CN204581162U - intelligent cleaning robot - Google Patents

Abstract

The utility model discloses an intelligent cleaning robot. Wheel assembly, climbing drive device, infrared slope detection device. When the infrared slope detection device detects that there is a slope in the forward direction, the slope feedback signal is sent to the control device, and the control device controls the operation of the climbing driving device to drive the climbing wheel assembly to assist the robot body in climbing.

Description

Intelligent cleaning robot

technical field

The utility model relates to the field of robots, in particular to an intelligent cleaning robot.

Background technique

Traditional vacuum cleaners need to rely on manual work to clean the family room. The patent with the notification number CN2631410Y discloses a vacuum cleaner for automatic cleaning. And the left and right wheels, the left and right wheels are respectively driven by the left and right wheel motors, and the vacuum cleaner is also provided with a sensor for sensing obstacles, and the sensor is electrically connected with the control circuit of the left and right wheel motors. When the vacuum cleaner is working, its left and right wheels are driven by the wheel motor installed in the vacuum cleaner to drive the vacuum cleaner to move for automatic cleaning. The relative position of the sensor changes, and a displacement occurs between the baffle inside the front panel and the sensing head of the sensor. The sensor transmits the displacement signal to the control circuit to change the rotation speed of the left and right wheel motors, thereby changing the rotation speed of the left and right wheels, so that the vacuum cleaner turns around obstacles and continues to move forward. The disadvantages of this vacuum cleaner in the prior art are: first, when entering the lower part or step part, it is easy to drop and damage, because it cannot sense the lower part or step part of the cleaning area; second, when the charging voltage of the battery is reduced When it is lower than the predetermined standard, it needs to be manually charged before returning to the cleaning area to perform cleaning operations.

In order to solve the above problems, there is currently a Chinese patent authorization announcement number CN201936191U (authorized announcement date 2011.08.17) disclosing a cleaning robot, including a body and a recharging seat. The body includes: a cleaning device located at the bottom of the body. The control device inside the main body, the charging terminal located outside the main body, and the rechargeable battery connected to the charging terminal, the sensing device and the infrared receiver located outside the main body, and the control connection between the sensing device and the control device Driving mechanism; the recharging base includes: an infrared emitter arranged outside the recharging base, and a charging output electrode matched with the charging terminal of the main body. The advantages of this patent are: it can be automatically charged when the power is reduced, it can complete various obstacle avoidance actions and has the ability not to fall from cliffs and steps, etc. In addition, it can clean in multiple modes according to different path planning, so that It is convenient, quick and thorough to achieve the purpose of cleaning. However, this patent cannot achieve effective climbing. Once a steep slope with a small angle is encountered, it is automatically judged as a step and cannot be climbed over, which greatly narrows the cleaning area.

Utility model content

The purpose of the utility model is to provide an intelligent cleaning robot with climbing ability to solve the above-mentioned problems.

The technical problem solved by the utility model can be realized by adopting the following technical solutions:

Intelligent cleaning robot, including:

robot body,

The control device, power supply device and walking drive device arranged inside the robot body,

The cleaning device, the walking wheel assembly and the guide wheel assembly arranged at the bottom of the robot body,

An infrared obstacle avoidance sensing device and an infrared ground detection device arranged outside the robot body,

The power supply device, cleaning device, infrared obstacle avoidance sensing device, infrared ground detection device, and walking driving device are respectively connected to the control device, and the walking driving device is connected to the walking wheel assembly and the guide wheel assembly;

It is characterized in that it also includes:

The climbing wheel assembly arranged at the bottom of the robot body,

a climbing drive device arranged inside the robot body, the climbing drive device is respectively connected with the control device and the climbing wheel assembly,

an infrared slope detection device arranged outside the robot body and connected to the control device,

When the infrared slope detection device detects that there is a slope in the forward direction, the slope feedback signal is sent to the control device, and the control device controls the operation of the climbing driving device to drive the climbing wheel assembly to assist The robot body climbs a slope.

In a preferred embodiment of the present utility model, the climbing driving device includes a climbing driving motor and a lifting driving motor respectively connected with the control device, the climbing wheel assembly includes a climbing wheel, and the climbing driving motor Connected with the climbing wheel, the lifting drive motor is connected with the climbing driving motor through a rack and pinion mechanism to drive the climbing driving motor to go up and down, and then drive the climbing wheel to go up and down.

In a preferred embodiment of the present utility model, the cleaning device includes a negative pressure dust collection chamber, rotating cleaning discs arranged on both sides of the bottom of the robot body, and a cleaning disc drive device for driving the rotating cleaning discs to rotate. The cleaning disc driving device is connected with the control device.

In a preferred embodiment of the present utility model, the traveling driving device includes a traveling driving motor connected with the traveling wheel assembly and a steering driving motor connected with the guide wheel assembly, the traveling driving motor and the steering The drive motors are respectively connected with the control devices.

In a preferred embodiment of the present utility model, the intelligent cleaning robot also includes a recharging base, an infrared transmitter is arranged on the recharging base, and an infrared receiver matched with the infrared transmitter is arranged on the robot body And the charging electrode connected to the recharging base, the infrared receiver connected to the control device.

Due to the adoption of the above technical scheme, the utility model can realize the climbing function through the climbing wheel assembly, the climbing drive device and the infrared slope detection device; in addition, when the robot body is walking on flat ground, the climbing wheel assembly and the climbing drive When the device is not working, it not only saves energy, but also does not affect the normal operation of the robot body.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a bottom view of an embodiment of the utility model.

Fig. 2 is a module connection diagram of an embodiment of the utility model.

Fig. 3 is a schematic diagram of the climbing state of the climbing drive device and the climbing wheel assembly according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of the state of the climbing drive device and the climbing wheel assembly of an embodiment of the present invention when the climbing wheel assembly is not climbing.

Detailed ways

In order to make the technical means realized by the utility model, creation features, purpose and effect easy to be understood, the utility model is further elaborated below.

Referring to an intelligent cleaning robot shown in FIG. 1 and FIG. 2 , it includes a robot body 1000 inside which is provided with a control device 100 , a power supply device 200 , a walking drive device 300 and a climbing drive device 500 . The bottom of the robot body 1000 is provided with a cleaning device 400, a pair of walking wheels 311, a guide wheel 321 and a climbing wheel 511, and a pair of walking wheels 311 are respectively symmetrically arranged on both sides of the bottom of the robot body 1000, and the guide wheels 321 are arranged on the robot body. 1000 bottom front end, climbing wheel 511 is arranged on the robot body 1000 bottom tail end. An infrared obstacle avoidance sensing device 620 , an infrared ground detection device 630 and an infrared slope detection device 610 are arranged outside the robot body 1000 . Power supply device 200, cleaning device 400, walking drive device 300, infrared obstacle avoidance sensing device 620, infrared ground detection device 630, infrared slope detection device 610, climbing drive device 500 are respectively connected with control device 100, and walking drive device 300 is connected with walking Wheel 311 is connected with guide wheel 321.

The cleaning device 400 includes a negative pressure dust collection chamber 420 , a rotating cleaning disc 411 arranged on both sides of the bottom of the robot body 1000 , and a cleaning disc driving device 410 that drives the rotating cleaning disc 411 to rotate. The cleaning disc driving device 410 is connected to the control device 100 .

The travel drive device 300 includes a travel drive motor 310 connected to the travel wheels 311 and a steering drive motor 320 connected to the guide wheels 321 , the travel drive motor 310 and the steering drive motor 320 are respectively connected to the control device 100 .

In order to enable the utility model to have an automatic charging function, the present embodiment includes a recharging base (not shown in the figure), an infrared transmitter 641 is arranged on the recharging base, and an infrared transmitter 641 is provided on the robot body 1000. The infrared receiver 640 and the charging electrode (not shown in the figure) connected with the recharging base, the infrared receiver 640 is connected with the control device 100 .

3 and 4, the climbing drive device 500 includes a climbing drive motor 510 and a lifting drive motor 520 respectively connected to the control device 100, and the output end 510a of the climbing drive motor 510 is coaxially connected with the climbing wheel 511 . The lifting driving motor 520 is connected with the climbing driving motor 520 through the rack and pinion mechanism 530 to drive the climbing driving motor 520 to go up and down, and then drive the climbing wheel 511 to go up and down. When the robot body 1000 is walking on flat ground, as shown in FIG. 4 , under the action of the lifting drive motor 520, the climbing wheel 511 rises and its bottom end is flush with the bottom surface 1100 of the robot body 1000, and the climbing wheel 511 and the climbing wheel The drive motor 510 does not work, which not only saves energy, but also does not affect the normal operation of the robot body. When the robot body 1000 needs to climb a slope, as shown in Figure 3, under the action of the lifting drive motor 520, the climbing wheel 511 descends and its bottom end contacts the ground, the control device 100 controls the climbing drive motor 510 to work, and then drives The climbing wheel 511 works, and with the assistance of the climbing wheel 511 and a pair of walking wheels 311, the robot body 1000 can successfully complete the climbing.

The utility model cleans plane, avoids obstacles, and the principle of avoiding steps is the same as that of the prior art, so it will not be described in detail here. When the infrared slope detection device 610 detects that there is a slope in the forward direction, it transmits the slope feedback signal to the control device 100, and the control device 100 controls the operation of the climbing drive device 500 to drive the climbing wheel 511 to assist the robot body 1000 in climbing.

The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (5)

1. intelligent cleaning robot, comprising:

Robot body,

Be arranged on the control device of described robot body inside, supply unit and travel driving unit,

Be arranged on the cleaning device bottom described robot body, road wheel assembly and guide wheel assemblies,

Be arranged on the infrared obstacle avoidance induction installation of described robot body outside and infrared ground detection,

Described supply unit, cleaning device, infrared obstacle avoidance induction installation, infrared ground detection, travel driving unit are connected with described control device respectively, and described travel driving unit is connected with described road wheel assembly and guide wheel assemblies;

It is characterized in that, also comprise:

Be arranged on the climbing wheel assembly bottom described robot body,

Be arranged on the climbing drive unit of described robot body inside, described climbing drive unit is connected with described control device and described climbing wheel assembly respectively,

Be arranged on described robot body outside and the infrared slope detection device be connected with described control device,

When described infrared slope detection device detects that direction of advance has a slope, slope feedback signal is sent to described control device, described control device controls the work of described climbing drive unit, drives the work of described climbing wheel assembly, with auxiliary described robot body climbing.

2. intelligent cleaning robot as claimed in claim 1, it is characterized in that, described climbing drive unit comprises the climbing drive motors that is connected with described control device respectively and is elevated drive motors, described climbing wheel assembly comprises climbing wheel, climbing drive motors with described climb to take turns be connected, described lifting drive motors is connected to drive described climbing drive motors to be elevated with described climbing drive motors by pinion and rack, and then drives described climbing to take turns lifting.

3. intelligent cleaning robot as claimed in claim 1 or 2, it is characterized in that, the clean disk drive unit that described cleaning device comprises negative pressure dust-collecting cavity, is arranged on the rotary cleaning dish of described robot body two bottom sides and drives described rotary cleaning dish to rotate, described clean disk drive unit is connected with described control device.

4. intelligent cleaning robot as claimed in claim 1 or 2, it is characterized in that, described travel driving unit comprise the travel driving motor that is connected with described road wheel assembly and be connected with described guide wheel assemblies turn to drive motors, described travel driving motor is connected with described control device respectively with the described drive motors that turns to.

5. intelligent cleaning robot as claimed in claim 1 or 2, it is characterized in that, this intelligent cleaning robot also comprises and recharges seat, described recharging on seat is provided with RF transmitter, described robot body is provided with the infrared remote receiver matched with RF transmitter and with the described charging electrode recharging seat and be connected, described infrared remote receiver is connected with described control device.