Climbing type household sweeping robot

Abstract

The climbing type household sweeping robot comprises a robot shell, the lower surface of the robot shell is fixedly connected with a climbing frame, the inner wall of the climbing frame is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a second gear, and the side face of the second gear is in meshed connection with a guide rail; the side face of the guide rail is fixedly connected with a moving frame, the side face of the moving frame is fixedly connected with a second motor, the interior of the moving frame is rotationally connected with rear wheels, the output end of the second motor is fixedly connected with the side faces of the rear wheels, and a laser sensor is arranged on the lower surface of the robot shell. Stair climbing in a duplex home environment is conveniently achieved, so that the pressure of manual cleaning is relieved, a cleaning brush usually adopts a high-speed rotating mode to sweep up dust, hair, chippings and other sundries on the ground, and large garbage such as paper balls and zip-top cans is picked up through the additionally-arranged mechanical arm.

Description

TECHNICAL FIELD

[0001] The utility model relates to floor cleaning robot technical field, especially can climb formula domestic floor cleaning robot. BACKGROUND

[0002] With the social development, people's life is more and more convenient, intelligent household appliances gradually widely, floor cleaning robot is a kind of intelligent equipment that can automatically complete cleaning task, can efficiently clean ground, ensure that the house environment is neat, can effectively save labor, provide better life experience for residents.

[0003] The existing floor cleaning robot can only clean the health of the obstacle-free area such as the floor of the family, and cannot completely clean the area difficult to reach such as the corner, and can only single clean the health of the same layer area, and cannot completely clean the family duplex structure, which greatly reduces the cleaning efficiency, the utility model device, through the special design of the climbing ladder of the climbable floor cleaning robot, realizes the stair climbing in the duplex home environment, thereby relieving the pressure of manual cleaning, and the front end finger of the mechanical arm can perform gripping action on the area that the robot cleaning brush cannot clean such as paper ball and zip-top can. INVENTION CONTENTS

[0004] The utility model aims at providing can climb formula domestic floor cleaning robot, solves only clean the health of the obstacle-free area such as the floor of the family, and cannot completely clean the area difficult to reach such as the corner, and can only single clean the health of the same layer area, and cannot completely clean the family duplex structure, which greatly reduces the cleaning efficiency problem.

[0005] In order to achieve the above-mentioned purpose, provide can climb formula domestic floor cleaning robot, including: robot shell, the lower surface of the robot shell is fixedly connected with a climbing frame, the inner wall of the climbing frame is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a second gear, the side surface of the second gear is meshed with a guide rail, the side surface of the guide rail is fixedly connected with a moving frame, the side surface of the moving frame is fixedly connected with a second motor, the moving frame is rotatably connected with a rear wheel in the inside, the output end of the second motor is fixedly connected with the side surface of the rear wheel, the lower surface of the robot shell is provided with a laser sensor, the side surface of the climbing frame is fixedly connected with a hydraulic rod, both sides of the robot shell are provided with an angle sensor, the upper surface of the robot shell is provided with a gyroscope, it is convenient to realize the stair climbing in the duplex home environment, thereby relieving the pressure of manual cleaning;

[0006] The upper surface of the robot shell is provided with two mechanical arms, the inside of the robot shell is provided with a dust collector, the lower surface of the robot shell is provided with a cleaning cylinder, the output end of the dust collector is communicated with the end of the cleaning cylinder, the inside of the robot shell is fixedly connected with a receiving box, the side surface of the robot shell is provided with a visual sensor, the inside of the robot shell is fixedly connected with two third motors, the inside of the robot shell is rotatably connected with two cleaning brushes, the upper end of each of the two cleaning brushes is fixedly connected with a third gear, and the two third motors are rotatably connected with the side surface of the third gear through a worm.

[0007] According to the climbing household sweeper robot, the lower surface of the robot shell is rotatably connected with the front wheel, and the two mechanical arms are symmetrically arranged, so that the device is easy to start and overall cleaning is facilitated, and cleaning flexibility is improved.

[0008] According to the climbing household sweeper robot, the rear wheel is made of TPU material, and the outer surface of the rear wheel is provided with a coating, so that the rear wheel has the properties of anti-skid, silence and low friction, and the energy consumption is reduced to the maximum, so that the high-efficiency endurance of the robot body is maintained.

[0009] According to the climbing household sweeper robot, the upper surface of the robot shell is provided with a switch, and the front wheel is a universal wheel, so that the device is easy to start and the movement of the device is more flexible.

[0010] According to the climbing household sweeper robot, the inside of the robot shell is fixedly connected with a driving motor, the driving motor is rotatably connected with a driving wheel through a worm, and the side surface of the first gear is fixedly connected with the side surface of the driving wheel, so that the device is easy to move and automatic cleaning is facilitated.

[0011] According to the climbing household sweeper robot, the third motor is a permanent magnet brushless motor, and the driving motor is a brushless direct current motor, the permanent magnet brushless motor has high efficiency, large power, small size and high control precision, and the brushless direct current motor can be directly driven by a PWM signal, so that the convenience of the device is improved.

[0012] According to the climbing household sweeper robot, the upper surface of the robot shell is provided with a camera and an alarm, the camera is responsible for measuring the distance from the front, side and wall, automatically planning a path, and adjusting the moving direction of the robot according to the distance, and if the equipment abnormally operates, the alarm device will timely send an alarm.

[0013] According to the described climbable household sweeping robot, the upper surface of the robot shell is provided with an electronic compass, and the upper surface of the robot shell is provided with a photoelectric sensor, so that when the robot encounters an obstacle and needs to turn to avoid the obstacle, the turning angle can be calculated by the electronic compass, and the photoelectric sensor can detect road information in real time.

[0014] The above-mentioned scheme has the beneficial effects of:

[0015] 1. When climbing stairs is needed, the distance from the laser sensor to the stairs is measured, the distance is conveniently controlled, and the robot stops when the distance to the obstacle is 10CM. The step height is measured by the laser sensor, the lifting length of the guide rail is conveniently determined, the first motor is rotated to drive the second gear to engage and drive the guide rail, the climbing is conveniently realized, when the front body of the robot reaches the upper step, the robot maintains relative balance with the help of external force of the upper step, the angle of the robot is transmitted by the gyroscope and the angle sensor, and when the angle of the robot exceeds the safety limit, the hydraulic rod is used for supporting to maintain normal climbing of the robot, the normal climbing of the robot is conveniently maintained, the climbing of the stairs in a compound home environment is conveniently realized, and the pressure of manual cleaning is relieved.

[0016] 2. When cleaning, the visual sensor detects ground garbage and dust, the third motor engages and drives the third gear through the worm, the cleaning brush is used for cleaning, the dust collector is started to suck dust, and the additional mechanical arm realizes picking up of large garbage such as paper balls and pop cans.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in conjunction with the drawings and embodiments.

[0019] Figure 1 It is a perspective view of the climbable household sweeping robot of the present application.

[0020] Figure 2 It is a bottom view of the climbable household sweeping robot of the present application.

[0021] Figure 3 It is an internal structure diagram of the climbable household sweeping robot of the present application.

[0022] Figure 4 It is an internal structure diagram of the climbable household sweeping robot of the present application.

[0023] Figure 5 It is an internal structure diagram of the climbable household sweeping robot of the present application.

[0024] Legend:

[0025] 1, robot shell; 2, moving frame; 3, guide rail; 4, mechanical arm; 5, first motor; 6, cleaning brush; 7, front wheel; 8, laser sensor; 10, drive wheel; 11, climbing frame; 12, storage box; 13, cleaning cylinder; 14, second motor; 15, visual sensor; 16, third motor; 17, first gear; 18, dust collector; 19, drive motor; 20, rear wheel; 21, second gear; 22, third gear; 23, camera; 25, photoelectric sensor; 26, electronic compass; 27, alarm; 28, hydraulic rod; 29, gyroscope; 30, angle sensor. DETAILED DESCRIPTION

[0026] This part will describe the specific embodiments of the utility model in detail, the preferred embodiments of the utility model are shown in the drawings, the role of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0027] Reference Figures 1-5 , the utility model embodiment can climb household sweeping robot, it includes: robot shell 1 adopts carbon fiber reinforced plastic, reduce weight, the lower surface of robot shell 1 is fixedly connected with climbing frame 11, the inner wall of climbing frame 11 is fixedly connected with first motor 5, two first motor 5 model is JL-S8538, and is connected through same electric wire, is used for driving simultaneously, is used for providing climbing power, the output end of first motor 5 is fixedly connected with second gear 21, the side surface of second gear 21 is engagedly connected with guide rail 3, and it is convenient for device to climb, the side surface of guide rail 3 is fixedly connected with moving frame 2, the side surface of moving frame 2 is fixedly connected with second motor 14, two second motor model is BL2430, when steering, through programming realizes autonomous steering, to complete steering mode by adjusting motion speed, brake time and steering amplitude etc., drive simultaneously, moving frame 2 is rotatably connected with rear wheel 20 inside, when device climbs, can act as drive, adopts the steering mode of sliding universal wheel, relies on speed difference to realize lateral sliding, the output end of second motor 14 is fixedly connected with the side surface of rear wheel 20, the lower surface of robot shell 1 is provided with laser sensor 8, is used for controlling distance and lifting height, the side surface of climbing frame 11 is fixedly connected with hydraulic rod 28, the end of hydraulic rod 28 is provided with sphere, it is convenient for sliding, when the body inclination exceeds the specified angle, automatically probes out auxiliary support, the two side surfaces of robot shell 1 are provided with angle sensor 30, is used for monitoring angle, is convenient for safe walking, the upper surface of robot shell 1 is provided with gyroscope 29, is used for monitoring angle;

[0028] The upper surface of the robot shell 1 is provided with two mechanical arms 4, which are composed of two four-axis mechanical arm units, and are used for grabbing large garbage such as paper balls and pop cans. The robot shell 1 is internally provided with a dust collector 18 for dust collection. The internal part adopts a multi-cone cyclone technology. The lower surface of the robot shell 1 is provided with a cleaning cylinder 13. The output end of the dust collector 18 is in communication with the end of the cleaning cylinder 13. The robot shell 1 is internally fixedly connected with a storage box 12. The robot shell 1 is provided with a visual sensor 15 on the side. The robot shell 1 is internally fixedly connected with two third motors 16. The robot shell 1 is internally rotatably connected with two cleaning brushes 6. The upper ends of the two cleaning brushes 6 are fixedly connected with third gears 22. The two third motors 16 are rotatably connected with the side surfaces of the third gears 22 through worms. The motor gear parts abandon the traditional steel structure and are made of magnesium-aluminum alloy, carbon fiber and other materials, and have the performance of electromagnetic shielding, so as to maximize the interference of other household products when the device is operated in a home environment. The rear climbing frame is made of aluminum alloy and increases the weight to avoid rollover when climbing.

[0029] The lower surface of the robot shell 1 is rotatably connected with front wheels 7 for moving the device. The two mechanical arms 4 are symmetrically arranged. The rear wheels 20 are made of TPU material. The outer surface of the rear wheels 20 is provided with a coating, so that the rear wheels 20 have the performances of anti-skid, silence and low friction. The upper surface of the robot shell 1 is provided with a switch. The front wheels 7 are universal wheels. The robot shell 1 is internally fixedly connected with a driving motor 19. The driving motor 19 is rotatably connected with a driving wheel 10 in the robot shell 1. The side surface of the first gear 17 is fixedly connected with the side surface of the driving wheel 10. The third motor 16 is a permanent magnet brushless motor. The driving motor 19 is a brushless direct current motor. The upper surface of the robot shell 1 is provided with a camera 23. The camera 23 is responsible for measuring the distance from the front, side and wall. The upper surface of the robot shell 1 is provided with an alarm 27. If the device operates abnormally, the alarm 27 will timely send an alarm. The upper surface of the robot shell 1 is provided with an electronic compass 26. The electronic compass 26 adopts a GY-26 digital compass module and is used for controlling the turning angle. The upper surface of the robot shell 1 is provided with a photoelectric sensor 25. The photoelectric sensor 25 is an E18-D80NK infrared photoelectric switch and is used for real-time detection of road information.

[0030] Working principle: in use, through the switch starting device, when climbing stairs is needed, the distance from the stairs is measured by the laser sensor 8, and the robot stops when the distance from the obstacle is 10CM, and the robot measures the step height when climbing, and further determines the lifting length of the guide rail 3, the first motor 5 drives the second gear 21 to engage and drive the guide rail 3, and the climbing is realized, when the fuselage front body reaches the upper step, with the help of the external force of the upper step, the robot keeps relative balance, the angle sensor 30 and the gyroscope 29 are used to monitor the device angle in real time, when the robot angle exceeds the safety limit, the hydraulic rod 28 is used to support, to maintain the normal climbing of the robot, when climbing, the second motor 14 drives the rear wheel 20 to drive the device to move, which is convenient for climbing stairs in a compound home environment, so as to relieve the pressure of manual cleaning, when cleaning, the visual sensor 15 detects the ground garbage and dust, the third motor 16 drives the third gear 22 through the worm to engage and drive, and the cleaning brush 6 cleans at the same time, and the dust collector 18 is started to suck dust, the additional mechanical arm 4 realizes the pickup of large garbage such as paper balls and easy-open cans, the photoelectric sensor 25 detects the road information in real time, the second motor 14 drives the rear wheel 20 to realize steering, and the electronic compass 26 controls the rotation angle.

[0031] The above embodiment of the utility model is described in detail in combination with the drawings, but the utility model is not limited to the above embodiment, and various changes can be made within the knowledge range possessed by those skilled in the art without departing from the purpose of the utility model.

Claims

1. A climbable household floor-sweeping robot, comprising: The utility model provides a robot shell (1), its characterized in be fixedly connected with the climbing frame (11) in the lower surface of the robot shell (1), the inner wall of the climbing frame (11) is fixedly connected with the first motor (5), the output end of the first motor (5) is fixedly connected with the second gear (21), the side surface of the second gear (21) is engagedly connected with the guide rail (3), the side surface of the guide rail (3) is fixedly connected with the moving frame (2), the side surface of the moving frame (2) is fixedly connected with the second motor (14), the inside rotation of the moving frame (2) is connected with the rear wheel (20), the output end of the second motor (14) is fixedly connected with the side surface of the rear wheel (20), the lower surface of the robot shell (1) is provided with laser sensor (8), the side surface of the climbing frame (11) is fixedly connected with the hydraulic rod (28), the both sides of the robot shell (1) are provided with angle sensor (30), and the upper surface of the robot shell (1) is provided with gyroscope (29). The upper surface of the robot shell (1) is provided with two mechanical arms (4), the inside of the robot shell (1) is provided with dust catcher (18), the lower surface of the robot shell (1) is provided with cleaning cylinder (13), the output end of the dust catcher (18) is communicated with the end of the cleaning cylinder (13), the inside of the robot shell (1) is fixedly connected with the storage box (12), the side surface of the robot shell (1) is provided with visual sensor (15), the inside of the robot shell (1) is fixedly connected with two third motors (16), the inside of the robot shell (1) is rotatably connected with two cleaning brushes (6), the upper end of two cleaning brushes (6) is fixedly connected with third gear (22), and the side surface of two third motors (16) is engagedly connected with third gear (22) through worm.

2. The climbable home floor-scrubbing robot of claim 1, wherein, The lower surface of the robot shell (1) is rotatably connected with front wheel (7), and two mechanical arms (4) are symmetrically arranged.

3. The climbable home robotic sweeper according to claim 1, wherein, The rear wheel (20) adopts TPU material, and the outer surface of the rear wheel (20) is provided with a coating.

4. The climbable home robotic sweeper according to claim 2, wherein, The upper surface of the robot shell (1) is provided with a switch, and the front wheel (7) is a universal wheel.

5. The climbable home robotic sweeper of claim 1, wherein, The inside of the robot shell (1) is fixedly connected with driving motor (19), the driving motor (19) is engagedly connected with first gear (17) through worm, the inside of the robot shell (1) is rotatably connected with driving wheel (10), and the side surface of the first gear (17) is fixedly connected with the side surface of the driving wheel (10).

6. The climbable home floor-scrubbing robot of claim 5, wherein, The third motor (16) is a permanent magnet brushless motor, and the driving motor (19) is a brushless direct current motor.

7. The climbable home robotic sweeper of claim 1, wherein, The upper surface of the robot shell (1) is provided with camera (23), and the upper surface of the robot shell (1) is provided with alarm (27).

8. The climbable home robotic sweeper of claim 1, wherein, The upper surface of the robot shell (1) is provided with electronic compass (26), and the upper surface of the robot shell (1) is provided with photoelectric sensor (25).

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