim 1, characterized in that: The rotating frame (202) is coaxially provided with a first connecting column (20202), and is rotatably provided on one side of the intelligent sweeping robot body (1) through the first connecting column (20202); the first connecting column (20202) extends into one end of the intelligent sweeping robot and is coaxially provided with a first transmission gear (20203); the first driving gear (204) is coaxially provided with a second connecting column (20401) passing through the first connecting column (20202), and is rotatably provided on one side of the intelligent sweeping robot through the second connecting column (20401); the second connecting column (20401 extends out of the first connecting column (20202) and is coaxially provided with a second transmission gear (20402); the driving component (201) can drive the second transmission gear (20402) to rotate alone, and can also drive the first transmission gear (20203) and the second transmission gear (20402) to rotate synchronously.

3. The intelligent sweeping robot according to claim 2, characterized in that: The driving assembly (201) comprises: a dual-axis motor (20101), a screw rod (20102), a sliding block (20103), a rotary driving motor (20104) and a second driving gear (20105); the upper surface of the intelligent sweeping robot body (1) is respectively provided with recessed limiting slide grooves (101) on opposite sides; a sliding block (20103) is movably arranged in each limiting slide groove (101); the dual-axis motor (20101) is arranged between adjacent limiting slide grooves (101); and the A screw rod (20102) is coaxially fixedly connected to the two output ends respectively. The screw rod (20102) is threadedly passed through the sliding block (20103) and is horizontally rotatably arranged in the limiting sliding groove (101). The rotary drive motor (20104) is arranged on the sliding block (20103), and its output end is provided with a second drive gear (20105) that can mesh with the second transmission gear (20402), and can also mesh with the first transmission gear (20203) and the second transmission gear (20402) at the same time.

4. The intelligent sweeping robot according to claim 1, characterized in that: The outer side of the arc-shaped plate (203) is provided with a plurality of anti-slip grooves (20302).

5. The intelligent sweeping robot according to claim 1, characterized in that: A garbage gathering component (102) and a garbage recovery component (103) are sequentially arranged at the bottom of the intelligent robot body; the garbage gathering component (102) is arranged on opposite sides of the garbage recovery component (103) to gather garbage in front of the garbage recovery component (103).

6. The intelligent sweeping robot according to claim 5, characterized in that: The garbage gathering component (102) comprises a plurality of rotating sweeping heads (10201) arranged on opposite sides of the garbage recycling component (103).

7. The intelligent sweeping robot according to claim 6, characterized in that: The garbage collection component (103) comprises: a rolling brush (10301) and a vacuum cleaner (10302), wherein the entrances of the rolling brush (10301) and the vacuum cleaner (10302) are arranged in sequence at the bottom of the intelligent sweeping robot body (1), and a plurality of rotating sweeping heads (10201) are arranged on the side of the rolling brush (10301) away from the vacuum cleaner (10302) for gathering garbage in the middle of the rolling brush (10301).

8. The intelligent sweeping robot according to claim 1, characterized in that: The intelligent sweeping robot body (1) is provided with a protective baffle (104) for preventing the intelligent sweeping robot body (1) from being damaged by collision.

9. The intelligent sweeping robot according to claim 1, characterized in that: A gyroscope for maintaining balance is arranged inside the intelligent sweeping robot body (1).

10. The intelligent sweeping robot according to claim 1, characterized in that: A first laser radar sensor (105) and a camera (107) for detecting obstacles are arranged on the intelligent sweeping robot body (1), and a second laser radar sensor (106) for detecting whether the ground is concave is arranged at the bottom of the intelligent sweeping robot body (1).

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