Cleaning robot

Abstract

The cleaning robot comprises an unmanned aerial vehicle, two connecting frames, an automatic connecting structure, a chassis frame, a walking structure and a cleaning structure, the two symmetrically-installed connecting frames are arranged below the unmanned aerial vehicle, the lower portions of the connecting frames are connected with the automatic connecting structure, and the automatic connecting structure is installed above the chassis frame. The walking structure is installed at the lower end of the chassis frame, and the cleaning structure is installed at the lower end of the chassis frame and used for cleaning. According to the device, the cleaning structure is connected with the unmanned aerial vehicle through the automatic connecting structure, the effect of convenient connection is achieved, and good practical value is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and particularly relates to a cleaning robot. Background Technique

[0002] At present, cleaning robots are mainly divided into three categories: vehicle-mounted boom cleaning robots, row-mounted cleaning robots, and photovoltaic self-propelled cleaning robots. Although these robots can all achieve cleaning functions, they all have their own requirements for the working environment. Content of the Utility Model

[0003] The utility model provides a cleaning robot for solving the problems in the background technique.

[0004] To achieve the above object, the utility model adopts the following technical scheme: a cleaning robot, including a drone, two connecting frames, an automatic connection structure, a chassis frame, a walking structure, and a cleaning structure. Two symmetrically installed connecting frames are arranged below the drone. The connecting frames are connected to the automatic connection structure below, and the automatic connection structure is installed above the chassis frame. The walking structure is installed at the lower end of the chassis frame, and the cleaning structure is installed at the lower end of the chassis frame. The cleaning structure is used for cleaning.

[0005] Preferably, the automatic connection structure includes: two rotary motors installed at the upper end of the chassis frame, a hook shaft, four ratchets, four pawls, four ratchets, a bearing seat, and two steering engines. The output shafts of the rotary motors are respectively connected to one end of the hook shaft. The hook shaft is rotatably installed at the upper end of the chassis frame by a bearing seat. The four ratchets are respectively fixedly installed at both ends of the two hook shafts. The hook shaft is used to respectively rotate to hook the two connecting frames. The four pawls are respectively meshed and connected with the four ratchets. The two steering engines are respectively installed at both ends of the chassis frame. The output shaft of a single steering engine is fixedly connected to a single pawl.

[0006] Preferably, the walking structure includes: four steering motors, wheels connected to the steering motors, four driving motors, four rotary joints, a steering wheel frame, and four mounting platforms respectively arranged at the four corners of the chassis frame. The four steering motors are respectively fixed below the mounting platforms. The output shaft of each steering motor is fixedly connected to the steering wheel frame. The four driving motors are respectively installed on the inner side plates of the steering wheel frame. The output shaft of each driving motor is fixedly connected to one end of the rotary joint. The other end of the rotary joint is rotatably installed on the outer side of the steering wheel frame. Each rotary joint is respectively installed with a wheel.

[0007] Preferably, the cleaning structure includes: installed on the chassis frame, two fisheye bearing bars, an electric rotary brush, and a mounting frame. The mounting frame is installed with an electric roller brush. The electric rotary brush is installed above the middle of the chassis frame. The two fisheye bearing bars are rotatably connected to the chassis frame.

[0008] Preferably, the output shafts of the rotary motor and the servo are arranged parallel to each other.

[0009] Preferably, a laser camera is mounted on the mounting bracket.

[0010] Advantages of the present utility model:

[0011] This device adopts a structure that automatically connects to the drone, which can meet the requirements of various working environments, has obvious advantages for high-altitude drones, and has good practical value. Moreover, it can perform ground cleaning independently of the drone, which is relatively practical in terms of function. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is an overall structure diagram of a cleaning robot of the present utility model;

[0013] Figure 2 is a structure diagram of an automatic connection structure of a cleaning robot of the present utility model;

[0014] Figure 3 is a structure diagram of a traveling structure of a cleaning robot of the present utility model;

[0015] Figure 4 is a structure diagram of a cleaning structure of a cleaning robot of the present utility model.

[0016] In the figure, there are drone 1, connecting frame 2, automatic connection structure 3, chassis frame 4, traveling structure 5, cleaning structure 6, rotary motor 31, hook shaft 33, pawl 34, ratchet 35, bearing seat 37, servo 38, steering motor 51, wheels 52, rigid coupling 53, drive motor 54, rotary joint 56, steering wheel frame 57, mounting platform 58, brush 61 on solar panel 59, electric rotary brush 62, mounting bracket 63, laser camera 64, electric roller brush 65. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] Now, the specific embodiments of the present utility model will be described comprehensively with reference to the accompanying drawings. For the sake of clarity, many physical details will be described in the following narrative. However, it should be understood that these physical details are not used to limit the present utility model. That is to say, in some embodiments of the present utility model, these physical details are unnecessary. In addition, for the sake of simplifying the drawings, some well-known and commonly used structures and components will be shown in the drawings in a simple schematic manner.

[0018] As Figures 1-4As shown in the figure, a cleaning robot of the present utility model includes a drone 1, two connecting frames 2, an automatic connection structure 3, a chassis frame 4, a traveling structure 5, and a cleaning structure 6. Two symmetrically installed connecting frames 2 are provided below the drone 1. The connecting frame 2 is connected to the automatic connection structure 3 below, and the automatic connection structure 3 is installed above the chassis frame 4. The traveling structure 5 is installed at the lower end of the chassis frame 4, and the cleaning structure 6 is installed at the lower end of the chassis frame 4. The cleaning structure 6 is used for cleaning.

[0019] Furthermore, the automatic connection structure 3 includes: two rotating motors 31 installed at the upper end of the chassis frame 4, a hook shaft 33, four ratchets 35, four pawls 34, four ratchets 35, a bearing seat 37, and two steering motors 38. The output shafts of the rotating motors 31 are respectively connected to one end of the hook shaft 33. The hook shaft 33 is rotatably installed at the upper end of the chassis frame 4 by using the bearing seat 37. The four ratchets 35 are respectively fixedly installed at both ends of the two hook shafts 33. Hooks are provided on the hook shafts 33, and the hook shafts 33 are used to respectively rotate to hook the two connecting frames 2. The four pawls 34 are respectively meshed and connected with the four ratchets 35, and the two groups of ratchets 35 on the same side are meshed and connected with each other. The two steering motors 38 are respectively installed at both ends of the chassis frame 4, and the output shaft of a single steering motor 38 is fixedly connected to a single pawl 34 to drive the pawl 34 to rotate.

[0020] Furthermore, the traveling structure 5 includes: four steering motors 51, wheels 52 connected to the steering motors 51, four driving motors 54, four rotary joints 56, a steering wheel frame 57, and four mounting platforms 58 respectively provided at the four corners of the chassis frame 4. The four steering motors 51 are respectively fixed below the mounting platforms 58. The output shaft of each steering motor 51 is fixedly connected to the steering wheel frame 57. The four driving motors 54 are respectively installed on the inner side plates of the steering wheel frame 57. The output shaft of each driving motor 54 is fixedly connected to one end of the rotary joint 56, and the other end of the rotary joint 56 is rotatably installed on the outer side of the steering wheel frame 57. Each rotary joint 56 is respectively installed with a wheel 52.

[0021] Furthermore, the cleaning structure 6 includes: a brush 61, an electric rotary brush 62, and a mounting frame 63 installed on the chassis frame 4. An electric roller brush 65 is installed on the mounting frame 63. The electric rotary brush 62 is installed in the middle of the chassis frame 4. The brush 61 is rotatably connected to the chassis frame 4.

[0022] Furthermore, the output shafts of the rotating motor 31 and the steering motor 38 are arranged parallel to each other.

[0023] Furthermore, a laser camera 64 is installed on the mounting frame 63.

[0024] Embodiment: During use, the model of the rotary motor 31 can be 86 - 80 - DM860H. By simply controlling the start and stop of the rotary motor 31 and the servo 38, the automatic connection and disconnection functions of the connecting frame 2 and the hook shaft 33 can be achieved. The model of the steering motor 51 can be GM6020, and the model of the driving motor 54 can be M3508. By controlling the start and stop of the steering motor 51 and the driving motor 54, the walking function can be achieved. The motor model of the electric rotary brush 63 is ZCM2 - 810 - 040CL - 1, and the motor model of the electric roller brush 65 is ZCM2 - 810 - 040CL - 5. By controlling the start and stop of the electric rotary brush 63 and the electric roller brush 65, the cleaning function can be achieved. The rotation of the servo 38 drives the pawl 34 to rotate. The two pawls 34 mesh with each other to lift all the pawls 34 and release the self - locking. The rotation of the rotary motor 31 drives the hook shaft 33 to rotate, causing its hook end to lift. The drone 1 descends so that the connecting frame 2 is located below the hook end of the hook shaft 33. When the rotary motor 31 stops working, the hook end of the hook shaft 33 drops to connect with the connecting frame 2. When the servo 38 stops working, the pawl 34 rotates back to engage with the ratchet 35 to achieve the self - locking function. After the drone 1 lands, the servo 38 works to release the self - locking function. The laser camera 64 is installed on the mounting frame 63. The rotation of the driving motor 54 drives the wheel 52 to rotate to achieve the forward and backward movement of the walking device. The rotation of the steering motor 51 drives the steering wheel frame 57 to rotate to achieve the steering function of the walking device. The traveling direction is determined by the laser camera 64, and the all - around and dead - angle - free cleaning is achieved through the mutual cooperation of the walking device and the cleaning device.

[0025] The above are only the specific embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A cleaning robot, characterized in that: The invention comprises an unmanned aerial vehicle (1), two connecting frames (2), an automatic connecting structure (3), a chassis frame (4), a walking structure (5), and a cleaning structure (6), wherein two symmetrically installed connecting frames (2) are arranged below the unmanned aerial vehicle (1), the automatic connecting structure (3) is connected below the connecting frames (2), the automatic connecting structure (3) is installed above the chassis frame (4), the walking structure (5) is installed at the lower end of the chassis frame (4), and the cleaning structure (6) is installed at the lower end of the chassis frame (4), and the cleaning structure (6) is used for cleaning.

2. A cleaning robot according to claim 1, characterized in that: The automatic connection structure (3) comprises: two rotating motors (31) mounted on the upper end of the chassis frame (4), a hook shaft (33), four ratchet wheels (35), four ratchet pawls (34), four ratchet wheels (35), a bearing seat (37), and two steering gears (38); the output shafts of the rotating motors (31) are respectively connected to one end of the hook shaft (33); the hook shaft (33) is rotatably mounted on the upper end of the chassis frame (4) using the bearing seat (37); the four ratchet wheels (35) are respectively fixedly mounted on the two ends of the two hook shafts (33); the hook shaft (33) is used to rotate to hook the two connecting frames (2); the four ratchet pawls (34) are respectively meshed and connected with the four ratchet wheels (35); the two steering gears (38) are respectively mounted on the two ends of the chassis frame (4); the two groups of ratchet wheels (35) on the same side are meshed and connected with each other; and the output shaft of a single steering gear (38) is fixedly connected with a single ratchet pawl (34).

3. A cleaning robot according to claim 1, characterized in that: The walking structure (5) comprises: four steering motors (51), wheels (52) connected to the steering motors (51), four driving motors (54), four rotating joints (56), a steering wheel frame (57), and four mounting platforms (58) respectively arranged at the four corners of the chassis frame (4); the four steering motors (51) are respectively fixed below the mounting platforms (58); the output shaft of each steering motor (51) is fixedly connected to the steering wheel frame (57); the four driving motors (54) are respectively mounted on the inner side plates of the steering wheel frame (57); the output shaft of each driving motor (54) is fixedly connected to one end of the rotating joint (56); the other end of the rotating joint (56) is rotatably mounted on the outer side of the steering wheel frame (57); and each rotating joint (56) is respectively mounted with a wheel (52).

4. A cleaning robot according to claim 1, characterized in that: The cleaning structure (6) comprises: a brush (61) mounted on a chassis frame (4), an electric rotating brush (62) and a mounting frame (63); the mounting frame (63) is mounted with an electric roller brush (65); the electric rotating brush (62) is mounted in the middle of the chassis frame (4); and the brush (61) is rotatably connected to the chassis frame (4).

5. A cleaning robot according to claim 4, characterized in that: A laser camera (64) is mounted on the mounting frame (63).

6. A cleaning robot according to claim 2, characterized in that: The output shafts of the rotating motor (31) and the steering gear (38) are arranged parallel to each other.

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