技术领域technical field
本发明涉及一种扫地机器人，尤其涉及一种地面杂物清理收纳机器人。The invention relates to a sweeping robot, in particular to a robot for cleaning and storing ground debris.
背景技术Background technique
工业革命以来，人类社会的发展进步速度越来越快，随着科学技术的发展家用电器也越来越多的进入到普通大众的日常生活中。为了使人们从家务劳动之中解放出来，为百姓的日常生活提供更加舒适、优美的生活环境；为了减轻人们肢体疲劳、避免因为肢体劳动而产生的躯体劳损；以及科学技术和加工生产方式的飞速发展，人们有能力将传感技术、网络通信技术融会进入家电之中，因此智能家用电器应运而生。Since the industrial revolution, the development and progress of human society has become faster and faster. With the development of science and technology, more and more household appliances have entered the daily life of ordinary people. In order to liberate people from housework and provide a more comfortable and beautiful living environment for people's daily life; in order to reduce people's physical fatigue and avoid physical strain caused by physical labor; and the rapid development of science and technology and processing and production methods With the development, people have the ability to integrate sensing technology and network communication technology into home appliances, so smart home appliances came into being.
智能家电的其中一个代表就是清扫机器人，他可以凭借适当的人工智能，自动在房屋内完成地面杂物清理工作。它将散落在地面的杂物先吸到机器人内部，并最终进入到布置在机器人内部的垃圾收纳盒,来达到地面清理的功能。一般来说,将完成清扫、吸尘以及擦地等工作的智能机器人,统一归为扫地机器人。One of the representatives of smart home appliances is the cleaning robot, which can automatically complete the cleaning of ground debris in the house with appropriate artificial intelligence. It will first suck the debris scattered on the ground into the robot, and finally enter the garbage storage box inside the robot to achieve the function of cleaning the ground. Generally speaking, intelligent robots that complete tasks such as cleaning, vacuuming, and mopping the floor are collectively classified as sweeping robots.
地面杂物清理收纳机器人是智能家电的一种，他可以凭借适当的人工智能，自动在房屋内完成地面杂物清理工作。它将散落在地面的杂物先吸到机器人内部，并最终进入到布置在机器人内部的垃圾收纳盒,从而实现地面清理的功能。The ground debris cleaning and storage robot is a kind of smart home appliance. With appropriate artificial intelligence, it can automatically complete the ground debris cleaning work in the house. It will first suck the debris scattered on the ground into the robot, and finally enter the garbage storage box inside the robot, so as to realize the function of ground cleaning.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了提供一种地面杂物清理收纳机器人，适用于自动完成家庭日常生活中地面清洁部分。The object of the present invention is to provide a floor debris cleaning and storage robot, which is suitable for automatically completing the floor cleaning part in daily life at home.
本发明的目的是这样实现的：包括底板、设置在底板上的上盖、扫地部分、擦地部分、吸尘部分、前轮部分和后轮部分，在上盖上设置有杂物拾取壳，在杂物拾取壳内的上盖上端设置有肩部旋转伺服电机，肩部旋转伺服电机的输出端设置有肩部固定板，肩部固定板上铰接有两个有大臂传动板，每个大臂传动板端部铰接有小臂传动板，每个小臂传动板的端部铰接有腕部传动板，在肩部固定板与两个大臂传动板的铰接处、两个大臂传动板与两个小臂传动板的铰接处、两个小臂传动板与两个腕部传动板的铰接处均设置有驱动电机，两个腕部传动板之间设置有腕部连接板，腕部连接板上安装有腕部旋转伺服电机，腕部旋转伺服电机的输出端设置有L型的手部固定板，手部固定板的水平端设置有圆柱齿轮伺服电机，圆柱齿轮伺服电机的输出端连接有圆柱齿轮轮系，圆柱齿轮轮系有两个输出端且两个输出端分别连接有夹爪，两个夹爪铰接在手部固定板的水平端上。The object of the present invention is achieved in the following way: it includes a base plate, an upper cover arranged on the base plate, a sweeping part, a mopping part, a dust suction part, a front wheel part and a rear wheel part, and a sundry pick-up shell is arranged on the upper cover, The upper end of the upper cover in the sundries picking up shell is provided with a shoulder rotation servo motor, the output end of the shoulder rotation servo motor is provided with a shoulder fixing plate, and two transmission plates with large arms are hinged on the shoulder fixing plate, each The end of the big arm transmission plate is hinged with the small arm transmission plate, and the end of each small arm transmission plate is hinged with the wrist transmission plate. There are driving motors at the joints of the two forearm drive plates and the two forearm drive plates, and at the hinge joints between the two forearm drive plates and the two wrist drive plates, and a wrist connection plate is set between the two wrist drive plates. A wrist rotation servo motor is installed on the upper connecting plate, an L-shaped hand fixing plate is arranged at the output end of the wrist rotation servo motor, a cylindrical gear servo motor is arranged at the horizontal end of the hand fixing plate, and the output of the cylindrical gear servo motor The end is connected with a spur gear train, the spur gear train has two output ends and the two output ends are respectively connected with jaws, and the two jaws are hinged on the horizontal end of the hand fixing plate.
本发明还包括这样一些结构特征：The present invention also includes such structural features:
1.扫地部分包括设置在底板上的主轴电机、与主轴电机输出端连接的主轴，主轴的端部设置有蜗杆段，在主轴两侧的底板上设置有两个蜗轮大带轮轴，每个蜗轮大带轮轴上安装有一扫地传动蜗轮和一大带轮，两个扫地传动蜗轮均与蜗杆段啮合，在底板上还设置有两个小带轮扫刷轴，每个小带轮扫刷轴上安装有小带轮、端部伸出至地板外且安装有扫刷，大带轮与对应的小带轮之间设置有传动皮带。1. The sweeping part includes the main shaft motor arranged on the bottom plate and the main shaft connected to the output end of the main shaft motor. The end of the main shaft is provided with a worm section. A sweeping drive worm gear and a large pulley are installed on the large pulley shaft, and the two sweeping drive worm gears are both meshed with the worm section. There are also two small pulley sweeping brush shafts on the bottom plate, and each small pulley sweeping brush shaft is A small pulley is installed, the end protrudes out of the floor and a sweeping brush is installed, and a transmission belt is arranged between the large pulley and the corresponding small pulley.
2.吸尘部分包括安装在主轴上的大圆锥齿轮、对称设置在底板上的两个吸尘平台每个吸尘平台上设置有风扇小锥齿轮轴，每个风扇小锥齿轮轴的一端安装有小锥齿轮、另一端安装有风扇，且风扇位于吸尘平台内，小锥齿轮位于吸尘平台外，且两个小锥齿轮均与大圆锥齿轮啮合，吸尘平台下端的通孔段穿过底板，吸尘平台上端设置有集尘箱。2. The dust collection part includes a large bevel gear installed on the main shaft, and two dust suction platforms symmetrically arranged on the bottom plate. Each dust collection platform is equipped with a small fan gear shaft, and one end of each fan small bevel gear shaft is installed. There is a small bevel gear, and a fan is installed at the other end, and the fan is located inside the dust collection platform, the small bevel gear is located outside the dust collection platform, and the two small bevel gears are meshed with the large conical gear, and the through hole section at the lower end of the dust collection platform passes through Through the bottom plate, a dust collection box is arranged on the upper end of the dust collection platform.
3.前轮部分包括设置在在底板前端的前轮电机座、安装在前轮电机座上的前轮电机、安装在前轮电机输出端上的前轮，前轮伸出至底板下方。3. The front wheel part includes the front wheel motor seat arranged at the front end of the base plate, the front wheel motor installed on the front wheel motor seat, and the front wheel installed on the output end of the front wheel motor. The front wheel protrudes below the base plate.
4.后轮部分包括对称设置在底板后端的两个后轮电机座、设置在底板上的后轮传动轴、安装在后轮传动轴上的后轮轮毂和后轮轮胎，后轮传动轴上还安装有双联轮、行星惰轮，每个后轮电机座上安装有后轮步进电机，每个后轮步进电机的输出端连接传动蜗杆，传动蜗杆与双联轮蜗轮部分啮合，双联轮的齿轮部分与行星惰轮啮合，行星惰轮与后轮部分的固定中心轮相啮合，双联轮的两侧之间装有挡板。4. The rear wheel part includes two rear wheel motor mounts symmetrically arranged at the rear end of the bottom plate, the rear wheel drive shaft arranged on the bottom plate, the rear wheel hub and the rear wheel tire installed on the rear wheel drive shaft, and the rear wheel drive shaft A double wheel and a planetary idler are also installed, and each rear wheel motor seat is equipped with a rear wheel stepper motor, and the output end of each rear wheel stepper motor is connected to a transmission worm, and the drive worm is partially meshed with the double wheel worm gear. The gear part of the duplex wheel meshes with the planetary idler gear, and the planetary idler gear meshes with the fixed center wheel of the rear wheel part, and a baffle is installed between the two sides of the duplex wheel.
5.擦地部分包括与底板尾部连接的可拆卸的擦地平台、设置在擦地平台两端的弹簧调整仓，弹簧调整仓内的弹簧连接有滚筒支撑杆，两个滚筒支撑杆之间设置有擦地滚筒。5. The mopping part includes a detachable mopping platform connected to the tail of the floor, and spring adjustment bins arranged at both ends of the mopping platform. The spring in the spring adjustment bin is connected to a roller support rod, and a roller support rod is arranged between the two roller support rods. Mopping roller.
与现有技术相比，本发明的有益效果是：本发明不同于一般扫地机器人，地面杂物清理收纳机器人所收纳的杂物般包括灰尘、颗粒、纸屑、饮料瓶等。采用通常的刷扫和真空方式不能有效的收起饮料瓶等体积稍大的物品，因此通过机械手的配合，可将饮料瓶有效拾起，提高了清扫效率。Compared with the prior art, the beneficial effect of the present invention is that the present invention is different from general sweeping robots, and the debris collected by the ground debris cleaning and storage robot generally includes dust, particles, paper scraps, beverage bottles and the like. The usual brushing and vacuuming methods cannot effectively store beverage bottles and other slightly larger items. Therefore, through the cooperation of the manipulator, the beverage bottles can be effectively picked up, which improves the cleaning efficiency.
附图说明Description of drawings
图1是地面杂物清理收纳机器人正等轴测图；Fig. 1 is an isometric view of a ground debris cleaning and storage robot;
图2是地面杂物清理收纳机器人底板布局正等轴测图；Fig. 2 is an isometric view of the bottom plate layout of the ground debris cleaning and storage robot;
图3是地面杂物清理收纳机器人后轮主视图；Fig. 3 is a front view of the rear wheel of the ground debris cleaning and storage robot;
图4是地面杂物清理收纳机器人后轮主视图中A—A向剖视图；Fig. 4 is an A-A sectional view in the front view of the rear wheel of the ground debris cleaning and storage robot;
图5是地面杂物清理收纳机器人后轮主视图中B—B向剖视图；Fig. 5 is a B-B sectional view in the front view of the rear wheel of the ground debris cleaning and storage robot;
图6是地面杂物清理收纳机器人吸尘平台主视图；Fig. 6 is a front view of the dust collection platform of the ground debris cleaning and storage robot;
图7是地面杂物清理收纳机器人抓取机械手结构主视图；Fig. 7 is a front view of the grabbing manipulator structure of the ground debris cleaning and storage robot;
图8是地面杂物清理收纳机器人抓取机械手结构俯视图。Fig. 8 is a top view of the structure of the grabbing manipulator of the ground debris cleaning and storage robot.
具体实施方式Detailed ways
下面结合附图与具体实施方式对本发明作进一步详细描述。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
一种地面杂物清理收纳机器人由扫刷1、底板2、上盖3、抓取机械手4、杂物拾取壳5、机械手固定板6、擦地平台7、擦地滚筒8、前轮9、前轮电机10、前轮电机座11、传动皮带12、扫刷传动蜗轮13、吸尘平台14、滚筒支撑杆15、弹簧调整仓16、集尘箱17、大圆锥齿轮18、后轮电机支座19、主轴支座20、主轴电机21、主轴22、蜗轮大带轮轴23、大带轮24、后轮轮毂25、小带轮26、小带轮扫刷轴27、后轮轮胎28、后轮支撑架29、挡板30、双联轮31、传动蜗杆32、后轮步进电机33、固定中心轮34、后轮传动轴35、行星惰轮36、电机端盖37、风扇桨叶38、风扇小锥齿轮轴39、小圆锥齿轮40、风扇小锥齿轮轴支座41、夹爪4-1、夹爪固定板4-2、圆柱齿轮4-3、腕部传动板4-4、腕部伺服电机传动轮4-5小臂传动板4-6、肘部伺服电机传动轮4-7、大臂传板4-8、肩部伺服电机传动轮4-9、肩部固定板4-10、肩部旋转伺服电机4-11、肩部摆动伺服电机4-12、长螺杆4-13、肘部摆动伺服电机4-14、短螺杆4-15、腕部摆动伺服电机4-16、腕部连接板4-17、手部固定板4-18、圆柱齿轮伺服电机4-19、腕部旋转伺服电机4-20组成。A ground debris cleaning and storage robot consists of a sweeping brush 1, a bottom plate 2, an upper cover 3, a grabbing manipulator 4, a debris picking shell 5, a manipulator fixing plate 6, a mopping platform 7, a mopping roller 8, and front wheels 9. Front wheel motor 10, front wheel motor seat 11, transmission belt 12, brush drive worm gear 13, dust collection platform 14, roller support rod 15, spring adjustment bin 16, dust collection box 17, large bevel gear 18, rear wheel motor support Seat 19, main shaft support 20, main shaft motor 21, main shaft 22, worm wheel large pulley shaft 23, large pulley 24, rear wheel hub 25, small pulley 26, small pulley brush shaft 27, rear wheel tire 28, rear Wheel support frame 29, baffle plate 30, double wheel 31, transmission worm 32, rear wheel stepper motor 33, fixed center wheel 34, rear wheel drive shaft 35, planetary idler 36, motor end cover 37, fan blade 38 , fan pinion bevel gear shaft 39, bevel pinion gear 40, fan pinion bevel gear shaft support 41, jaw 4-1, jaw fixed plate 4-2, cylindrical gear 4-3, wrist transmission plate 4-4, Wrist servo motor drive wheel 4-5 Forearm drive plate 4-6, Elbow servo motor drive wheel 4-7, Big arm drive plate 4-8, Shoulder servo motor drive wheel 4-9, Shoulder fixed plate 4 -10, shoulder rotation servo motor 4-11, shoulder swing servo motor 4-12, long screw 4-13, elbow swing servo motor 4-14, short screw 4-15, wrist swing servo motor 4-16 , wrist connection plate 4-17, hand fixed plate 4-18, cylindrical gear servo motor 4-19, wrist rotation servo motor 4-20 form.
底板2的中轴线上固定有主轴支座20，装有主轴电机21的主轴22安装在主轴支座20上，其中主轴是一个带有蜗杆的主轴，其上固定好大圆锥齿轮18。主轴22的蜗杆部分与扫刷传动蜗轮13相啮合，扫刷传动蜗轮13与大带轮24同时固定在蜗轮大带轮轴23上并安装于底板2，大带轮24通过传动皮带12与小带轮26相连接，小带轮26固定在小带轮扫刷轴27上，通过滚动轴承安装于底板2，小带轮扫刷轴27位于底板2的位置上开有通孔能够使小带轮扫刷轴27穿过底板2到达底板2下侧，底板2下侧扫刷1固定在小带轮扫刷轴27上，此时主轴22转动即可带动扫刷1转动；小圆锥齿轮40和风扇桨叶38通过风扇小锥齿轮轴39连接在一起并安装在吸尘平台14上，吸尘平台的安装位置使小圆锥齿轮40与安装在主轴22上的大圆锥齿轮18恰好啮合，主轴22的转动即可带动风扇桨叶38转动，集尘箱17安装在吸尘平台的插槽处可以在风扇转动时收集灰尘；后轮步进电机33尾部与后轮电机支座19相连并固定于底板2中轴线后端两侧，头部固定于电机端盖37上，并和传动蜗杆32相连，传动蜗杆32与双联轮31蜗轮部分啮合，双联轮31安装在后轮传动轴35上，装有后轮轮胎28的后轮轮毂25也安装在后轮传动轴35上，后轮即可被后轮步进电机33驱动，双联轮31的另一侧即齿轮部分与行星惰轮36啮合装于传动轴35上，且行星惰轮36与固定中心轮34相啮合可在后轮转动时消除惯性力，使运动更为平稳，双联轮31的两侧之间装有挡板30隔绝两部分工作环境且起到对行星惰轮36的定位作用；擦地平台7通过螺栓与底板2尾部连接处连接，在不需要擦地功能时可以将擦地平台拆卸掉，滚筒支撑杆15的一端与擦地滚筒8相连，另一端与弹簧相连并置于弹簧调整仓16中；底板2的前端安装有前轮电机座11，装有前轮9的前轮电机10尾部安装在前轮电机座上与底板垂直；上盖3通过螺栓与底板2固定在一起，形成一个相对密闭的环境保护零部件，且对蜗轮大带轮轴23起到固定作用；杂物拾取壳5装于上盖3上方，可随时取下；抓取机械手4通过机械手固定板6固定在杂物拾取壳5的凹槽上，其中肩部旋转伺服电机4-11的输出端与在肩部固定板4-10相连接，肩部摆动伺服电机4-12固定于肩部固定板4-10上，大臂传动板4-8通过装于其首端的肩部伺服电机传动轮4-9与肩部摆动伺服电机4-12的输出端相连，两大臂传动板4-8通过前后两个长螺杆4-13辅助连接固定，大臂传动板4-8的末端安装有肘部伺服电机传动轮4-7，与装在小臂传动板4-6首端上的肘部摆动伺服电机4-14的输出端相连，两小臂传动板4-6通过前后两短螺杆4-15连接固定，小臂传动板4-6末端装有腕部摆动伺服电机4-16，其输出端通过装在腕部传动板4-4的腕部伺服电机传动轮4-5与腕部传动板4-4相连，两腕部传动板通过腕部连接板4-17的水平端连接固定，腕部连接板4-17的垂直端装有腕部旋转伺服电机4-20，其输出端与手部固定板垂直端4-18连接，固定板水平端上装有圆柱齿轮伺服电机4-19和内外两侧两对圆柱齿轮4-3，夹爪4-1的末端固定于外侧圆柱齿轮轴心，中间部分通过夹爪固定板4-2与手部固定板铰接。On the central axis of base plate 2, main shaft support 20 is fixed, and the main shaft 22 that main shaft motor 21 is housed is installed on the main shaft support 20, and wherein main shaft is a main shaft with worm screw, and large bevel gear 18 is fixed on it. The worm part of the main shaft 22 meshes with the brush drive worm gear 13, the brush drive worm gear 13 and the large pulley 24 are simultaneously fixed on the large pulley shaft 23 of the worm wheel and installed on the bottom plate 2, and the large pulley 24 passes through the drive belt 12 and the small belt Wheel 26 is connected, and small pulley 26 is fixed on the small pulley brush shaft 27, is installed on base plate 2 by rolling bearing, and small pulley sweep brush shaft 27 is positioned at the position of base plate 2 and has through hole and can make small pulley sweep The brush shaft 27 passes through the base plate 2 to reach the lower side of the base plate 2, and the sweeping brush 1 on the lower side of the base plate 2 is fixed on the small pulley brushing shaft 27. At this time, the rotation of the main shaft 22 can drive the sweeping brush 1 to rotate; the small bevel gear 40 and the fan The paddles 38 are connected together by the small bevel gear shaft 39 of the fan and installed on the dust collection platform 14. The installation position of the dust collection platform makes the small bevel gear 40 mesh with the large bevel gear 18 installed on the main shaft 22, and the main shaft 22 The rotation can drive the fan blade 38 to rotate, and the dust collection box 17 is installed in the slot place of the dust collection platform and can collect dust when the fan rotates; the rear wheel stepper motor 33 tail is connected with the rear wheel motor support 19 and fixed on the base plate 2. On both sides of the rear end of the central axis, the head is fixed on the motor end cover 37 and connected with the transmission worm 32. The transmission worm 32 meshes with the worm gear part of the double-link wheel 31, and the double-link wheel 31 is installed on the rear wheel drive shaft 35. The rear wheel hub 25 that rear wheel tire 28 is housed is also installed on the rear wheel transmission shaft 35, and the rear wheel can be driven by the rear wheel stepper motor 33, and the other side of the double wheel 31 is the gear part and the planetary idler 36. The meshing is installed on the transmission shaft 35, and the planetary idler gear 36 is meshed with the fixed center wheel 34, which can eliminate the inertial force when the rear wheel rotates, making the movement more stable. A baffle plate 30 is installed between the two sides of the double wheel 31 Isolate the two parts of the working environment and play a role in positioning the planetary idler 36; the mopping platform 7 is connected to the joint at the end of the bottom plate 2 through bolts, and the mopping platform can be disassembled when the mopping function is not needed, and the roller support rod 15 One end of the floor is connected with the mopping roller 8, and the other end is connected with the spring and placed in the spring adjustment chamber 16; the front end of the base plate 2 is equipped with a front wheel motor seat 11, and the tail of the front wheel motor 10 with the front wheel 9 is installed on the front wheel. The motor base is perpendicular to the bottom plate; the upper cover 3 is fixed with the bottom plate 2 by bolts to form a relatively airtight environmental protection component, and it plays a role in fixing the worm wheel large pulley shaft 23; the sundries pick-up shell 5 is installed on the upper cover 3, it can be taken off at any time; the grasping manipulator 4 is fixed on the groove of the sundry pick-up shell 5 through the manipulator fixing plate 6, wherein the output end of the shoulder rotating servo motor 4-11 is connected with the shoulder fixing plate 4-10 Connected, the shoulder swing servo motor 4-12 is fixed on the shoulder fixed plate 4-10, and the big arm drive plate 4-8 is connected with the shoulder swing servo motor through the shoulder servo motor drive wheel 4-9 mounted on its head end. The output ends of 4-12 are connected, the two big arm transmission plates 4-8 are auxiliary connected and fixed by two front and rear long screw rods 4-13, and the end of the large arm transmission plate 4-8 is equipped with an elbow servo motor drive wheel 4-7, It is connected with the output end of the elbow swing servo motor 4-14 installed on the forearm drive plate 4-6 head end , the two forearm drive plates 4-6 are connected and fixed by two short screw rods 4-15 before and after, the end of the forearm drive plate 4-6 is equipped with a wrist swing servo motor 4-16, and its output end is mounted on the wrist drive plate 4 The wrist servo motor drive wheel 4-5 of -4 links to each other with the wrist transmission plate 4-4, two wrist transmission plates are connected and fixed by the horizontal end of the wrist connection plate 4-17, the vertical of the wrist connection plate 4-17 Wrist rotation servomotor 4-20 is equipped with at end, and its output end is connected with hand fixed plate vertical end 4-18, and cylindrical gear servo motor 4-19 and two pairs of cylindrical gears 4-19 and inside and outside both sides are housed on the fixed plate horizontal end. 3. The end of the jaw 4-1 is fixed on the axis of the outer cylindrical gear, and the middle part is hinged to the hand fixing plate through the jaw fixing plate 4-2.
工作原理：地面杂物清理收纳机器人工作过程分为移动、拾取收纳较大杂物、清扫、吸尘和擦地五个步骤，通过移动机构带动机器人本体运动来完成对地面的清洁工作，具体情况如下：Working principle: The working process of the ground debris cleaning and storage robot is divided into five steps: moving, picking up and storing larger debris, cleaning, vacuuming and wiping the floor. The moving mechanism drives the robot body to move to complete the cleaning of the ground. The specific situation as follows:
1)移动首先，启动后轮步进电机33输出扭矩并传递给传动蜗杆32使蜗杆开始转动，传动蜗杆32与双联轮31蜗轮侧相啮合，速度降低，增大扭矩传递给后轮传动轴35带动后轮轮毂25转动实现移动功能，同时双联轮31的齿轮侧与行星惰轮36啮合，行星惰轮36与固定中心轮34相啮合，这个行星惰轮结构可以消除惯性力的影响在不另外添加缓震装置的情况下保证传动平稳。1) Movement First, start the rear wheel stepper motor 33 to output torque and transmit it to the transmission worm 32 to make the worm start to rotate, the transmission worm 32 meshes with the worm gear side of the double wheel 31, the speed decreases, and the increased torque is transmitted to the rear wheel transmission shaft 35 drives the rear wheel hub 25 to rotate to realize the moving function. At the same time, the gear side of the duplex wheel 31 meshes with the planetary idler 36, and the planetary idler 36 meshes with the fixed center wheel 34. This planetary idler structure can eliminate the influence of inertial force in The transmission is guaranteed to be stable without adding additional shock absorbers.
2)拾取较大杂物机器人识别到较大杂物时移动模块停止工作，抓取机械手4开始工作，肩部旋转伺服电机4-11控制整个拾取机械手4绕肩部轴线的旋转；肩部摆动伺服电机4-12通过肩部伺服电机传动轮4-9传递力矩驱动拾取机械手的大臂，实现大臂、小臂、手腕及手部在平面内的转动；肘部摆动伺服电机4-14通过肘部伺服电机传动轮4-7传递力矩驱动拾取机械手的小臂，实现小臂、手腕及手部在平面内的转动；同理，腕部摆动伺服电机4-16通过腕部伺服电机传动轮将力矩传递给拾取机械手的腕部，实现腕部及手部在平面内的转动；腕部旋转伺服电机4-20控制腕部及手部绕腕部轴线的旋转；圆柱齿轮伺服电机4-19驱动圆柱齿轮4-3配合转动，控制夹爪4-1的张开与夹紧实现对较大杂物的拾取，拾取杂物后，各电机再次驱动各关节调整各关节位置，将较大杂物放入杂物拾取壳5中，实现较大杂物的拾取与收纳功能，如此循环至不再有较大杂物时停止工作。2) When picking up larger debris, the mobile module stops working when the robot recognizes larger debris, and the grasping manipulator 4 starts to work, and the shoulder rotation servo motor 4-11 controls the rotation of the entire picking manipulator 4 around the axis of the shoulder; the shoulder swings Servomotor 4-12 transmits torque to drive the big arm of picking up manipulator through shoulder servomotor drive wheel 4-9, realizes the rotation of big arm, forearm, wrist and hand in the plane; Elbow swings servomotor 4-14 through The elbow servo motor drive wheel 4-7 transmits torque to drive the forearm of the picking manipulator to realize the rotation of the forearm, wrist and hand in the plane; similarly, the wrist swing servo motor 4-16 passes through the wrist servo motor drive wheel Transfer the torque to the wrist of the picking manipulator to realize the rotation of the wrist and hand in the plane; the wrist rotation servo motor 4-20 controls the rotation of the wrist and the hand around the axis of the wrist; the cylindrical gear servo motor 4-19 Drive the cylindrical gear 4-3 to rotate in coordination, and control the opening and clamping of the jaws 4-1 to realize picking up larger debris. After picking up the debris, each motor drives each joint again to adjust the position of each joint, and the larger debris Thing is put into sundries and picks up in the shell 5, realizes the picking up of bigger sundries and the storage function, so circulates to stop working when no longer having bigger sundries.
3)清扫功能主轴电机21输出扭矩并传递给主轴22使主轴开始转动，与主轴22蜗杆部分相啮合的扫刷传动蜗轮13转动，带动同时安装在蜗轮大带轮轴23上的大带轮24转动，大带轮24通过传动皮带12带动小带轮26转动，与小带轮26一同安装在小带轮扫刷轴27上的扫刷1开始转动，实现清扫收集灰尘功能。3) Cleaning function The main shaft motor 21 outputs torque and transmits it to the main shaft 22 to make the main shaft start to rotate, and the brush driving worm gear 13 meshed with the worm part of the main shaft 22 rotates, driving the large pulley 24 installed on the large pulley shaft 23 of the worm wheel to rotate at the same time The large pulley 24 drives the small pulley 26 to rotate by the transmission belt 12, and the sweeping brush 1 installed on the small pulley sweeping brush shaft 27 together with the small pulley 26 starts to rotate, so as to realize the function of cleaning and collecting dust.
4)吸尘主轴电机21输出扭矩传递给主轴22使主轴22开始转动，与装在主轴22上的大圆锥齿轮18相啮合的小圆锥齿轮40加速转动带动共同安装在风扇小锥齿轮轴39上的风扇桨叶38转动，风扇转动产生局部真空加速空气流动，扫刷1收集的灰尘随空气流动进入吸尘通道，通道末端是类似膜瓣结构的集尘箱17，风扇转动时风力将其打开，岁空气流动的灰尘进入集尘箱17，风扇停止工作时，膜瓣关闭，集尘箱17封闭实现集尘。4) The output torque of the dust-absorbing spindle motor 21 is transmitted to the spindle 22 to make the spindle 22 start to rotate, and the small bevel gear 40, which meshes with the large bevel gear 18 mounted on the spindle 22, accelerates and drives to rotate and is installed on the small bevel gear shaft 39 of the fan together. The fan blade 38 rotates, and the fan rotates to generate a partial vacuum to accelerate the air flow. The dust collected by the sweeping brush 1 enters the dust collection channel with the air flow. The end of the channel is a dust collection box 17 similar to a membrane structure. , the dust of the old air flow enters the dust box 17, and when the fan stops working, the membrane valve is closed, and the dust box 17 is closed to realize dust collection.
5)擦地机器人完成较大杂物拾取，清扫以及吸尘功能后，随着后轮带动整个机构移动，装有抹布的擦地滚筒8也随着整个机构移动，抹布与地面相接触，并且通过压缩弹簧控制与底面之间的压力以合适的压力完成擦地工作。滚筒式的擦地机构可以实现大面积清理地面的作用，并且不会与其他执行机构发生干涉。5) After the mopping robot completes the functions of picking up large debris, cleaning and vacuuming, as the rear wheels drive the entire mechanism to move, the mopping roller 8 equipped with a rag also moves with the entire mechanism, and the rag is in contact with the ground, and The pressure between the compression spring and the bottom surface is controlled to complete the mopping work with an appropriate pressure. The roller-type mopping mechanism can realize the function of cleaning the ground in a large area without interfering with other actuators.
结合图1～2，本装置中，两组清扫与吸尘装置分别采用关于中轴线对称布置，提高了清扫效率。两个后轮采用两个电机驱动，能做到在转弯时两轮之间有一定的线速度差。相比于使用差速器降低制造成本和加工精度，使产品更容易投入家庭使用。集尘箱高度穿过上盖，可以随时拆卸倾倒灰尘。With reference to Figures 1-2, in this device, the two sets of cleaning and dust suction devices are respectively arranged symmetrically about the central axis, which improves the cleaning efficiency. The two rear wheels are driven by two motors, which can achieve a certain linear speed difference between the two wheels when turning. Compared with using a differential, the manufacturing cost and processing accuracy are reduced, making the product easier to put into home use. The height of the dust box passes through the upper cover, and it can be disassembled and dumped at any time.
结合图3～5，采用蜗轮蜗杆减速提高减速效率，改变传动方向，并且可以合理分配布局空间减小装置尺寸；采用含有行星惰轮的机构消除惯性力保证传动平稳无需另加缓震装置。Combined with Figures 3 to 5, the worm gear reduction is used to improve the deceleration efficiency, change the transmission direction, and can rationally allocate the layout space to reduce the size of the device; use a mechanism containing planetary idlers to eliminate inertial forces to ensure stable transmission without additional shock absorbers.
结合图6，扫刷1收集的灰尘随空气流动进入吸尘通道，通道末端是类似膜瓣结构的集尘箱17，风扇转动时风力将其打开，岁空气流动的灰尘进入集尘箱17，风扇停止工作时，膜瓣关闭，实现灰尘收集与单向封闭。Referring to Fig. 6, the dust collected by the sweeping brush 1 enters the dust collection channel with the air flow, and the end of the channel is a dust collection box 17 similar to a diaphragm structure. When the fan stops working, the diaphragm closes to realize dust collection and one-way sealing.
结合图7～8，抓取机械手4通过肩部旋转伺服电机4-11、腕部旋转伺服电机4-20驱动机械手的旋转及肩部摆动伺服电机4-12、肘部摆动伺服电机4-14、腕部摆动伺服电机4-16的相互配合实现抓取机械手4在空间中的定位；通过圆柱齿轮伺服电机4-19、圆柱齿轮4-3、夹爪4-1及夹爪固定板4-2的相互配合实现对较大杂物的夹取功能。此地面杂物清理收纳机器人的创新点在于拾取机械手4及杂物拾取壳5实现对较大杂物的拾取与收纳。7-8, the grasping manipulator 4 drives the rotation of the manipulator through the shoulder rotation servo motor 4-11, the wrist rotation servo motor 4-20, the shoulder swing servo motor 4-12, and the elbow swing servo motor 4-14. , wrist swing servo motor 4-16 cooperate to realize the positioning of grabbing manipulator 4 in space; through cylindrical gear servo motor 4-19, cylindrical gear 4-3, jaw 4-1 and jaw fixed plate 4- 2 to realize the clamping function of larger sundries. The innovation of this ground debris cleaning and storage robot is that the picking manipulator 4 and the debris picking shell 5 can pick up and store larger debris.
此地面杂物清理收纳机器人由扫刷1、底板2、上盖3、抓取机械手4、杂物拾取壳5、机械手固定板6、擦地平台7、擦地滚筒8、前轮9、前轮电机10、前轮电机座11、传动皮带12、扫刷传动蜗轮13、吸尘平台14、滚筒支撑杆15、弹簧调整仓16、集尘箱17、大圆锥齿轮18、后轮电机支座19、主轴支座20、主轴电机21、主轴22、蜗轮大带轮轴23、大带轮24、后轮轮毂25、小带轮26、小带轮扫刷轴27、后轮轮胎28、后轮支撑架29、挡板30、双联轮31、传动蜗杆32、后轮步进电机33、固定中心轮34、后轮传动轴35、行星惰轮36、电机端盖37、风扇桨叶38、风扇小锥齿轮轴39、小圆锥齿轮40、风扇小锥齿轮轴支座41、夹爪4-1、夹爪固定板4-2、圆柱齿轮4-3、腕部传动板4-4、腕部伺服电机传动轮4-5小臂传动板4-6、肘部伺服电机传动轮4-7、大臂传板4-8、肩部伺服电机传动轮4-9、肩部固定板4-10、肩部旋转伺服电机4-11、肩部摆动伺服电机4-12、长螺杆4-13、肘部摆动伺服电机4-14、短螺杆4-15、腕部摆动伺服电机4-16、腕部连接板4-17、手部固定板4-18、圆柱齿轮伺服电机4-19、腕部旋转伺服电机4-20组成。This ground debris cleaning and storage robot consists of a sweeping brush 1, a bottom plate 2, an upper cover 3, a grasping manipulator 4, a debris picking shell 5, a manipulator fixing plate 6, a mopping platform 7, a mopping roller 8, a front wheel 9, and a front wheel. Wheel motor 10, front wheel motor seat 11, transmission belt 12, brush drive worm gear 13, dust collection platform 14, roller support rod 15, spring adjustment bin 16, dust collection box 17, large bevel gear 18, rear wheel motor support 19. Main shaft support 20, main shaft motor 21, main shaft 22, worm wheel large pulley shaft 23, large pulley 24, rear wheel hub 25, small pulley 26, small pulley brush shaft 27, rear tire 28, rear wheel Support frame 29, baffle plate 30, duplex wheel 31, drive worm 32, rear wheel stepper motor 33, fixed center wheel 34, rear wheel transmission shaft 35, planetary idler 36, motor end cover 37, fan blade 38, Fan small bevel gear shaft 39, small bevel gear 40, fan small bevel gear shaft support 41, jaw 4-1, jaw fixing plate 4-2, cylindrical gear 4-3, wrist transmission plate 4-4, wrist Servo motor drive wheel 4-5 forearm drive plate 4-6, elbow servo motor drive wheel 4-7, upper arm drive plate 4-8, shoulder servo motor drive wheel 4-9, shoulder fixed plate 4- 10. Shoulder rotation servo motor 4-11, shoulder swing servo motor 4-12, long screw rod 4-13, elbow swing servo motor 4-14, short screw rod 4-15, wrist swing servo motor 4-16, Wrist connection plate 4-17, hand fixed plate 4-18, cylindrical gear servo motor 4-19, wrist rotation servo motor 4-20 form.
机器人的设计参数为：规格(长×宽×高)：640×640×500mm。拟定工作电压24VDC～48VDC，拟定额定功率60W。The design parameters of the robot are: specifications (length×width×height): 640×640×500mm. The proposed working voltage is 24VDC ~ 48VDC, and the proposed rated power is 60W.
地面杂物清理收纳机器人可以实现自动完成日常家庭生活之中的地面清洁部分，解放较大比重的劳动力。The floor debris cleaning and storage robot can automatically complete the floor cleaning part of daily family life, liberating a large proportion of labor.
综上，本发明提供一种地面杂物清理收纳机器人，包括扫刷、风扇、吸尘平台、灰尘收纳盒、擦地平台、擦地滚筒、机械手、驱动轮等组件。后轮驱动整个系统运动，前万向轮控制方向实现在地面上任何方向的移动，然后由电机控制扫刷转动实现清扫功能，接着后面的风扇转动产生局部真空效果实现吸尘功能，最后固定有抹布的滚筒凭借与地面间有一定压力的接触实现擦地功能，期间较大的杂物清理功能由机械手的自动识别与夹持实现。To sum up, the present invention provides a ground debris cleaning and storage robot, including components such as a sweeping brush, a fan, a dust collection platform, a dust storage box, a mopping platform, a mopping roller, a manipulator, and a driving wheel. The rear wheel drives the whole system to move, the front universal wheel controls the direction to move in any direction on the ground, and then the motor controls the rotation of the sweeping brush to realize the cleaning function, and then the rear fan rotates to generate a partial vacuum effect to realize the dust collection function, and finally the fixed The roller of the rag realizes the function of wiping the floor by virtue of the contact with the ground with a certain pressure. During this period, the function of cleaning up larger debris is realized by the automatic identification and clamping of the manipulator.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350459.7ACN110074731A (en) | 2019-04-28 | 2019-04-28 | A kind of ground sundries cleaning storage robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910350459.7ACN110074731A (en) | 2019-04-28 | 2019-04-28 | A kind of ground sundries cleaning storage robot |
| Publication Number | Publication Date |
|---|---|
| CN110074731Atrue CN110074731A (en) | 2019-08-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910350459.7APendingCN110074731A (en) | 2019-04-28 | 2019-04-28 | A kind of ground sundries cleaning storage robot |
| Country | Link |
|---|---|
| CN (1) | CN110074731A (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20190802 | |
| RJ01 | Rejection of invention patent application after publication |