Amphibious cleaning robot

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses an amphibious cleaning robot. The amphibious cleaning robot provided by the application comprises a flying device, a cleaning device and a connecting device, the connecting device comprises a connecting rod and a locking mechanism, the connecting rod is fixedly connected with the flying device, the connecting rod is rotationally connected with the cleaning device, the locking mechanism is fixedly arranged on the cleaning device, and the locking mechanism is used for locking the connecting rod. The amphibious cleaning robot is rotationally connected with the connecting rod, so that the flying device can be kept in a horizontal posture during the process that the cleaning device lands on an inclined surface, then the connecting rod is locked through the locking mechanism, the flying device can be fixed in the horizontal posture, then the flying device is turned off, the flying device is beneficial to reducing the interference of the flying device on the cleaning device in operation, the operation difficulty of the amphibious cleaning robot is reduced, and the problem that the amphibious cleaning robot has high operation difficulty is solved.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to amphibious cleaning robots. Background Technology

[0002] An amphibious cleaning robot is a robot capable of flying to a specific location to perform cleaning tasks. In related technologies, one type of amphibious cleaning robot includes a drone, a cage, and a cleaning vehicle. The drone is fixedly connected to the cage, which houses the cleaning vehicle. After the drone moves to the task location, the cleaning vehicle is controlled to drive out of the cage to begin the cleaning task. However, amphibious cleaning robots in these technologies require simultaneous control of both the drone and the cleaning vehicle, making operation difficult.

[0003] Therefore, improvements to existing technologies are necessary.

[0004] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Utility Model Content

[0005] This application provides an amphibious cleaning robot to solve the problem of the high difficulty in operating amphibious cleaning robots.

[0006] In a first aspect, embodiments of this application provide an amphibious cleaning robot, including a flight device, a cleaning device, and a connecting device. The connecting device includes a connecting rod and a locking mechanism. The connecting rod is fixedly connected to the flight device and rotatably connected to the cleaning device. The locking mechanism is fixedly disposed on the cleaning device and is used to lock the connecting rod.

[0007] In one possible implementation, a ball head is provided at the end of the connecting rod away from the flight device, a connecting assembly is provided on the cleaning device, a rotating cavity is provided on the connecting assembly, the ball head is disposed in the rotating cavity, and the ball head rotates in conjunction with the rotating cavity.

[0008] In one possible implementation, the connecting assembly includes a first connector and a second connector, both of which are fixedly connected to the cleaning device. The first connector has a communicating first rotating groove and a first connecting groove, and the second connector has a communicating second rotating groove and a second connecting groove. The first connecting groove extends through the top of the first connector, and the second connecting groove extends through the top of the second connector. The first rotating groove and the second rotating groove together define the rotating cavity, and the first connecting groove and the second connecting groove together define a rotating hole for the connecting rod to extend into the rotating cavity.

[0009] In one possible implementation, the first connector is provided with a first limiting surface, which connects the groove wall of the first rotating groove and the side of the first connector away from the cleaning device; the second connector is provided with a second limiting surface, which connects the groove wall of the second rotating groove and the side of the second connector away from the cleaning device.

[0010] In one possible implementation, the locking mechanism includes a housing, a piston rod, and an electromagnetic component. The housing is fixedly connected to the connecting assembly, and a receiving cavity is provided inside the housing. One end of the piston rod passes through the housing and extends into the receiving cavity, while the other end of the piston rod passes through the connecting assembly and extends into the rotating cavity. The piston rod is slidably connected to the housing, and the electromagnetic component is disposed at the end of the piston rod that extends into the rotating cavity.

[0011] In one possible implementation, the locking mechanism further includes an elastic element disposed within the receiving cavity, the elastic element being connected to the piston rod and the cavity wall of the receiving cavity.

[0012] In one possible implementation, the end of the electromagnetic component away from the piston rod is provided with a meshing surface;

[0013] When the electromagnetic component is activated, the engagement surface is in close contact with the ball head.

[0014] In one possible implementation, the locking mechanism further includes a fixing bolt, the electromagnetic component has a through hole, the piston rod has a bolt hole, and the fixing bolt passes through the through hole and is threadedly connected to the bolt hole.

[0015] In one possible implementation, the flight device includes a fuselage, a flight motor, and a propeller, with the connecting rod fixedly connected to the bottom of the fuselage, the flight motor mounted on the fuselage, and the propeller mounted on the flight motor.

[0016] In one possible implementation, the cleaning device includes a body, a walking motor, rollers, and a cleaning mechanism. The locking mechanism is disposed on the top side of the body, the cleaning mechanism is disposed inside the body, the walking motor is disposed on the bottom side of the body, and the rollers are rotatably disposed on the bottom side of the body. The walking motor is used to drive the rollers to rotate.

[0017] Compared with the prior art, this application has the following beneficial effects:

[0018] The amphibious cleaning robot provided in this application embodiment connects the flying device and the cleaning device via a connecting rod, enabling the flying device to carry the cleaning device to the task location. By rotating the cleaning device to the connecting rod, the flying device can maintain a horizontal attitude during the landing of the cleaning device on an inclined surface. Subsequently, the connecting rod is locked by a locking mechanism, which can fix the flying device in a horizontal attitude, facilitating the takeoff of the flying device. Afterward, the flying device is turned off, which not only reduces the interference of the flying device with the cleaning device during operation, but also allows the operator to focus on operating the cleaning device, reducing the difficulty of operating the amphibious cleaning robot and solving the problem of high operating difficulty of amphibious cleaning robots. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0021] Figure 1 This is a schematic diagram of the structure of the amphibious cleaning robot provided in the embodiments of this application.

[0022] Figure 2 This is a schematic diagram of the connection device provided in an embodiment of this application.

[0023] In the diagram: 1. Flight device; 11. Fuselage; 12. Flight motor; 13. Propeller; 2. Cleaning device; 21. Airframe; 22. Travel motor; 23. Roller; 24. Connecting assembly; 241. First connector; 242. Second connector; 243. Rotating cavity; 244. Rotating hole; 3. Connecting device; 31. Connecting rod; 311. Ball head; 32. Locking mechanism; 321. Housing; 322. Piston rod; 323. Elastic element; 324. Electromagnetic element; 325. Fixing bolt. Detailed Implementation

[0024] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0025] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0026] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0027] This application provides an amphibious cleaning robot to address the problem of high operational difficulty in amphibious cleaning robots. The following description, in conjunction with the accompanying drawings, will illustrate this.

[0028] Please see Figure 1 An amphibious cleaning robot includes a flight device 1, a cleaning device 2, and a connecting device 3. The connecting device 3 includes a connecting rod 31 and a locking mechanism 32. The connecting rod 31 is fixedly connected to the flight device 1 and rotatably connected to the cleaning device 2. The locking mechanism 32 is fixedly mounted on the cleaning device 2 and is used to lock the connecting rod 31.

[0029] By connecting the flying device 1 and the cleaning device 2 with the connecting rod 31, the flying device 1 can drive the cleaning device 2 to the location where the task is to be performed. By rotating the cleaning device 2 to the connecting rod 31, the flying device 1 can maintain a horizontal attitude during the landing of the cleaning device 2 on the inclined surface. Then, the connecting rod 31 is locked by the locking mechanism 32, which can fix the flying device 1 in a horizontal attitude, which is conducive to the take-off of the flying device 1. Afterwards, the flying device 1 is turned off, which not only reduces the interference of the flying device 1 with the cleaning device 2 in operation, but also allows the operator to focus on operating the cleaning device 2, reducing the operation difficulty of the amphibious cleaning robot and solving the problem of the high operation difficulty of the amphibious cleaning robot.

[0030] Please see Figure 1 The flight device 1 includes a fuselage 11, flight motors 12 and propellers 13. The number of flight motors 12 and propellers 13 is set to four. The flight motors 12 and propellers 13 are arranged in a one-to-one correspondence. The four flight motors 12 are respectively located at the four corner edges of the fuselage 11. The propellers 13 are fixedly connected to the output shafts of the flight motors 12. One end of the connecting rod 31 is fixedly connected to the bottom of the fuselage 11.

[0031] Please see Figure 1The cleaning device 2 includes a body 21, a walking motor 22, rollers 23, and a cleaning mechanism. The end of the connecting rod 31 furthest from the body 11 is rotatably connected to the body 21. A locking mechanism is located on the top side of the body 21. The cleaning mechanism performs cleaning tasks and is located inside the body 21. The walking motor 22 is located on the bottom side of the body 21, and the rollers 23 are rotatably located on the bottom side of the body 21. The walking motor 22 drives the rollers 23 to rotate.

[0032] Please see Figure 1 and Figure 2 The end of the connecting rod 31 furthest from the flight device 1 has an integrally formed ball head 311. A connecting assembly 24 is provided on the cleaning device 2, and the connecting assembly 24 has a rotating cavity 243. The ball head 311 is disposed within the rotating cavity 243, and the ball head 311 rotatably engages with the rotating cavity 243. Specifically, the connecting assembly 24 includes a first connecting member 241 and a second connecting member 242. Both the first connecting member 241 and the second connecting member 242 are fixedly connected to the cleaning device 2 by bolts. The first connecting member 241 has a first rotating groove and a first connecting groove that communicate with each other. The second connecting member 242 has a second rotating groove and a second connecting groove that communicate with each other. The first connecting groove penetrates the top of the first connecting member 241, and the second connecting groove penetrates the top of the second connecting member 242. The first rotating groove and the second rotating groove are directly opposite each other. The first rotating groove and the second rotating groove together define the rotating cavity 243, and the first connecting groove and the second connecting groove together define a rotating hole 244 for the connecting rod 31 to extend into the rotating cavity 243.

[0033] Please see Figure 1 and Figure 2 The first connector 241 is provided with a first limiting surface, which connects the groove wall of the first rotating groove and the side of the first connector 241 away from the cleaning device 2. The second connector 242 is provided with a second limiting surface, which connects the groove wall of the second rotating groove and the side of the second connector 242 away from the cleaning device 2. The setting of the first limiting surface and the second limiting surface is beneficial to limiting the maximum deflection angle of the connecting rod 31 relative to the cleaning device 2, thereby reducing the difficulty of locking the connecting rod 31 due to excessive deflection of the connecting rod 31.

[0034] Please see Figure 1 and Figure 2The locking mechanism 32 includes a housing 321, a piston rod 322, an elastic element 323, an electromagnetic element 324, and a fixing bolt 325. The housing 321 is fixedly connected to the connecting assembly 24 by bolts. A receiving cavity is provided inside the housing 321. One end of the piston rod 322 passes through the housing 321 and extends into the receiving cavity, while the other end passes through the connecting assembly 24 and extends into the rotating cavity 243. The piston rod 322 is slidably connected to the housing 321. The electromagnetic element 324 is located at the end of the piston rod 322 that extends into the rotating cavity 243. In this embodiment, the ball head 311 is made of a ferromagnetic material. When the electromagnetic element 324 is activated, a magnetic field is generated on the electromagnetic element 324, thereby attracting and fixing the ball head 311, thus restricting the rotation of the ball head 311 relative to the connecting assembly 24.

[0035] Please see Figure 1 and Figure 2 The end of the electromagnetic component 324 furthest from the piston rod 322 has a meshing surface, which is a concave spherical surface. When the electromagnetic component 324 is activated, the meshing surface tightly contacts the ball head 311 to increase the contact area between the electromagnetic component 324 and the ball head 311, thereby enabling the electromagnetic component 324 to firmly attract the ball head 311. A through hole is provided on the electromagnetic component 324, and a bolt hole is provided on the piston rod 322. A fixing bolt 325 passes through the through hole and is threaded into the bolt hole. An elastic element 323 is disposed within the accommodating cavity, connecting the piston rod 322 and the cavity wall. The elastic element 323 provides a thrust for the piston rod 322 to adhere to the ball head 311, thereby reducing the occurrence of the electromagnetic component 324 failing to immediately attract the ball head 311 due to detachment from the ball head 311.

[0036] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0037] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. An amphibious cleaning robot, characterized in that, The device includes a flight device (1), a cleaning device (2), and a connecting device (3). The connecting device (3) includes a connecting rod (31) and a locking mechanism (32). The connecting rod (31) is fixedly connected to the flight device (1) and rotatably connected to the cleaning device (2). The locking mechanism (32) is fixedly mounted on the cleaning device (2) and is used to lock the connecting rod (31).

2. The amphibious cleaning robot according to claim 1, characterized in that, The connecting rod (31) has a ball head (311) at the end away from the flight device (1). The cleaning device (2) has a connecting assembly (24) with a rotating cavity (243). The ball head (311) is located in the rotating cavity (243) and rotates with the rotating cavity (243).

3. The amphibious cleaning robot according to claim 2, characterized in that, The connecting assembly (24) includes a first connector (241) and a second connector (242). Both the first connector (241) and the second connector (242) are fixedly connected to the cleaning device (2). The first connector (241) has a first rotating groove and a first connecting groove that communicate with each other. The second connector (242) has a second rotating groove and a second connecting groove that communicate with each other. The first connecting groove passes through the top of the first connector (241), and the second connecting groove passes through the top of the second connector (242). The first rotating groove and the second rotating groove together define the rotating cavity (243). The first connecting groove and the second connecting groove together define a rotating hole (244) for the connecting rod (31) to extend into the rotating cavity (243).

4. The amphibious cleaning robot according to claim 3, characterized in that, The first connector (241) is provided with a first limiting surface, which connects the groove wall of the first rotating groove and the side of the first connector (241) away from the cleaning device (2); the second connector (242) is provided with a second limiting surface, which connects the groove wall of the second rotating groove and the side of the second connector (242) away from the cleaning device (2).

5. The amphibious cleaning robot according to claim 2, characterized in that, The locking mechanism (32) includes a housing (321), a piston rod (322), and an electromagnetic component (324). The housing (321) is fixedly connected to the connecting assembly (24). The housing (321) has an accommodating cavity inside. One end of the piston rod (322) passes through the housing (321) and extends into the accommodating cavity. The other end of the piston rod (322) passes through the connecting assembly (24) and extends into the rotating cavity (243). The piston rod (322) is slidably connected to the housing (321). The electromagnetic component (324) is located at the end of the piston rod (322) that extends into the rotating cavity (243).

6. The amphibious cleaning robot according to claim 5, characterized in that, The locking mechanism (32) further includes an elastic element (323), which is disposed in the accommodating cavity and is connected to the piston rod (322) and the cavity wall of the accommodating cavity.

7. The amphibious cleaning robot according to claim 5, characterized in that, The electromagnetic component (324) has a meshing surface at the end away from the piston rod (322); When the electromagnetic component (324) is activated, the engagement surface is in close contact with the ball head (311).

8. The amphibious cleaning robot according to claim 5, characterized in that, The locking mechanism (32) further includes a fixing bolt (325), the electromagnetic component (324) has a through hole, the piston rod (322) has a bolt hole, and the fixing bolt (325) passes through the through hole and is threadedly connected to the bolt hole.

9. The amphibious cleaning robot according to claim 1, characterized in that, The flight device (1) includes a fuselage (11), a flight motor (12) and a propeller (13). The connecting rod (31) is fixedly connected to the bottom of the fuselage (11). The flight motor (12) is mounted on the fuselage (11) and the propeller (13) is mounted on the flight motor (12).

10. The amphibious cleaning robot according to claim 1, characterized in that, The cleaning device (2) includes a body (21), a walking motor (22), a roller (23), and a cleaning mechanism. The locking mechanism (32) is located on the top side of the body (21), the cleaning mechanism is located inside the body (21), the walking motor (22) is located on the bottom side of the body (21), and the roller (23) is rotatably located on the bottom side of the body (21). The walking motor (22) is used to drive the roller (23) to rotate.

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