CN112022010B - Garbage cleaning robot for stand seat area - Google Patents
Garbage cleaning robot for stand seat area Download PDFInfo
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- CN112022010B CN112022010B CN202011017931.4A CN202011017931A CN112022010B CN 112022010 B CN112022010 B CN 112022010B CN 202011017931 A CN202011017931 A CN 202011017931A CN 112022010 B CN112022010 B CN 112022010B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 123
- 230000007246 mechanism Effects 0.000 claims abstract description 174
- 230000005484 gravity Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 30
- 239000000428 dust Substances 0.000 claims description 18
- 229910052742 iron Inorganic materials 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 11
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- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000001788 irregular Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of intelligent robots, and discloses a stand seat area garbage cleaning robot which comprises a stand seat area conveying mechanism and a cleaning mechanism, wherein the stand seat area conveying mechanism comprises a movable plate vehicle and a box body, a swing arm mechanism is movably mounted on the box body and is assembled to fix the cleaning mechanism through an electromagnetic locking unit, and the swing arm mechanism keeps 90-degree circumferential movement along with the swing arm mechanism so that garbage in the cleaning mechanism is dumped in the box body. The stand seat area garbage cleaning robot provided by the invention has the advantages that for other stair climbing structures, the stair climbing structure is easier to realize stable stair climbing of the robot, the efficiency is high, and the control is convenient. And the gravity center adjusting mechanism is adjusted up and down and adjusted back and forth, so that the gravity center of the robot is easier to shift forward. The stability of the box body is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a stand seat area garbage cleaning robot.
Background
The seat area of the stadium audience stand is wide in distribution area, the distribution type is stepped, the distribution space is too dense, and garbage production is very frequent. At present, an indoor cleaning robot stays in a small-range cleaning mode, garbage is contained in a small volume, an outdoor stadium robot is large in moving volume and only suitable for cleaning a flat ground, the climbing stair capability is lacked, the complicated environment is difficult to be applied, and a more advanced stair cleaning robot cannot adapt to large-area stair cleaning work. The seat walkways in the large-sized and medium-sized stadium ladder stand areas are limited in cleaning space, and the overall area of the stadium is relatively large, so that the required cleaning robot moving mechanism is suitable in size, has the capability of going up and down the steps, and has strong maneuvering performance, high cruising ability, small size and a large garbage collection device. However, the existing cleaning machines in the market cannot clean the garbage in the large and medium stadium stand areas, so that at present, the cleaning in the large and medium stadium public places still adopts the traditional manual cleaning and the hand-push type cleaning vehicle with smaller use volume.
The outdoor venue hand-push type garbage cleaning device mainly collects ground garbage efficiently and rapidly through two sweeping brushes and a vacuum dust collection device, and cannot be widely applied to complicated terrains such as stair stands with higher stairs and more barriers. Therefore, the cleaning machine has low automation degree, needs manual frequent carrying to realize up and down steps, has small garbage storage capacity, is difficult to realize garbage centralized treatment, has huge workload and high cost, and is low in efficiency.
Disclosure of Invention
Technical problem to be solved
The invention provides a stand seat area garbage cleaning robot, which solves the problems that the garbage cleaning of a large and medium-sized stadium stand seat area cannot be realized in the prior art, no corresponding automatic product exists, no corresponding combined robot exists, no corresponding cleaning robot for cleaning larger garbage exists, and the garbage storage box is not separated from the cleaning robot.
Technical proposal
In order to solve the technical problems, the technical scheme adopted by the embodiment of the invention is as follows: the utility model provides a clean robot of regional rubbish of stand seat, includes the regional transport mechanism and the clean mechanism of using of stand seat, the regional transport mechanism of using of stand seat is including removing scooter and box, movable mounting has swing arm mechanism on the box, swing arm mechanism is assembled and is used for through setting up electromagnetic locking unit to clean mechanism is fixed, and along with swing arm mechanism keeps 90 circumference motion messenger rubbish in the clean mechanism is emptyd in the box.
Preferably, the front drive end and the rear end of the movable scooter are respectively provided with a deformation wheel and a planet wheel, and the deformation wheels are movably arranged in the following two conditions: the first station is that when the movable plate vehicle moves along the road surface, the deformation wheel is circular; station two, when the movable plate vehicle moves along the stair steps, the deformation wheels are triangular; the movable scooter is provided with a gravity center balancing mechanism, and the gravity center balancing mechanism is assembled to enable the box body to be kept horizontal when the deformation wheel is in a second station. When the movable scooter walks on the regular ground, the deformation wheels are switched into common round wheels, and the walking efficiency is the same as that of a common wheel type robot platform on the regular ground; when the terrain is irregular, the deformation wheel is switched into an eccentric state, and the switching can be controlled by a person, so that the method has the following advantages: the deformation wheel is switched into a common wheel with a round structure in comparatively regular flat terrain, the movement speed of the common wheel is identical with the movement speed of the wheel type common wheel, and the common wheel has high efficiency. The deformation wheel of the robot is switched into an eccentric structure in irregular complex terrains, the robot becomes an eccentric wheel obstacle surmounting platform, the obstacle surmounting mode can be switched automatically after manual control or sensor detection, and the specific operation mode can be determined according to actual needs, and the manual control or sensor detection control belongs to the prior art, so that the invention does not need to be described in detail.
Preferably, the cleaning mechanism includes a floor cleaning mechanism, a seat cleaning mechanism, and a dust suction unit, the seat cleaning mechanism is configured to clean a seat having a circumferential radius of a stand step, and the dust suction unit is configured to suck dust cleaned by the floor cleaning mechanism and the seat cleaning mechanism into the cleaning mechanism. In a specific implementation process, the bottom surface cleaning mechanism is used for cleaning the ground of the step, and the seat cleaning mechanism is used for circumferentially rotating the seat of the step and the chair back of the next step to clean when the cleaning mechanism keeps a reciprocating stroke along the step, and dust is collected through the dust collection unit.
Preferably, a camera unit is installed at the front end of the mobile scooter, the camera unit is configured to transmit collected image data to a terminal through a central control box installed on the mobile scooter, and the terminal controls the mobile scooter to move through a wireless transmission instruction to the central control box;
the cleaning mechanism is provided with a control unit which is in wireless connection with the central control box.
The STM32 single-chip microcomputer is operated in the central control box, and the image data of the place where the robot walks is transmitted to the STM32 single-chip microcomputer by the image pick-up unit through the image pick-up unit (the image pick-up unit is specifically an infrared image pick-up instrument) in front of the mobile plate vehicle, modeling of a region map is carried out through calculation of the STM32 single-chip microcomputer and the region map is transmitted to a display screen of a terminal, an operator remotely controls the mobile plate vehicle to move according to display transmission data, and the mobile plate vehicle can also walk independently through the central control box.
Preferably, the deformation wheel is provided with a driving unit, and the driving unit is assembled to drive the deformation wheel to switch back and forth between a first station and a second station;
The deformation wheel comprises an inner disc, an outer disc and a wheel hub, wherein the inner disc is rotationally connected to the axis of the outer wall at one side of the wheel hub;
The outer disc is specifically composed of a plurality of arc-shaped side lobes which can form a circular ring structure, an inner rotating shaft framework is arranged on the inner side of each arc-shaped side lobe, and the inner rotating shaft framework and each arc-shaped side lobe are in a triangular shape;
The inner rotating shaft frameworks are rotationally connected to the inner disc, so that the arc-shaped side lobes are distributed relative to the inner disc in a circular array;
The inner rotating shaft framework is provided with waist grooves, the hub is provided with poking shafts corresponding to the arc-shaped side lobes in number, and the poking shafts are positioned on the outer side of the inner disc and are connected with the waist grooves in a sliding mode;
when the inner disc deflects to a certain angle in the circumferential direction, the arc-shaped side lobes are acted by the poking shaft, so that a plurality of arc-shaped side lobes deflect in the circumferential direction and form a triangle;
The driving unit comprises a driving steering engine and an inner disc, wherein the output end of the driving steering engine penetrates through the hub and is connected with the axis of the inner disc, and the driving steering engine can drive the inner disc to keep rotating circumferentially;
The planetary gears comprise three trifurcate frameworks and guide wheels, and the number of the guide wheels is three and the guide wheels are respectively and rotatably connected to the three top ends of the trifurcate frameworks;
The movable scooter comprises a chassis, a worm driving mechanism and a connecting rod, wherein the worm driving mechanism and the connecting rod are symmetrically distributed on the chassis, the axes of the two three-fork frameworks are respectively connected to the connecting rod in a rotating mode, and the worm driving mechanism is assembled to drive the deformation wheels to keep circumferential movement. The driving unit is matched with the driving deformation wheel and the driven planet wheel to realize random transformation of the round wheel hub and the triangular wheel hub when the steps are detected by ultrasonic waves, so that the vehicle can stably run on a flat road surface, can freely climb over the steps, can stably switch between the two working states of the steps and the flat land, and has the capability of rapid turning when working in a multi-turning environment.
Preferably, the movable plate trailer comprises a chassis and a worm driving mechanism for driving the deformation wheel to move circumferentially;
the worm driving mechanism consists of a stepping motor, a worm gear and a driving rod, wherein the worm is arranged at the output end of the stepping motor, the driving rod and the worm are vertically distributed and are arranged on the chassis through bearing seats, the worm gear is arranged on the driving rod and meshed with the worm, and the hub is arranged at one end of the driving rod, which is positioned outside the chassis.
Preferably, the gravity center balancing mechanism comprises a carrying platform, four-bar mechanisms arranged on two sides of the carrying platform and a traction rod mechanism for enabling the carrying platform to be kept horizontal, the box body is arranged on the top of the carrying platform, a gyroscope is arranged at the center position of the bottom of the carrying platform, a center control center box is arranged on the movable scooter and is assembled to collect data transmitted by the gyroscope and used for driving the traction rod mechanism to enable the carrying platform to be kept horizontal all the time;
the movable scooter comprises a chassis, and the four-bar mechanism and the traction rod mechanism are both arranged on the chassis;
the four-bar mechanism consists of two side bars, a cross bar and pull bars, wherein one ends of the two side bars are respectively arranged on the outer walls of the two sides of the carrying platform, and the other ends of the two side bars are rotatably connected to the movable plate vehicle;
The pull rod is rotationally connected to the carrying platform and the cross rod;
the traction rod mechanism comprises a rod body I, a rod body II and a rotating steering engine, wherein the rotating steering engine is arranged on the movable scooter, the output end of the rotating steering engine is connected with the rod body II, and the rod body I is connected with the rod body II;
The four-bar mechanism consists of side bars, a cross bar and a pull bar, and the bar body I is rotationally connected to the cross bar. In a specific implementation process, as the box body is installed through the gravity center balance mechanism, when the movable scooter climbs stairs, the whole body of the movable scooter can keep inclined along with the gradient of the stairs, the gravity center position of the box body can change, so that the risk of the whole gravity center unstable turning over can be caused, the collected data can be transmitted to the STM32 singlechip through the gyroscope in the arranged gravity center balance mechanism to calculate the inclination correction angle, power is supplied to the traction rod mechanisms on two sides, and the traction rod mechanisms are driven to adjust the carrying platform, so that the carrying platform is always kept horizontal.
Preferably, the swing arm mechanism comprises a main side rod body, a main shaft rod and an electromagnetic iron plate; the main side rod bodies are two in number and are respectively connected to the outer walls of the two opposite sides of the box body in a rotating mode, and rotating steering engines for driving the main side rod bodies to keep circumferential movement are arranged in the box body; the main shaft rod is rotationally connected to the two main shaft rod bodies and is of a U-shaped structure, and the electromagnetic iron plate body is fixedly arranged at the center of the main shaft rod; a lithium battery and a circuit board are disposed in the spindle rod, and the circuit board is assembled to pass the lithium battery through the electromagnetic iron plate. After the trolley climbs to the first-stage step, the swing arm mechanism is driven to deflect the mobile trolley to contact the ground.
Preferably, the cleaning mechanism comprises a movable trolley and a dustbin movably arranged in the movable trolley; the garbage can is characterized in that a magnet block magnetically connected with the electromagnetic iron plate is mounted on the back of the garbage can, and rubber rings for reducing magnetic absorption impact force are wrapped on the magnet block and the outer edge of the electromagnetic iron plate.
Preferably, the cleaning mechanism comprises a movable trolley and a dustbin movably arranged in the movable trolley; the bottom surface cleaning mechanism is specifically a mop which is symmetrically and rotatably connected to the bottom of the mobile trolley; the seat cleaning mechanism comprises a framework and cleaning rods, wherein the framework is in an L-shaped structure, the cleaning rods are arranged on the outer sides of the L-shaped structure, and adjacent ends of the two cleaning rods are connected through gear transmission; the framework is rotationally connected to the top of the mobile trolley and is driven by a first steering engine arranged in the mobile trolley to enable the seat cleaning mechanism to keep circumferential rotation; the second steering engine is arranged in the movable trolley, the second steering engine is assembled to drive a transmission gear set arranged in the movable trolley, and the two floor mops and the cleaning rod are kept in circumferential movement through the transmission gear set.
Compared with the prior art, the stand seat area garbage cleaning robot provided by the embodiment of the invention has the following beneficial effects: compared with other stair climbing structures, the stair climbing structure is easier to realize that the robot stably climbs stairs, and is high in efficiency and convenient to control. And the gravity center adjusting mechanism is adjusted up and down and adjusted back and forth, so that the gravity center of the robot is easier to shift forward. The stability of the box body is ensured.
And the combined design is adopted, so that the defect that a large cleaning robot cannot cope with complex conditions and a small cleaning robot cannot climb stairs can be overcome. The aim of cleaning garbage in the seat area of the stand is achieved.
And after the small cleaning robot returns to the climbing robot, the electromagnet on the climbing robot is electrified to firmly absorb the small cleaning robot, so that the small cleaning robot is prevented from falling off the climbing robot in the moving process. The structure is light and simple, and is convenient to realize.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
This document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all of the features of the technology disclosed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a mobile scooter according to the present invention;
FIG. 3 is a schematic view of the structure of the camera unit of the present invention;
FIG. 4 is a schematic view of a worm drive mechanism according to the present invention;
FIG. 5 is a schematic diagram of the connection relationship between the four-bar linkage and the mobile scooter according to the present invention;
FIG. 6 is a schematic diagram of the connection relationship between the worm driving mechanism and the deforming wheel;
FIG. 7 is a schematic view of a four bar linkage, a drawbar mechanism and a mobile scooter according to the present invention;
FIG. 8 is a schematic diagram of a planetary gear structure according to the present invention;
FIG. 9 is a schematic diagram of a four bar linkage and a drawbar mechanism according to the present invention;
FIG. 10 is a schematic diagram of an exploded construction of a deformable wheel of the present invention;
FIG. 11 is a schematic view of the structure of the outer plate of the present invention;
FIG. 12 is a schematic view of a deformed wheel structure according to the present invention;
FIG. 13 is a schematic view of a station switching state of a deformation wheel in a climbing state of a mobile scooter according to the present invention;
FIG. 14 is a schematic view showing a state structure of the deformation wheel of the present invention when the deformation wheel performs the second station;
FIG. 15 is a schematic view of a swing arm mechanism according to the present invention;
FIG. 16 is a schematic view of an exploded view of a cleaning mechanism according to the present invention;
FIG. 17 is a schematic view of a seat cleaning mechanism according to the present invention;
Fig. 18 is a schematic view of the position of the magnet block behind the dustbin according to the present invention.
In the figure: 1. a deformation wheel; 11. an inner disk; 12. an outer disk; 121. arc side lobes; 122. an inner rotating shaft skeleton; 13. a hub; 131. a poking shaft; 2. a planet wheel; 21. a three-fork skeleton; 22. a guide wheel; 3. a driving unit; 31. driving a steering engine; 4. a gravity center balancing mechanism; 41. a carrier; 42. a four bar linkage; 421. a side bar; 422. a cross bar; 423. a pull rod; 43. a pull rod mechanism; 431. a rod body I; 432. a rod body II; 433. rotating a steering engine; 5. an image pickup unit; 6. a central control box; 200. a movable plate vehicle; 201. a chassis; 202. a worm drive mechanism; 2021. a stepping motor; 2022. a worm; 2023. a worm gear; 2024. a driving rod; 203. a connecting rod; 300. a case; 400. a conveying mechanism for a stand seat area; 500. a cleaning mechanism; 501. a bottom surface cleaning mechanism; 502. a seat cleaning mechanism; 5021. a skeleton; 5022. a cleaning lever; 503. a moving trolley; 504. a dustbin; 505. a magnet block; 600. a swing arm mechanism; 601. a main side lever body; 602. a main shaft lever; 603. an electromagnetic iron plate; 700. and an electromagnetic locking unit.
Detailed Description
So that the objects, technical solutions and advantages of the embodiments of the present disclosure are more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure.
As shown in fig. 1 to 18, the present invention provides a stand seat area garbage cleaning robot, which comprises a stand seat area conveyor 400 and a cleaning mechanism 500, wherein the stand seat area conveyor 400 comprises a mobile plate vehicle 200 and a box 300, a swing arm mechanism 600 is movably mounted on the box 300, and the swing arm mechanism 600 is assembled to fix the cleaning mechanism 500 through an electromagnetic locking unit 700, and keeps 90 ° circumferential movement along with the swing arm mechanism 600 to enable garbage in the cleaning mechanism 500 to be dumped in the box 300.
As shown in fig. 2 to 14, in a further proposed technical solution of the present invention, a conveying mechanism 400 for a stand seat area includes a mobile plate vehicle 200 and a box 300, a front end and a rear end of the mobile plate vehicle 200 are respectively provided with a deformation wheel 1 and a planet wheel 2, and the deformation wheel 1 is assembled in the following two movable settings: the first station, when the movable plate vehicle 200 moves along the road surface, the deformation wheel 1 is circular; station two, when the movable plate vehicle 200 moves along the stair steps, the deformation wheel 1 is triangular; the movable plate trailer 200 is provided with a gravity center balancing mechanism 4, and the gravity center balancing mechanism 4 is assembled to keep the box 300 horizontal when the deformation wheel 1 is in the second station. When the mobile scooter 200 walks on a regular ground, the deformation wheel 1 is switched into a common round wheel, and the walking efficiency is the same as that of a common wheel type robot platform on the regular ground; in case of irregular terrain, the deformation wheel 1 is switched to an eccentric state, which may be a manually controlled switch, having the following advantages: the deformation wheel 1 is switched into a common wheel with a round structure in comparatively regular flat terrain, the movement speed of the common wheel is identical with the movement speed of the wheel type, and the common wheel has high efficiency. The deformation wheel 1 of the robot is switched into an eccentric structure in irregular complex terrains, the robot becomes an eccentric obstacle surmounting platform, the obstacle surmounting mode can be switched automatically after manual control or sensor detection, and the specific operation mode can be determined according to actual needs, and no matter the manual control or the sensor detection control belongs to the prior art, so that the invention does not need to be described in detail.
In specific implementation process, the device is relative other types climb stair structure for present robot climbs stair more stable, and efficient, convenient control, and to focus adjustment mechanism 4, have the regulation from top to bottom, have the focus of fore-and-aft regulation, shift forward the focus of robot more easily. Realize step climbing and the transportation of goods.
As shown in fig. 3, in a further proposed technical solution of the present invention, a camera unit 5 is installed at a front end of a mobile scooter 200, the camera unit 5 is configured to transmit collected image data to a terminal through a central control box 6 installed on the mobile scooter 200, and the terminal controls the mobile scooter 200 to move through wireless transmission instructions to the central control box 6. The STM32 single-chip microcomputer is operated in the central control box 6, and through a camera unit 5 (the camera unit 5 is specifically an infrared camera) in front of the mobile scooter, the camera unit 5 can transmit image data of a place where a robot walks into the STM32 single-chip microcomputer, and perform modeling of a region map and transmit the region map to a display screen of a terminal through calculation of the STM32 single-chip microcomputer, and an operator remotely controls the mobile scooter to move according to display transmission data.
As further shown in connection with fig. 6, 10, 11, 12, 16 and 17, it can be seen that in some embodiments a drive unit 3 is provided on the deformation wheel 1, the drive unit 3 being arranged to drive the deformation wheel 1 back and forth between the first and second stations. Specifically, as can be seen from fig. 10, the deformation wheel 1 includes an inner disc 11, an outer disc 12 and a hub 13, the inner disc 11 is rotatably connected to an axle center of an outer wall at one side of the hub 13, the outer disc 12 is specifically composed of a plurality of arc-shaped side lobes 121 capable of forming a ring-shaped structure, an inner rotating shaft skeleton 122 is mounted at an inner side of the arc-shaped side lobes 121, and the inner rotating shaft skeleton 122 and the arc-shaped side lobes 121 are in a triangle shape. Furthermore, a plurality of inner rotating shaft frames 122 are rotatably connected to the inner disc 11, so that the arc-shaped side lobes 121 are distributed in a circular array with respect to the inner disc 11.
In addition, a waist groove is formed in the inner rotating shaft framework 122, a shifting shaft 131 corresponding to the number of the arc-shaped side lobes 121 is arranged on the hub 13, and the shifting shaft 131 is positioned on the outer side of the inner disc 11 and is in sliding connection with the waist groove;
when the inner disc 11 deflects to a certain angle in the circumferential direction, the arc-shaped side lobes 121 are acted by the poking shaft 131, so that the arc-shaped side lobes 121 deflect in the circumferential direction and form a triangle.
Meanwhile, the driving unit 3 comprises a driving steering engine 31 and an inner disc 11, and the output end of the driving steering engine 31 penetrates through the hub 13 and is connected with the axis of the inner disc 11 and can drive the inner disc 11 to rotate circumferentially.
In a specific implementation process, the driving unit 3 is matched with the driving deformation wheel 1 and the driven planet wheel 2 to realize random transformation of the round wheel hub and the triangular wheel hub when the steps are detected by ultrasonic waves, so that the vehicle can stably run on a flat road surface, can freely climb over the steps, can stably switch between two working states of the steps and the land, and has the capability of rapid turning when working in a multi-turning environment.
Further, referring to fig. 4, the mobile scooter 200 includes a chassis 201 and a worm drive mechanism 202 for driving the deforming wheel 1 in circumferential motion. The worm driving mechanism 202 is composed of a stepping motor 2021, a worm 2022, a worm gear 2023 and a driving rod 2024, the worm 2022 is installed at the output end of the stepping motor 2021, the driving rod 2024 and the worm 2022 are vertically distributed and are installed on the chassis 201 through a bearing seat, and the worm gear 2023 is installed on the driving rod 2024 and meshed with the worm 2022. Also, since the deformation wheel 1 includes the inner disc 11, the outer disc 12 and the hub 13, the hub 13 is mounted on one end of the driving rod 2024 located outside the chassis 201.
In a specific implementation process, the deformation wheel 1 can be driven by the worm driving mechanism 202 to move forward, the arc-shaped side lobes 121 can be deflected to form a triangle structure by driving of the driving unit 3, so that climbing of stairs is matched, and further steering is performed by controlling the state formed by deflection of the arc-shaped side lobes 121 by the driving unit 3. The worm driving mechanism 202 has better self-locking capability, so when the device runs to a step at any height of the stair, the self-locking of the worm driving mechanism 202 can realize the hovering purpose when the stepping motor 2021 stops.
As further shown in fig. 2, 3, 4 and 8, it can be seen that in some embodiments, the planet wheel 2 includes a three-fork skeleton 21 and guide wheels 22, and the guide wheels 22 are three in number and are respectively rotatably connected to three top ends of the three-fork skeleton 21. The movable scooter 200 comprises a chassis 201, a worm driving mechanism 202 and a connecting rod 203, wherein the worm driving mechanism 202 and the connecting rod 203 are symmetrically distributed on the chassis 201, the axes of the two three-fork frameworks 21 are respectively connected to the connecting rod 203 in a rotating way, and the worm driving mechanism 202 is assembled to drive the deformation wheel 1 to move circumferentially.
In a specific implementation process, the mobile scooter 200 is driven by a precursor manner, that is, the deformation wheel 1 is a driving wheel, and the planet wheel 2 is an auxiliary balance wheel. When the vehicle runs on the flat ground, the two small wheels of the planet wheel 2 land and rotate, and the three-fork framework 21 is motionless; when the stairs are overturned, the three-fork framework 21 rotates, and the small wheels rotate around the central shaft together to finish the stair climbing process.
Further, as shown in fig. 5 and fig. 7 and fig. 9, in the technical solution further proposed by the present invention, the gravity center balancing mechanism 4 includes a carrying platform 41, four bar mechanisms 42 installed on two sides of the carrying platform 41, and a pulling rod mechanism 43 for keeping the carrying platform 41 horizontal, the box 300 is installed on top of the carrying platform 41, the gyroscope is installed at the center position of the bottom of the carrying platform 41, the center control box 6 is installed on the mobile scooter 200, and the center control box 6 is assembled for calculating data transmitted by the gyroscope, and is used for driving the pulling rod mechanism 43 to keep the carrying platform 41 horizontal all the time.
The mobile plate vehicle 200 comprises a chassis 201, and the four-bar mechanism 42 and the traction rod mechanism 43 are all arranged on the chassis 201.
As can be seen further in conjunction with fig. 7 and 9, in some embodiments, the four bar linkage 42 is composed of two side bars 421, a cross bar 422 and a tie bar 423, wherein one end of each side bar 421 is mounted on the outer walls of the two sides of the carrier 41, and the other end is rotatably connected to the movable plate vehicle 200. The pull rod 423 is rotatably coupled to the stage 41 and the rail 422.
As can be seen further in connection with fig. 7 and 9, in some embodiments, the pulling rod mechanism 43 includes a rod I431, a rod II432, and a steering gear 433, the steering gear 433 is mounted on the mobile scooter 200, and the output end is connected to the rod II432, and the rod I431 is connected to the rod II 432. The four-bar mechanism 42 is composed of a side bar 421, a cross bar 422 and a pull bar 423, and a bar body I431 is rotatably connected to the cross bar 422.
Further, it is to be noted that the known electromagnetic lock unit of the present invention is composed of an electromagnetic iron plate body 603 and a magnet block 505.
In a specific implementation process, since the box 300 is installed through the gravity balancing mechanism 4, when the movable scooter 200 climbs stairs, the body of the whole movable scooter 200 is inclined along with the gradient of the stairs, the gravity position of the box 300 is changed, so that the risk of turning over the whole gravity is caused, collected data are transmitted to the STM32 singlechip through the gyroscope in the arranged gravity balancing mechanism 4 to be calculated, the inclination correction angle is calculated, power is supplied to the traction rod mechanisms 43 on two sides, and the traction rod mechanisms 43 are driven to adjust the carrying platform 41, so that the carrying platform 41 is always kept horizontal, namely the box 300 is kept horizontal.
As shown in fig. 1 and 15-18, in a further proposed embodiment of the present invention, the cleaning mechanism 500 includes a floor cleaning mechanism 501, a seat cleaning mechanism 502, and a dust collection unit, wherein the seat cleaning mechanism 502 is configured to clean a seat having a circumferential radius of a stand step, and the dust collection unit is configured to suck dust cleaned by the floor cleaning mechanism 501 and the seat cleaning mechanism 502 into the cleaning mechanism 500. In a specific implementation, the bottom surface cleaning mechanism 501 is used to clean the floor of a step, and the seat cleaning mechanism 502 is used to clean the seat of the step and the back of the next step by rotating the seat cleaning mechanism 502 circumferentially and collecting dust by the dust collection unit while the cleaning mechanism 500 keeps reciprocating along the step. (the dust collection unit is a conventional electronic device built in a conventional dust collector, which may simply be a fan, and the fan is used for conveying dust cleaned by the floor cleaning mechanism 501 and the seat cleaning mechanism 502 into the dustbin 504 for storage).
As can be seen further in conjunction with fig. 15 and 18, in some embodiments, the swing arm mechanism 600 includes a main side lever body 601, a main shaft lever 602, and a solenoid plate 603. Further, the number of the main side rod bodies 601 is two, the main side rod bodies 601 are respectively connected to the outer walls of the two opposite sides of the box body 300 in a rotating mode, a rotating steering engine for driving the main side rod bodies 601 to move circumferentially is arranged in the box body 300, and the swinging arm mechanism 600 can be driven to swing through the rotating steering engine, so that the cleaning mechanism 500 is conveniently separated from the ground, contacts the ground and overturns to incline and invert the garbage into the box body 300.
Furthermore, the main shaft 602 is rotatably connected to the two main shaft bodies 601, and has a "U" shape, and the electromagnetic plate 603 is fixedly installed at the center of the main shaft 602. A lithium battery and a circuit board are provided in the main shaft 602, and the circuit board is assembled to make the lithium battery pass through the electromagnet plate 603. In a specific implementation, the cleaning mechanism 500 includes a mobile cart 503 and a dustbin 504 movably mounted inside the mobile cart 503. The back of the dustbin 504 is provided with a magnet block 505 magnetically connected with the electromagnetic iron plate 603, and rubber rings for reducing magnetic attraction impact force are wrapped on the outer edges of the magnet block 505 and the electromagnetic iron plate 603. The central control box 6 controls the circuit board to enable the electromagnetic iron plate 603 to be magnetically attracted with the magnet block 505, so that the movable trolley 503 is fixed.
As can be seen further in conjunction with fig. 16 and 17, in some embodiments, the cleaning mechanism 500 includes a mobile cart 503 and a dustbin 504 movably mounted within the mobile cart 503, the floor sweeping mechanism 501 being embodied as a mop coupled to the bottom of the mobile cart 503 in a symmetrical rotational manner. The seat cleaning mechanism 502 includes a skeleton 5021 and cleaning bars 5022, the skeleton 5021 is specifically an L-shaped structure, and the cleaning bars 5022 are mounted on the outer side of the L-shaped structure, and adjacent ends of the two cleaning bars 5022 are connected through gear transmission. The skeleton 5021 is rotatably connected to the top of the travelling car 503, and the seat cleaning mechanism 502 is kept to rotate circumferentially by a first steering engine drive provided inside the travelling car 503. A second steering engine is mounted in the travelling trolley 503 and is mounted for driving a drive gear set mounted in the travelling trolley 503, and both the mop and cleaning rod 5022 are kept in circumferential motion by the drive gear set.
Further, a control unit is disposed on the cleaning mechanism 500, and the control unit is wirelessly connected with the central control box 6. The specific STM32 single-chip microcomputer combines with the cleaning mechanism 500 to realize automatic navigation. The camera unit 5 in front of the robot will map the place where the equipment will walk on the mobile scooter 200, and the mobile scooter 200 will build a map of the entire stand seat area, including stairs, one turn of travel. When the cleaning mechanism 500 cleans, the robot cleans the stand seat area layer by layer according to the built map model. When garbage inside the garbage storage box on the climbing robot is fully collected, the robot can independently navigate to walk down stairs, and the garbage is poured to a designated position. (operating system data of the central control box 6 are known to those skilled in the art, and thus need not be disclosed in detail in the present invention).
The walking of the cleaning mechanism 500 is driven by the walking wheel at the bottom and the matched motor, the walking track can be laid on the stand in advance in addition to the map navigation mode, for example, a black matte adhesive tape matched with the walking track of the cleaning mechanism is preset on the ground of the stand, the bottom of the cleaning mechanism is provided with a sensor matched with the cleaning mechanism, the components are connected with the central control box 6, the sensor can adopt a four-way infrared tracking module produced by Shenzhen electronic technology limited company, the sensor can sense whether the robot deviates from the walking path through the light reflected by the walking track, and when the deviation occurs, the controller controls the rotating speed of the motor of each walking wheel, and the walking direction and the position of the robot are adjusted through the rotating speed difference, so that the robot returns to the walking track.
In a specific implementation process, since the box 300 is installed through the gravity balancing mechanism 4, when the movable scooter 200 climbs stairs, the body of the whole movable scooter 200 is inclined along with the gradient of the stairs, the gravity position of the box 300 is changed, so that the risk of turning over the whole gravity is caused, collected data are transmitted to the STM32 singlechip through the gyroscope in the arranged gravity balancing mechanism 4 to be calculated, the inclination correction angle is calculated, power is supplied to the traction rod mechanisms 43 on two sides, and the traction rod mechanisms 43 are driven to adjust the carrying platform 41, so that the carrying platform 41 is always kept horizontal, namely the box 300 is kept horizontal.
When the trolley climbs the first step, the swing arm mechanism 600 places the movable trolley on the first step, and controls the magnet block 505 to be powered off, so that the fixation of the movable trolley 503 is released, meanwhile, the central control central box 6 sends an instruction to the cleaning mechanism 500 to drive to clean, and the cleaning mechanism moves according to the stand model established in the past, so that the ground and the chair are cleaned, after one reciprocation is completed, the movable trolley 503 is classified, the movable trolley 503 is fixed through the magnet block 505, then the swing arm mechanism 600 is driven to turn over 90 degrees, so that the cleaning mechanism 500 is completely vertical to the box 300, the garbage in the garbage can 504 is tilted into the box 300 (the time is 5 s), and after 5s, the movable trolley 200 is driven to climb the second step, and the above actions are repeated.
It should be noted that the garbage collection robot driving system, the remote control system, the deformed wheel steering engine driving system, the ultrasonic detection system, the vacuum dust collection system, the steering engine controlled gravity center offset system, the motor driven bellows recycling system, the chain transmission system, the recycling small cleaning robot system, the small cleaning robot disc brush control system, the ultrasonic wave, the infrared detection system, the gyroscope, the camera navigation system, the STM32 singlechip master control system and the like all belong to the prior art, and related circuit coordination relations thereof can be directly obtained by a person skilled in the art according to common general knowledge, so that detailed description is not needed in the invention.
The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this invention will occur to those skilled in the art, and are intended to be within the spirit and scope of the invention.
Claims (5)
1. The utility model provides a stand seat regional rubbish cleans machine people which characterized in that: the garbage collection device comprises a conveying mechanism (400) for a stand seat area and a cleaning mechanism (500), wherein the conveying mechanism (400) for the stand seat area comprises a movable plate vehicle (200) and a box body (300), a swing arm mechanism (600) is movably mounted on the box body (300), the swing arm mechanism (600) is assembled to fix the cleaning mechanism (500) through an electromagnetic locking unit (700), and the garbage in the cleaning mechanism (500) is enabled to fall into the box body (300) along with the swing arm mechanism (600) to keep 90-degree circumferential movement;
The front drive end and the rear end of the movable plate trailer (200) are respectively provided with a deformation wheel (1) and a planet wheel (2), and the deformation wheels (1) are movably arranged in the following two conditions: the first station is that when the movable plate vehicle (200) moves along a road surface, the deformation wheel (1) is circular; the second station is that when the movable plate vehicle (200) moves along the stair steps, the deformation wheels (1) are triangular; the movable scooter (200) is provided with a gravity center balancing mechanism (4), and the gravity center balancing mechanism (4) is assembled to enable the box body (300) to be kept horizontal when the deformation wheel (1) is in a second station;
A camera shooting unit (5) is arranged at the front end of the movable plate vehicle (200), the camera shooting unit (5) is assembled to transmit collected image data to a terminal through a central control center box (6) arranged on the movable plate vehicle (200), and the terminal controls the movable plate vehicle (200) to move through a wireless transmission instruction to the central control center box (6);
the cleaning mechanism (500) is provided with a control unit which is in wireless connection with the central control box (6);
The deformation wheel (1) is provided with a driving unit (3), and the driving unit (3) is assembled to drive the deformation wheel (1) to switch back and forth between a first station and a second station;
The deformation wheel (1) comprises an inner disc (11), an outer disc (12) and a wheel hub (13), wherein the inner disc (11) is rotatably connected to the axis of the outer wall at one side of the wheel hub (13);
The outer disc (12) is specifically composed of a plurality of arc-shaped side lobes (121) which can form a circular ring structure, an inner rotating shaft framework (122) is arranged on the inner side of each arc-shaped side lobe (121), and the inner rotating shaft framework (122) and the arc-shaped side lobes (121) are in a triangular shape;
The inner rotating shaft frameworks (122) are rotationally connected to the inner disc (11) to enable the arc-shaped side lobes (121) to be distributed in a circular array relative to the inner disc (11);
The inner rotating shaft framework (122) is provided with waist grooves, the hub (13) is provided with shifting shafts (131) with the number corresponding to that of the arc-shaped side lobes (121), and the shifting shafts (131) are positioned on the outer side of the inner disc (11) and are connected with the waist grooves in a sliding mode;
When the inner disc (11) deflects to a certain angle in the circumferential direction, the arc-shaped side lobes (121) are acted by the poking shaft (131) to enable the arc-shaped side lobes (121) to deflect in the circumferential direction and form a triangle;
The driving unit (3) comprises a driving steering engine (31) and an inner disc (11), wherein the output end of the driving steering engine (31) penetrates through the hub (13) and is connected with the axis of the inner disc (11), and the inner disc (11) can be driven to keep rotating circumferentially;
The planetary gear (2) comprises three trifurcate frameworks (21) and guide wheels (22), wherein the number of the guide wheels (22) is three, and the three trifurcate frameworks (21) are respectively connected to the three top ends in a rotating mode;
The movable scooter (200) comprises a chassis (201), a worm driving mechanism (202) and a connecting rod (203), wherein the worm driving mechanism (202) and the connecting rod (203) are symmetrically distributed on the chassis (201), the axes of the two three-fork frameworks (21) are respectively connected to the connecting rod (203) in a rotating way, and the worm driving mechanism (202) is assembled to drive the deformation wheel (1) to keep circumferential movement;
The movable plate vehicle (200) comprises a chassis (201) and a worm driving mechanism (202) for driving the deformation wheel (1) to move circumferentially;
The worm driving mechanism (202) consists of a stepping motor (2021), a worm (2022), a worm gear (2023) and a driving rod (2024), wherein the worm (2022) is installed at the output end of the stepping motor (2021), the driving rod (2024) and the worm (2022) are vertically distributed and installed on the chassis (201) through a bearing seat, the worm gear (2023) is installed on the driving rod (2024) and meshed with the worm (2022), and the hub (13) is installed at one end of the driving rod (2024) located outside the chassis (201);
the gravity center balancing mechanism (4) comprises a carrying platform (41), four-bar mechanisms (42) arranged on two sides of the carrying platform (41) and a traction bar mechanism (43) used for enabling the carrying platform (41) to be kept horizontal, the box body (300) is arranged on the top of the carrying platform (41), a gyroscope is arranged at the center position of the bottom of the carrying platform (41), a center control center box (6) is arranged on the movable scooter (200), and the center control center box (6) is assembled and used for collecting data transmitted by the gyroscope and used for driving the traction bar mechanism (43) to enable the carrying platform (41) to be kept horizontal all the time;
The movable scooter (200) comprises a chassis (201), and the four-bar mechanism (42) and the traction rod mechanism (43) are both arranged on the chassis (201);
The four-bar linkage mechanism (42) consists of two side bars (421), two cross bars (422) and two pull bars (423), wherein one ends of the two side bars (421) are respectively arranged on the outer walls of the two sides of the carrying platform (41), and the other ends of the two side bars are respectively connected to the movable plate vehicle (200) in a rotating way;
The pull rod (423) is rotatably connected to the carrying platform (41) and the cross rod (422);
The traction rod mechanism (43) comprises a rod body I (431), a rod body II (432) and a rotating steering engine (433), wherein the rotating steering engine (433) is installed on the movable scooter (200), the output end of the rotating steering engine is connected with the rod body II (432), and the rod body I (431) is connected with the rod body II (432);
the four-bar linkage (42) consists of a side bar (421), a cross bar (422) and a pull bar (423), and the bar body I (431) is rotatably connected to the cross bar (422).
2. A stand seat area refuse cleaning robot according to claim 1, characterized in that: the cleaning mechanism (500) comprises a bottom surface cleaning mechanism (501), a seat cleaning mechanism (502) and a dust collection unit, wherein the seat cleaning mechanism (502) is assembled for cleaning a seat with a circumferential radius of a stand step, and the dust collection unit is assembled for sucking dust cleaned by the bottom surface cleaning mechanism (501) and the seat cleaning mechanism (502) into the cleaning mechanism (500).
3. A stand seat area refuse cleaning robot according to claim 1, characterized in that: the swing arm mechanism (600) comprises a main side rod body (601), a main shaft rod (602) and an electromagnetic iron plate (603);
the number of the main side rod bodies (601) is two, the main side rod bodies are respectively connected to the outer walls of the two opposite sides of the box body (300) in a rotating mode, and a rotating steering engine for driving the main side rod bodies (601) to keep circumferential movement is arranged in the box body (300);
The main shaft rod (602) is rotationally connected to the two main shaft rods (601) and is of a U-shaped structure, and an electromagnetic iron plate (603) is fixedly arranged at the center of the main shaft rod (602);
A lithium battery and a circuit board are arranged in the main shaft (602), and the circuit board is assembled for enabling the lithium battery to be communicated with the electromagnetic iron plate (603).
4. A stand seat area refuse cleaning robot according to claim 3, characterized in that: the cleaning mechanism (500) comprises a movable trolley (503) and a dustbin (504) movably arranged in the movable trolley (503);
the garbage can is characterized in that a magnet block (505) magnetically connected with the electromagnetic iron plate (603) is arranged on the back of the garbage can (504), and rubber rings for reducing magnetic absorption impact force are wrapped on the outer edges of the magnet block (505) and the electromagnetic iron plate (603).
5. A stand seat area refuse cleaning robot according to claim 2, characterized in that: the cleaning mechanism (500) comprises a movable trolley (503) and a dustbin (504) movably arranged in the movable trolley (503);
the bottom surface cleaning mechanism (501) is specifically a mop which is symmetrically and rotatably connected to the bottom of the mobile trolley (503);
The seat cleaning mechanism (502) comprises a framework (5021) and cleaning rods (5022), the framework (5021) is of an L-shaped structure, the cleaning rods (5022) are arranged on the outer side of the L-shaped structure, and two adjacent ends of the cleaning rods (5022) are connected through gear transmission;
The framework (5021) is rotatably connected to the top of the mobile trolley (503), and the seat cleaning mechanism (502) is kept to rotate circumferentially through a first steering engine drive arranged in the mobile trolley (503);
A second steering engine is arranged in the movable trolley (503), the second steering engine is assembled to drive a transmission gear set arranged in the movable trolley (503), and two mop and cleaning rods (5022) are kept in circumferential movement through the transmission gear set.
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| CN202011017931.4A CN112022010B (en) | 2020-09-24 | 2020-09-24 | Garbage cleaning robot for stand seat area |
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| CN113509105B (en) * | 2021-05-07 | 2022-05-06 | 台州职业技术学院 | An escalator automatic cleaning robot |
| CN113384730A (en) * | 2021-06-16 | 2021-09-14 | 陕西中建建乐智能机器人股份有限公司 | Robot for scrubbing and disinfecting seat |
| CN114098531A (en) * | 2021-11-29 | 2022-03-01 | 江苏旭美特环保科技有限公司 | Intelligent unmanned sweeping machine for station |
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