CN101972128B - Bionic intelligent air purification robot - Google Patents
Bionic intelligent air purification robot Download PDFInfo
- Publication number
- CN101972128B CN101972128B CN2010101471901A CN201010147190A CN101972128B CN 101972128 B CN101972128 B CN 101972128B CN 2010101471901 A CN2010101471901 A CN 2010101471901A CN 201010147190 A CN201010147190 A CN 201010147190A CN 101972128 B CN101972128 B CN 101972128B
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- vehicle body
- circuit
- universal arm
- drive circuit
- louvre blade
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
- Y02A50/2351—Atmospheric particulate matter [PM], e.g. carbon smoke microparticles, smog, aerosol particles, dust
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- Disinfection, Sterilisation Or Deodorisation Of Air (AREA)
Abstract
The invention discloses a bionic intelligent air purification robot, comprising a vehicle body. A robot head is arranged on the vehicle body; a camera and an illumination lamp are arranged at the front end of the head; an infrared sensor is arranged around the vehicle body; a toxic gas sensor, a particulate matter sensor, a temperature sensor and a humidity sensor are arranged at the two sides of the vehicle body; a universal arm is arranged at the front end of the vehicle body and a dust absorption head is connected with the front end of the universal arm; an air purification filter is arranged at the rear part of the vehicle body; and a nozzle is arranged at the rear end of the head which is internally provided with a control circuit and a language communication circuit board. The bionic intelligent air purification robot has the functions of dust absorption, dust removal, sweeping, sterilization, organic matter decomposition, temperature and humidity sensing and adjusting, toxic gas detection, toxic gas elimination, particulate matter sensing, illumination, free walking, mobile charging, infrared sensing, omnibearing photographing, digital storage, language communication and the like; an intelligent microcomputer is used for control, therefore, the bionic intelligent air purification robot has the advantages of good work effect, stable equipment performance, convenient operation, high efficiency, simple and compact structure, light weight and convenient transportation.
Description
Technical field
The present invention relates to a kind of bionic intelligence type air purifying robot that is applicable to.
Background technology
Along with The development in society and economy, People more and more is paid close attention to the pollution condition of dust in the building, bacterium, virus, and therefore, regularly to carry out the dedusting sterilization very necessary to building in the thing space.Also be not used in the Intelligent robot of automatic dedusting sterilization in the building at present both at home and abroad.
Summary of the invention
The technical problem that the present invention will solve is; Defective to the prior art existence; A kind of bionic intelligence type air purifying robot is provided; It has dust suction, dedusting, cleaning, sterilization, organic matter decomposition, humiture induction, humiture adjusting, toxic gas detection, functions such as poison gas removing, particle induction, illumination, walking freely, charging automatically, infrared induction, comprehensive shooting, stored digital, communication is arranged; Intelligent microcomputer is controlled, and good working effect, equipment performance are stable, easy to operate, efficient height, simple and compact structure, in light weight, easy to carry.
For realizing above-mentioned purpose, the technical solution that the present invention adopted is a kind of bionic intelligence type air purifying robot; Have the both sides correspondence that the vehicle body of automatic travelling device is housed, the robot head that circumferentially rotates around a center vertical pivot is housed on the said vehicle body, this robot head front end is equipped with camera and illuminating lamp; Around the said vehicle body infrared inductor is housed, said vehicle body one side is equipped with toxic gas sensor, and the vehicle body opposite side is equipped with particulate matter sensors; Temperature sensor and humidity sensor; Its design feature is that said body structure is equipped with Universal arm, Universal arm front end connection cleaner head; Body tail is equipped with air cleaning filter, in control circuit board and communication circuit board be housed the head rear end nozzle is housed.
Said head links to each other with vehicle body through the head swivel bearing that is contained on the vertical pivot of center, and head swivel bearing one side is provided with the head electric rotating machine of drive head rotation.
One of version of said automatic travelling device is; Lower left side is equipped with left track drive motor before the vehicle body; This left side track drive motor shaft links with left crawler belt bevel gear; On this left side crawler belt bevel gear left crawler belt driving wheel is housed, left crawler belt follower shaft is housed on the vehicle body of left crawler belt driving wheel rear side and is contained in the left crawler belt driven pulley on the left crawler belt follower shaft; The right-hand track chiain drive motors is equipped with on right side, the preceding bottom of vehicle body; This right-hand track chiain drive motors axle links with the right-hand track chiain bevel gear; On this right-hand track chiain bevel gear the right-hand track chiain driving wheel is housed, the right-hand track chiain follower shaft is housed on the vehicle body of right-hand track chiain driving wheel rear side and is contained in the right-hand track chiain driven pulley on the right-hand track chiain follower shaft; Said left track holds left crawler belt driven wheel and is contained on the left crawler belt driven wheel, and said right side crawler belt holds the right-hand track chiain driven wheel and is contained on the right-hand track chiain driven wheel; Said left track drive motor one side is provided with left track drive circuit board, and right-hand track chiain drive motors one side is provided with the right-hand track chiain drive circuit board.
Under the control of left track drive circuit board and right-hand track chiain drive circuit board; Left side track drive motor and right-hand track chiain drive motors drive left crawler belt bevel gear and the running of right-hand track chiain bevel gear respectively; Thereby drive the rotation of left crawler belt driving wheel and right-hand track chiain driving wheel, make bionic intelligence type air purifying robot advance automatically, retreat or turn to.
Two of the version of said automatic travelling device is; Lower left side is equipped with the revolver drive motors before the vehicle body; This revolver drive motors axle links with the revolver bevel gear; On this revolver bevel gear the revolver driving wheel is housed, the revolver follower shaft is housed on the vehicle body of revolver driving wheel rear side and is contained in the revolver driven pulley on the revolver follower shaft; Right wheel drive motor is equipped with on right side, the preceding bottom of vehicle body; This right side wheel drive motor shaft links with right wheel bevel gear; On this right side wheel bevel gear right wheel driving wheel is housed, right wheel follower shaft is housed on the vehicle body of right wheel driving wheel rear side and is contained in the right side wheel driven pulley on the right wheel follower shaft.
Under the control of revolver drive circuit board and right wheel drive circuit board; Revolver drive motors and right wheel drive motor drive revolver bevel gear and the running of right wheel bevel gear respectively; Thereby drive revolver driving wheel and the rotation of right wheel driving wheel, realize that bionic intelligence type air purifying robot advances automatically, retreats or turns to.
On the said cleaner head front end working face straight bristle of cleaner head and dust suction round brush are housed; The cleaner head rear end links to each other with Universal arm cleaner head draw-in groove through the Universal arm dust suction joint of cleaner head joint bayonet socket with the Universal arm front end, and Universal arm is plugged on body structure through the Universal arm body joint and the Universal arm body joint draw-in groove of its rear end; Said Universal arm comprises the universal jib of more piece, and each saves between the universal jib and links to each other with Universal arm left rotation and right rotation axle through the Universal arm upper-lower rotating shaft; This Universal arm upper-lower rotating shaft one side is provided with and drives lower rotating electrical machine on its Universal arm that rotates up and down, and this Universal arm left rotation and right rotation axle one side is provided with the Universal arm left rotation and right rotation motor that drives its left rotation and right rotation; Be provided with the cleaner head blank pipe in the said cleaner head; Universal arm is axially arranged with the Universal arm cavity that runs through its front-end and back-end; This cleaner head blank pipe is connected with the Universal arm cavity; Universal arm cavity and be located between the dust hopper in the vehicle body and be provided with the dust-absorbing filtering cover, this dust-absorbing filtering cover front end is provided with the sweep-up pipe valve, and this sweep-up pipe valve one side is provided with the sweep-up pipe valve electric rotating machine of regulating the sweep-up pipe valve opening.
During the sweep-up pipe valve opening, by Universal arm up and down with the left rotation and right rotation motor-driven, Universal arm drive cleaner head is carried out dust removal process to the dust in bionic intelligence type air purifying robot the place ahead.When the sweep-up pipe valve closing, carry out adjustment, prevent that air blast from blowing out the dust in the dust hopper through Universal arm cavity and cleaner head blank pipe.
Said camera, illuminating lamp link to each other with the axle of camera light electric rotating machine in being contained in vehicle body through camera light rotating shaft.
Said nozzle is communicated with disinfectant tube one end, and the disinfectant tube other end thimerosal atomizer pump interior with being located at vehicle body is communicated with, and this thimerosal atomizer pump links to each other with the thimerosal case through the disinfectant water intaking valve; One nozzle rotating shaft is housed in the said nozzle, and this nozzle rotating shaft one side is provided with through the nozzle rotating shaft and drives the nozzle electric rotating machine that nozzle is done elevating movement.
Drive the nozzle rotating shaft by the nozzle electric rotating machine, nozzle is sprayed onto the thimerosal in the thimerosal case on the object to be sterilized through the thimerosal atomizer pump.
The structure of said thermoregulator is that the thermoregulator louvre blade links to each other with the axle of thermoregulator louvre blade electric rotating machine through thermoregulator louvre blade rotation connecting rod; Said thermoregulator louvre blade downside is provided with the thermoregulator cover, is provided with dehumidifying, heater in this thermoregulator cover, and this dehumidifying, heater downside are evaporimeter; The evaporimeter below is provided with at least one group of blower wheel; Blower wheel one side is connected with blower motor, and this blower wheel one side also is provided with the liquid storage device for drying and filtering, and the blower wheel below is a condenser; This condenser one side is provided with compressor, and the condenser below is provided with water-supporting disc.
After dehumidifying, the heater work, if desired surrounding environment is dehumidified, heats, blower wheel blows out hot gas under the driving of blower motor from the thermoregulator louvre blade, reach dehumidifying, heating purposes.During if need lower the temperature to surrounding environment; Dehumidifying, heater quit work, and start compressor, and condenser and evaporimeter are started working; Blower wheel is under the driving of blower motor; Cold air is blown out from the thermoregulator louvre blade, reach the cooling purpose, the water droplet that condenses during condensation flow in the water-supporting disc.
The structure of said humidistat is that atomizing humidifier louvre blade links to each other with the axle of atomizing humidifier louvre blade electric rotating machine through atomizing humidifier louvre blade rotation connecting rod; Said atomizing humidifier louvre blade downside is provided with atomizing humidifier cover, is provided with ultrasonic ultrasonic delay line memory in this atomizing humidifier cover, and ultrasonic ultrasonic delay line memory one side is provided with the ultrasonic ultrasonic delay line memory water tank that is attached thereto through the atomizer water intaking valve.
In the time of need carrying out moistening processing to environment, the water in the ultrasonic ultrasonic delay line memory water tank is blown out from atomizing humidifier louvre blade seam, reach the purpose of moist environment through ultrasonic ultrasonic delay line memory.
The structure of said air cleaning filter is that the air cleaning filter louvre blade purifies louvre blade rotation connecting rod through air cleaner and links to each other with the axle that air cleaner purifies the louvre blade electric rotating machine; Said air cleaning filter louvre blade downside is provided with the air cleaning filter cover; Be provided with active carbon, photocatalyst complex filter in this air cleaning filter cover; This active carbon, photocatalyst complex filter downside are provided with the dust absorption fan impeller; Dust absorption fan impeller one side is connected with the dust absorption fan motor, and dust absorption fan motor downside is provided with by high efficiency particulate air filter lattice and the high efficiency particulate air filter that places the efficient filtrate on the high efficiency particulate air filter lattice to form.
Said active carbon, photocatalyst complex filter are catalyst carrier with the wire netting, load certain amount of nano level catalysis material and active carbon, and it is significantly lasting to make it have good chemical stability, abrasion resistance, translucidus, result of use.Utilize the ultraviolet light that contains in the sunshine to make excitaton source, thus make that it has antibiotic, sterilization, purifies air, sewage disposal, eliminate the unusual smell, photocatalytic effect such as automatically cleaning.
Treat that dedusting gas after active carbon, photocatalyst complex filter filter, is drawn in the high efficiency particulate air filter by the dust absorption fan impeller and filters, obtain pure air.
Said bionic intelligence type air purifying robot also comprises a charger for the secondary cell charge of bionic intelligence type air purifying robot, and this charger is electrically connected with civil power through charger power cord, and charger is selected existing commercially available charger for use.
Said infrared ray sensor is made up of infrared emission circuit and receiving circuit, and wherein the infrared emission circuit is responsible for producing, regulates and is driven and sends high-frequency pulse signal, and infrared receiving circuit is responsible for receiving the high-frequency pulse signal that returns.Obtain the modulated pulse signal of a 38kHz through 38kHz crystal oscillator and not circuit; The infrared light that infrared transmitting tube sends is received by infrared receiving module behind reflection object; Return a data signal through receiving after the inner integrated circuit that carries of head is handled, this data signal is input to micro controller I/O mouth, and the infrared pulse that the reception head receives kHz returns output low level, otherwise the output high level; Through detection to the I/O mouth, with having or not of judgment object, detect whether step is arranged, prevent to fall; Power-supply management system is housed in the robot, and brownout can stop cleaning, and gets back to bionic intelligence type air purifying robot charger place automatically and charge.
Store man-machine language in the said communication circuit board and exchange program, by this communication circuit board, intelligent robot can and the people between carry out communication.
Said control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer, 12V DC power supply circuit; The 24V DC power supply circuit, camera and illuminating lamp control circuit, the switching-over of each group switching-over joint of Universal arm drives joint drive circuit, camera and illuminating lamp pitching drive circuit; Nozzle pitching drive circuit, sweep-up pipe valve controling circuit, each louvre blade control circuit, each sensor control circuit; The vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor drive circuit, blower fan drive circuit, compressor drive circuit; The air blast drive circuit, head rotation drive circuit, spraying motor-drive circuit; And:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable.
The control signal interface of said single-chip microcomputer is also respectively with each sensor control circuit, and the switching-over of each group switching-over joint of Universal arm drives joint drive circuit, camera and illuminating lamp pitching drive circuit; Nozzle pitching drive circuit, sweep-up pipe valve controling circuit, each louvre blade control circuit; Camera and illuminating lamp control circuit, vehicle body left row are walked motor-drive circuit and vehicle body right side movable motor drive circuit, blower fan drive circuit; Compressor drive circuit; The air blast drive circuit, head rotation drive circuit, and the prime signal controlling end of spraying motor-drive circuit connects.
The back level signal controlling end of said camera and illuminating lamp control circuit is respectively with said illuminating lamp, optics camera and video acquisition card connection; The back level signal controlling end of each sensor control circuit links to each other with corresponding sensor respectively; The back level signal controlling end that the switching-over of each group switching-over joint of Universal arm drives the joint drive circuit is respectively with about corresponding switching-over joint, drive motors links to each other up and down; Camera links to each other with illuminating lamp pitching drive motors with camera with the back level signal controlling end of illuminating lamp pitching drive circuit; The back level signal controlling end of nozzle pitching drive circuit links to each other with nozzle pitching drive motors; The back level signal controlling end of sweep-up pipe valve controling circuit links to each other with sweep-up pipe valve control motor; The back level signal controlling end of each louvre blade control circuit links to each other with corresponding louvre blade control motor respectively, and wherein the output signal of optics camera is delivered to microcomputer through video frequency collection card.
Said 12V dc power supply circuit is to camera and illuminating lamp control circuit, and the switching-over of each group switching-over joint of Universal arm drives joint drive circuit, camera and illuminating lamp pitching drive circuit; Nozzle pitching drive circuit, sweep-up pipe valve controling circuit, each louvre blade control circuit; Each sensor control circuit provides working power and to single-chip microcomputer working power is provided through Voltage stabilizing module, and the 24V dc power supply circuit is walked motor-drive circuit and vehicle body right side movable motor drive circuit, blower fan drive circuit to the vehicle body left row; Compressor drive circuit; The air blast drive circuit, head rotation drive circuit, the spraying motor-drive circuit provides working power.
Operation principle of the present invention is following:
Start left track drive motor, left crawler belt seesaws; Start the right-hand track chiain drive motors, left crawler belt seesaws; Through driver control vehicle body both sides crawler belt, then realize before and after the vehicle body walking with about turn.
Start Universal arm left rotation and right rotation motor, the Universal arm side-to-side movement; Start lower rotating electrical machine on the Universal arm, Universal arm moves up and down, and realizes the motion of any track of Universal arm.
Start atomizing humidifier louvre blade electric rotating machine, atomizing humidifier louvre blade is opened or is closed, and carries out humidification; Start-up temperature adjuster louvre blade electric rotating machine, the thermoregulator louvre blade is opened or is closed, and carries out adjustment.
Know by above; Bionic intelligence type air purifying robot of the present invention; Have dust suction, dedusting, cleaning, sterilization, humiture induction, humiture adjusting, toxic gas detection, functions such as poison gas removing, particle induction, illumination, walking freely, infrared induction, comprehensive shooting, stored digital, communication are arranged; Intelligent microcomputer is controlled; Good working effect, equipment performance are stable, easy to operate, efficient height, simple and compact structure, in light weight, convenient transportation.
Description of drawings
Fig. 1 is the machine shape structural representation of an embodiment of the present invention;
Fig. 2 is the plan structure sketch map of device shown in Figure 1;
Fig. 3 is the main TV structure sketch map of device shown in Figure 1;
Fig. 4 is the backsight structural representation of device shown in Figure 1;
Fig. 5 is the main TV structure sketch map (band broken section) of device shown in Figure 1;
Fig. 6 is the backsight structural representation (band broken section) of device shown in Figure 1;
Fig. 7 is the left TV structure sketch map (band broken section) of device shown in Figure 1;
Fig. 8 is the right TV structure sketch map (band broken section) of device shown in Figure 1;
Fig. 9 be device shown in Figure 1 look up structural representation (band broken section);
Figure 10 is a walking Drive Structure sketch map (band broken section) among Fig. 1;
Figure 11 is understructure sketch map among Fig. 1 (a band broken section);
Figure 12 is high efficiency particulate air filter structural representation among Figure 11 (a band broken section);
Figure 13 is Universal arm structural representation among Fig. 1 (a band broken section);
Figure 14 is the structural representation of Universal arm embodiment among Figure 13;
Figure 15 is the structural representation of Universal arm embodiment among Figure 13;
Figure 16 is the main TV structure sketch map (band broken section) of cleaner head among Fig. 1;
Figure 17 is the plan structure sketch map of cleaner head among Fig. 1;
Figure 18 be among Fig. 1 cleaner head look up structural representation;
Figure 19 is the embodiment contour structures sketch map of charger of the present invention;
Figure 20 is the left TV structure sketch map (band broken section) of Figure 19;
Figure 21 is the control circuit block diagram of a kind of embodiment;
Figure 22 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer among Figure 21;
Figure 23 is a kind of embodiment circuit of camera and illuminating lamp control circuit among Figure 21;
Figure 24 is a kind of embodiment circuit of first level shifting circuit among Figure 21, second level shifting circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module;
Figure 25 is a kind of embodiment circuit of sensor signal processing circuit among Figure 21;
Figure 26 does one group of circuit in the drive circuit of motor drive power supply by the 24V DC power supply circuit among Figure 21;
Figure 27 does one group of circuit in the drive circuit of motor drive power supply by the 12V DC power supply circuit among Figure 21;
Figure 28 is Figure 21 middle infrared (Mid-IR) sensor embodiment circuit diagram;
Figure 29 is a kind of embodiment line map that drives buffer circuit described in Figure 21;
Figure 30 is the circuit block diagram of Figure 21 middle infrared (Mid-IR) sensor;
Figure 31 is the plan structure sketch map of the another kind of embodiment of the present invention;
Figure 32 is the main TV structure sketch map of the another kind of embodiment of the present invention;
Figure 33 is the backsight structural representation of the another kind of embodiment of the present invention.
In the accompanying drawings:
The 1-cleaner head, the 2-Universal arm, the 3-camera,
The 4-illuminating lamp, the 5-head, the 6-nozzle,
7-air cleaning filter louvre blade, the 8-toxic gas sensor,
9-atomizing humidifier louvre blade, the 10-infrared ray sensor,
11-right side crawler belt, the 12-left track,
13-left track driven pulley, 14-left track driving wheel,
The 15-humidity sensor, 16-thermoregulator louvre blade,
The 17-charging connector, 18-atomizer water intaking valve,
19-disinfectant water intaking valve, the 20-contact of charging,
The 21-dust hopper, the wet louvre blade electric rotating machine of 22-atomizing increasing device,
23-atomizing humidifier louvre blade rotation connecting rod, 24-thermoregulator louvre blade electric rotating machine,
25-thermoregulator louvre blade rotation connecting rod, 26-thermoregulator cover,
27-atomizing humidifier cover, 28-dust absorption fan motor,
29-dust absorption fan impeller, 30-left side crawler belt bevel gear,
31-left side track drive motor, 32-left side track drive circuit board,
33-left side crawler belt follower shaft, the 34-air cleaner purifies the louvre blade electric rotating machine,
The 35-air cleaner purifies louvre blade rotation connecting rod, 36-sweep-up pipe valve electric rotating machine,
37-sweep-up pipe valve, 38-camera, light electric rotating machine,
39-camera, light rotating shaft, 40-nozzle electric rotating machine,
41-nozzle rotating shaft, 42-right-hand track chiain driving wheel,
43-right-hand track chiain bevel gear, 44-right-hand track chiain drive motors,
45-right-hand track chiain drive circuit board, 46-right-hand track chiain follower shaft,
47-right-hand track chiain driven pulley 48-high efficiency filter steam vent,
49-head electric rotating machine, 50-head swivel bearing,
51-communication circuit board 52-control circuit board,
The 53-disinfectant tube, 54-dehumidifying, heater,
The 55-evaporimeter, the 56-blower wheel,
The 57-blower motor, 58, the 59-condenser pipe,
60-liquid storage device for drying and filtering, the 61-compressor,
62-air cleaning filter cover, 63-dust-absorbing filtering cover,
The 64-condenser, the 65-water-supporting disc,
The 66-ultrasonic ultrasonic delay line memory, the 67-high efficiency particulate air filter,
68-ultrasonic ultrasonic delay line memory water tank, 69-thimerosal case,
The efficient filtrate of 70-thimerosal atomizer pump 71-,
72-high efficiency particulate air filter lattice, 73-Universal arm dust suction joint,
74-Universal arm dust suction joint draw-in groove, lower rotating electrical machine on the 75-Universal arm,
The universal jib 77-of 76-Universal arm left rotation and right rotation motor,
98-active carbon, photocatalyst complex filter, 79-Universal arm body joint draw-in groove,
78-Universal arm body joint, the 80-Aviation Connector, 81-Universal arm cavity,
82-Universal arm left rotation and right rotation axle, 83-Universal arm upper-lower rotating shaft, 84-cleaner head joint bayonet socket,
85-cleaner head blank pipe, 86,87-cleaner head round brush, the 88-cleaner head is directly brushed,
The 89-charger, 90-charger power switch, the 91-power supply indicator,
92-charger warning lamp, 93-charging socket, the 94-jack that charges,
The 95-charger power cord, 96-charger radiator fan, the 97-charger circuit board,
The 99-vehicle body, the 100-particulate matter sensors, the 101-temperature sensor,
113-revolver driven pulley, 114-revolver driving wheel, 130-revolver bevel gear,
131-revolver drive motors, 132-revolver drive circuit board, 133-revolver follower shaft,
The right wheel of 142-driving wheel, the right wheel of 143-bevel gear, the right wheel drive motor of 144-,
The right wheel drive circuit board of 145-, the right wheel of 146-follower shaft, the right wheel of 147-driven pulley.
The specific embodiment
A kind of bionic intelligence type air purifying robot shown in Fig. 1～8, has the both sides correspondence that the vehicle body 99 of left track 11 and right side crawler belt 12 is housed; The robot head 5 that circumferentially rotates around a center vertical pivot is housed on the said vehicle body 99; These robot head 5 front ends are equipped with camera 3 and illuminating lamp 4, around the said vehicle body 99 infrared inductor 10 are housed, and said vehicle body 99 1 sides are equipped with toxic gas sensor 8; Vehicle body 99 opposite sides are equipped with particulate matter sensors 100; Temperature sensor 101 and humidity sensor 15, said vehicle body 99 front ends are equipped with Universal arm 2, and the Universal arm front end connects cleaner head 1; Air cleaning filter is equipped with at vehicle body 99 rear portions, in the head 5 of control circuit board 52 and communication circuit board 51 is housed the rear end nozzle 6 is housed.
Said head 5 links to each other with vehicle body 99 through the head swivel bearing 50 that is contained on the vertical pivot of center, and head swivel bearing 50 1 sides are provided with the head electric rotating machine 49 of drive head 5 rotations, and head 5 is 0 °～360 ° rotations.
Shown in figure 10; Lower left side is equipped with left track drive motor 31 before the said vehicle body 99; 31 in this left side track drive motor links with left crawler belt bevel gear 30; On this left side crawler belt bevel gear 30 left crawler belt driving wheel 14 is housed, left crawler belt follower shaft 33 is housed on the vehicle body 99 of left crawler belt driving wheel 14 rear sides and is contained in the left crawler belt driven pulley 13 on the left crawler belt follower shaft 33; Right-hand track chiain drive motors 44 is equipped with on right side, vehicle body 99 preceding bottom; 44 of this right-hand track chiain drive motors link with right-hand track chiain bevel gear 43; On this right-hand track chiain bevel gear 43 right-hand track chiain driving wheel 42 is housed, right-hand track chiain follower shaft 46 is housed on the vehicle body 99 of right-hand track chiain driving wheel 42 rear sides and is contained in the right-hand track chiain driven pulley 47 on the right-hand track chiain follower shaft 46; Said left track 12 holds left crawler belt driven wheel 14,13 and is contained on the left crawler belt driven wheel 14,13, and said right side crawler belt 11 holds right-hand track chiain driven wheel 42,47 and is contained on the right-hand track chiain driven wheel 42,47; Said left track drive motor 31 1 sides are provided with left track drive circuit board 32, and right-hand track chiain drive motors 44 1 sides are provided with right-hand track chiain drive circuit board 45.Said crawler belt adopts great friction coefficient, elastomeric rubber to make.
Under the control of left track drive circuit board 32 and right-hand track chiain drive circuit board 45; Left side track drive motor 31 drives left crawler belt bevel gear 30 and 40 runnings of right-hand track chiain bevel gear respectively with right-hand track chiain drive motors 44; Thereby drive left crawler belt driving wheel 14 and 42 rotations of right-hand track chiain driving wheel, make bionic intelligence type air purifying robot advance, retreat or turn to.
Referring to Fig. 1, Figure 16 to Figure 18; Straight bristle 88 of cleaner head and dust suction round brush 86,87 are housed on the said cleaner head 1 front end working face; Cleaner head 1 rear end links to each other with Universal arm cleaner head draw-in groove 74 through the Universal arm dust suction joint 73 of cleaner head joint bayonet socket 84 with Universal arm 2 front ends, and Universal arm 2 is plugged on vehicle body 99 front ends through the Universal arm body joint 78 of its rear end with Universal arm body joint draw-in groove 79; Said Universal arm 2 comprises the universal jib 76 of six joints, and each saves between the universal jib 76 and links to each other with Universal arm left rotation and right rotation axle 82 through Universal arm upper-lower rotating shaft 83; These Universal arm upper-lower rotating shaft 83 1 sides are provided with and drive lower rotating electrical machine 75 on its Universal arm that rotates up and down, and these Universal arm left rotation and right rotation axle 82 1 sides are provided with the Universal arm left rotation and right rotation motor 77 that drives its left rotation and right rotation; Be provided with cleaner head blank pipe 85 in the said cleaner head 1; Universal arm 2 is axially arranged with the Universal arm cavity 81 that runs through its front-end and back-end; This cleaner head blank pipe 85 is connected with Universal arm cavity 81; Universal arm cavity 81 and be located between the dust hopper 21 in the vehicle body 99 and be provided with dust-absorbing filtering cover 63, these dust-absorbing filtering cover 63 front ends are provided with sweep-up pipe valve 37, and these sweep-up pipe valve 37 1 sides are provided with the sweep-up pipe valve electric rotating machine 36 of regulating sweep-up pipe valve 37 apertures.
Referring to Fig. 1, Figure 13～15, the Universal arm body joint 78 of said Universal arm 2 rear ends links to each other with vehicle body 99, and Universal arm 2 keeps the transmission signal communication through Aviation Connector 80 and vehicle body 99; These Universal arm 2 left rotation and right rotation realize through Universal arm left rotation and right rotation axle 82, Universal arm left rotation and right rotation motor 77; This Universal arm about in the of 2 rotating tee cross on Universal arm upper-lower rotating shaft 83, the Universal arm lower rotating electrical machine 75 and realize; These Universal arm 2 front end Universal arm dust suction joints 73 link to each other with cleaner head 1.
Start vacuum cleaner hose valve electric rotating machine 36 shown in Figure 7, vacuum cleaner hose valve 37 is opened or is closed; When vacuum cleaner hose valve 37 is opened, drive with left rotation and right rotation motor 75,77 up and down by Universal arm, the dust in 1 pair of bionic intelligence type of Universal arm 2 drive cleaner head air purifying robot the place ahead carries out dust removal process.
Referring to Fig. 1, Fig. 7, Fig. 8, said camera 3, illuminating lamp 4 link to each other with the axle of camera light electric rotating machine 38 in being contained in vehicle body 99 through camera light rotating shaft 39.Said illuminating lamp is selected high-brightness LED lamp for use, and camera adopts the high definition pick-up head;
Start camera shown in Figure 7, light electric rotating machine 38, camera 3, illuminating lamp 4 are done elevating movement around camera, light rotating shaft 39.
Referring to Fig. 7, said nozzle 6 is communicated with disinfectant tube 53 1 ends, and disinfectant tube 53 other ends are communicated with thimerosal atomizer pumps 70 in being located at vehicle body 99, and this thimerosal atomizer pump 70 passes through disinfectant water intaking valve 18 and links to each other with thimerosal case 69; One nozzle rotating shaft 41 is housed in the said nozzle 6, and this nozzle rotating shaft 41-side is provided with through nozzle rotating shaft 41 and drives the nozzle electric rotating machine 40 that nozzle 6 is done elevating movement.
Referring to Fig. 3 and Figure 11, start the described thimerosal atomizer pump 70 of Figure 11, through disinfectant tube 53 liquid pump to the nozzle 6 of will sterilizing; Start nozzle electric rotating machine 40 shown in Figure 7; Nozzle 6 is done elevating movement around nozzle rotating shaft 41, and thimerosal is come out by nozzle 6 atomized sprays, is spread across on the object to be sterilized.
Referring to Fig. 3, Fig. 5, Fig. 8, Fig. 9, the structure of said thermoregulator is that thermoregulator louvre blade 16 links to each other with the axle of thermoregulator louvre blade electric rotating machine 24 through thermoregulator louvre blade rotation connecting rod 25; Said thermoregulator louvre blade 16 downsides are provided with thermoregulator cover 26; Be provided with dehumidifying, heater 54 in this thermoregulator cover 26; This dehumidifying, heater 54 downsides are evaporimeter 55, and evaporimeter 55 belows are provided with two groups of blower wheels 56, and blower wheel 56 1 sides are connected with blower motor 57; These blower wheel 56 1 sides also are provided with liquid storage device for drying and filtering 60; Blower wheel 56 belows are condenser 64, and these condenser 64 1 sides are provided with compressor 61, and condenser 64 belows are provided with water-supporting disc 65.
25 work of thermoregulator louvre blade electric rotating machine 24 actuation temperature adjuster louvre blades rotation connecting rod; Thermoregulator louvre blade 16 is opened, and after dehumidifying, heater 54 work, if desired surrounding environment is dehumidified, heats; Start the described blower motor 57 of Fig. 8; Blower wheel 56 blows out hot gas under the driving of blower motor 57 from thermoregulator louvre blade 16, reach dehumidifying, heating purposes.During if need lower the temperature to surrounding environment; Dehumidifying, heater 54 quit work, and start the described compressor 61 of Fig. 8, and condenser 64 is started working with evaporimeter 55; Blower wheel 56 is under the driving of blower motor 57; Cold air is blown out from thermoregulator louvre blade 16, reach the cooling purpose, the water droplet that condenses during condensation flow in the water-supporting disc 65.
During adjustment, sweep-up pipe valve 37 is closed, and to prevent air blast the dust in the dust hopper 21 is blown out through Universal arm cavity 81 and cleaner head blank pipe 85.
Referring to Fig. 5, Fig. 7, Figure 11, the structure of said humidistat is that atomizing humidifier louvre blade 9 links to each other with the axle of atomizing humidifier louvre blade electric rotating machine 22 through atomizing humidifier louvre blade rotation connecting rod 23; Said atomizing humidifier louvre blade 9 downsides are provided with atomizing humidifier cover 27, are provided with ultrasonic ultrasonic delay line memory 64 in this atomizing humidifier cover 27, and ultrasonic ultrasonic delay line memory 64 1 sides are provided with the ultrasonic ultrasonic delay line memory water tank 68 that is attached thereto through atomizer water intaking valve 18.
In the time of need carrying out moistening processing to environment; Atomizing humidifier louvre blade electric rotating machine 22 drives 23 work of atomizing humidifier louvre blade rotation connecting rod; Atomizing humidifier louvre blade 9 is opened; Start the described ultrasonic ultrasonic delay line memory 66 of Figure 11, ultrasonic ultrasonic delay line memory 64 is blown out the water smoke in the ultrasonic ultrasonic delay line memory water tank 68 from atomizing humidifier louvre blade 9 seams, reach the purpose of moist environment.
Referring to Fig. 1～9, Figure 11, Figure 12, the structure of said air cleaning filter is that air cleaning filter louvre blade 7 purifies louvre blade rotation connecting rod 35 through air cleaner and links to each other with the axle that air cleaner purifies louvre blade electric rotating machine 34; Said air cleaning filter louvre blade 7 downsides are provided with air cleaning filter cover 62; Be provided with active carbon, photocatalyst complex filter 98 in this air cleaning filter cover 62; This active carbon, photocatalyst complex filter 98 downsides are provided with dust absorption fan impeller 29; Dust absorption fan impeller 29 1 sides are connected with dust absorption fan motor 28, and dust absorption fan motor 28 downsides are provided with by high efficiency particulate air filter lattice 72 and the high efficiency particulate air filter 67 that places the efficient filtrate 71 on the high efficiency particulate air filter lattice 72 to form.
Said active carbon, photocatalyst complex filter 98 are catalyst carrier with the wire netting, load certain amount of nano level catalysis material and active carbon, and it is significantly lasting to make it have good chemical stability, abrasion resistance, translucidus, result of use.Utilize the ultraviolet light that contains in the sunshine to make excitaton source, thus make that it has antibiotic, sterilization, purifies air, sewage disposal, eliminate the unusual smell, photocatalytic effect such as automatically cleaning.
As required, start air purification filter louvre blade electric rotating machine 34 shown in Figure 7, air cleaning filter louvre blade 7 is opened or is closed.When air cleaning filter louvre blade 7 is opened, treat that dedusting gas after active carbon, photocatalyst complex filter 98 filter, is drawn in the high efficiency particulate air filter 67 by dust absorption fan impeller 29 and filters, obtain pure air.
Referring to Figure 19; Figure 20; Said bionic intelligence type air purifying robot comprises that also one is the charger 89 of the secondary cell charge of bionic intelligence type air purifying robot, and this charger 89 is electrically connected with civil power through charger power cord 95, and charger 89 is selected existing commercially available charger for use.Charger 89 upper ends are provided with charger power switch 90; Charger indicator lamp 91 and charger warning lamp 92; Be provided with charger circuit board 97 in the charger 89; Charger 89 1 sides are provided with charging socket 93 and the charging jack 94 that is located in the charging socket 93, and charger 89 opposite sides also are provided with charger radiator fan 96; Said charger power switch 90, charger indicator lamp 91, charger warning lamp 92, charging socket 93, charging jack 94, charger radiator fan 96 is electrically connected in order; Said charging jack 94 can be contained in vehicle body 99 rear ends on charging contacts 20 in the charging connector 17 dock charging.
Said toxic gas sensor 8 is used to detect toxic gas, and said particulate matter sensors 100 is used for perception particle size.Said outer line sensor, Temperature Humidity Sensor, toxic gas sensor, particulate matter sensors all adopt the high sensitivity product.
Referring to Fig. 8, store man-machine language in the said communication circuit board 51 and exchange program, by this communication circuit board 51, intelligence machine can carry out normal communication between men.
Referring to Figure 21, said control circuit comprises first level shifting circuit, second level shifting circuit, single-chip microcomputer; The 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit; First switching-over of each group switching-over joint of Universal arm drives the joint drive circuit and second switching-over drives joint drive circuit, camera and illuminating lamp pitching drive circuit, nozzle pitching drive circuit; The sweep-up pipe valve controling circuit, each louvre blade control circuit, each sensor control circuit; The vehicle body left row is walked motor-drive circuit and vehicle body right side movable motor drive circuit, blower fan drive circuit, compressor drive circuit; The air blast drive circuit, head rotation drive circuit, spraying motor-drive circuit; These circuit concentrate in the control circuit board 52 that is installed in the car body, and associated tracks such as its control signal output line and power line connect with corresponding load through plug receptacle or plug (like Aviation Connector 80); And:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable.
The control signal interface of said single-chip microcomputer is also respectively with each sensor control circuit, and first switching-over of each group switching-over joint of Universal arm drives the joint drive circuit and second switching-over drives joint drive circuit, camera and illuminating lamp pitching drive circuit; Nozzle pitching drive circuit, sweep-up pipe valve controling circuit, each louvre blade control circuit; Camera and illuminating lamp control circuit, vehicle body left row are walked motor-drive circuit and vehicle body right side movable motor drive circuit, blower fan drive circuit; Compressor drive circuit; The air blast drive circuit, head rotation drive circuit, and the prime signal controlling end of spraying motor-drive circuit connects.
The back level signal controlling end of said camera and illuminating lamp control circuit is respectively with said illuminating lamp, optics camera and video acquisition card connection; The back level signal controlling end of each sensor control circuit links to each other with corresponding sensor respectively; First switching-over of each group switching-over joint of Universal arm drives back level signal controlling end that joint drive circuit and second switching-over drive the joint drive circuit respectively with about corresponding switching-over joint, drive motors links to each other up and down; Camera links to each other with illuminating lamp pitching drive motors with camera with the back level signal controlling end of illuminating lamp pitching drive circuit; The back level signal controlling end of nozzle pitching drive circuit links to each other with nozzle pitching drive motors; The back level signal controlling end of sweep-up pipe valve controling circuit links to each other with sweep-up pipe valve control motor; The back level signal controlling end of each louvre blade control circuit links to each other with corresponding louvre blade control motor respectively, and wherein the output signal of optics camera is delivered to microcomputer through video frequency collection card and shown or store.
Said each sensor control circuit is the infrared ray sensor control circuit, pellet thing sensor control circuit, temperature, humidity sensor control circuit, toxic gas sensor control circuit.Infrared ray sensor, pellet thing sensor, temperature, humidity sensor, the output signal of toxic gas sensor is connected to the signal input part of corresponding sensor control circuit.
Said each louvre blade control circuit is air cleaner louvre blade control circuit, temperature controller louvre blade control circuit, atomizing humidifier louvre blade control circuit.The back level signal controlling end of each louvre blade control circuit links to each other with corresponding air cleaner louvre blade control motor, temperature controller louvre blade control motor, atomizing humidifier louvre blade control motor respectively.
Said 12V dc power supply circuit each operating circuit of single-chip microcomputer left side in Figure 21 provides working power and to single-chip microcomputer working power is provided through Voltage stabilizing module, and 24V dc power supply circuit each operating circuit of single-chip microcomputer right side in Figure 21 provides working power.
First switching-over of each group switching-over joint of said Universal arm drives the joint drive circuit and is connected with the first pair of drive motors of corresponding group and the power end of second pair of drive motors respectively with the driving loop that second switching-over drives the drive circuit of joint drive circuit; The driving loop of said each electric rotating machine drive circuit connects with the power end of corresponding motor respectively;
Also include the driving buffer circuit that is used for isolating microprocessor and motor in the said control circuit.
Said 12V DC power supply circuit each operating circuit of single-chip microcomputer left side in Figure 15 provides working power and to single-chip microcomputer working power is provided through Voltage stabilizing module, and 24V DC power supply circuit each operating circuit of single-chip microcomputer right side in Figure 15 provides working power.
Figure 22 is a kind of embodiment main control chip circuit diagram of single-chip microcomputer among Figure 21, and wherein U1 is the main control chip of robot, and the run action of robot and the collection of various ambient parameters and processing all will be carried out processed through this microprocessor.
Figure 23 is a kind of embodiment circuit diagram of camera and illuminating lamp control circuit among Figure 21; Wherein (a) is lighting control circuit; J5 is the gang socket of light, and the switching of light is to realize through the shutoff of triode Q9, Q12 and conducting, and the adjusting of the power of light is to regulate through PWM to realize; (b) be the camera control circuit, J6 is the gang socket of camera, and the switching of camera is to realize through the shutoff of triode Q1, Q5 and conducting.
Figure 24 is a kind of embodiment circuit of first level shifting circuit among Figure 21, second level shifting circuit and 12V DC power supply circuit, 24V DC power supply circuit, Voltage stabilizing module.Wherein (a) is the hardware watchdog circuit, and JPI is a hardware watchdog chip, and its main effect is at microprocessor because fortuitous event is out of control back from new startup microprocessor, thereby the safety of assurance system operation is leaned on; (b) be the line interface, promptly J1 is the line interface of drive part and microprocessor portion; Instruction after the J1 output conversion, (c) Voltage stabilizing module, wherein J2 is the power input of control circuit part, J2 connects the serial ports of microcomputer (host computer), obtains stable+5V voltage carrying out voltage stabilizing through integrated voltage stabilizing chip; (d) and (e) be respectively+the 12V power supply ,+the 24V power supply, wherein J3, J4 are the integrated regulators of drive circuit, for motor-driven provides stable voltage.
Figure 25 is a kind of embodiment circuit of sensor signal processing circuit among Figure 21 (interface circuit), and wherein J7 is corresponding sensor interface.
Figure 26 does one group of circuit in the drive circuit of motor drive power supply by the 24V DC power supply circuit among Figure 21, and U1, U2 are the drive circuit of large-current electric machine, mechanical motor wherein, and the hairbrush motor, horizontal stage electric machine is all driven by them.
Figure 27 does one group of circuit in the drive circuit of motor drive power supply by the 12V DC power supply circuit among Figure 21, and U14, U15 are the drive circuit of little current motor, and the electric rotating machine of illuminating lamp, camera is driven by this circuit.
Referring to Fig. 1 and Figure 30; Around the said vehicle body 99 24 infrared ray sensors are housed altogether, each infrared ray sensor is made up of infrared emission circuit and receiving circuit, and said infrared ray sensor is made up of infrared emission circuit and receiving circuit; Shown in Figure 30 (a); Wherein the infrared emission circuit is responsible for producing, regulates and is driven and sends high-frequency pulse signal, and shown in Figure 30 (b), infrared receiving circuit is responsible for receiving the high-frequency pulse signal that returns.The circuit that is a kind of infrared ray sensor embodiment among Figure 21 shown in figure 28 obtains the modulated pulse signal of a 38kHz through 38kHz crystal oscillator and not circuit; The infrared light that transmitting tube sends is received by infrared receiving module behind reflection object; Return a data signal through receiving after the inner integrated circuit that carries of head is handled, this data signal is input to micro controller I/O mouth, and the infrared pulse that the reception head receives 38kHz returns output low level, otherwise the output high level; Through the detection to the I/O mouth, can judgment object have or not detects whether step is arranged, and prevents to fall; Power-supply management system is housed in the robot, and brownout can stop cleaning, and gets back to bionic intelligence type air purifying robot charger 89 places automatically and charge.
Figure 29 is a kind of embodiment line map of said driving buffer circuit, and wherein U10 plays microprocessor and the motor-driven effect isolated.
Such scheme adopts microcomputer control, has the operating platform of intellectuality, automation and software implementation, and device volume is little, flexible and convenient to use, and walking, cleaning accurate positioning, shooting and video recording are in time convenient, can directly generate video files.
The mechanical mechanism course of work of the present invention is following:
Referring to Fig. 1 to Figure 10, start left track drive motor 31 shown in Figure 7, left crawler belt 12 seesaws; Start right-hand track chiain drive motors 45 as shown in Figure 8, left crawler belt 11 seesaws; Programme-control vehicle body 99 both sides crawler belts 11,12, then can realize vehicle body 99 front and back walkings with about turn.
Referring to Fig. 1, Figure 13 to Figure 15, start left rotation and right rotation motor 75 shown in Figure 15, Universal arm 2 side-to-side movements; Start the lower rotating electrical machine 77 that goes up shown in Figure 15, Universal arm 2 moves up and down, and drives cleaner head 1 dedusting work.
Referring to Fig. 2, Fig. 5, start atomizing humidifier louvre blade electric rotating machine 22 shown in Figure 5, atomizing humidifier louvre blade 9 is opened or is closed; Start thermoregulator louvre blade electric rotating machine 24 shown in Figure 5, thermoregulator louvre blade 16 is opened or is closed.
Bionic intelligence type air purifying robot technical parameter according to the invention has:
1, drive part index: irregular slalom thing obstacle clearing capability is greater than 10cm, and climbing capacity is greater than 45 °.
2, monitor portion index: camera 800 everythings are plain; 120 ° of pitching rotations.
3, the single charge working time was greater than 8 hours.
A kind of bionic intelligence type air purifying robot; Have the both sides correspondence that the vehicle body 99 of automatic travelling device is housed, the robot head 5 that circumferentially rotates around a center vertical pivot is equipped with in the upper end of said vehicle body 99, and these robot head 5 front ends are equipped with camera 3 and illuminating lamp 4; Around the said vehicle body 99 infrared inductor 10 is housed; Said vehicle body 99 1 sides are equipped with toxic gas sensor 8, and vehicle body 99 opposite sides are equipped with particulate matter sensors 100, temperature sensor 101 and humidity sensor 15; Said vehicle body 99 front ends are equipped with Universal arm 2; The Universal arm front end connects cleaner head 1, and air cleaning filter is equipped with at vehicle body 99 rear portions, in control circuit board 52 and communication circuit board 51 be housed head 5 rear ends nozzle 6 is housed.
Like Figure 31; Shown in 32,33, the version of said automatic travelling device is; Lower left side is equipped with revolver drive motors 131 before the vehicle body 99; 131 of this revolver drive motors link with revolver bevel gear 130, on this revolver bevel gear 130 revolver driving wheel 114 are housed, and revolver follower shaft 133 is housed on the vehicle body 99 of revolver driving wheel 114 rear sides and is contained in the revolver driven pulley 113 on the revolver follower shaft 133; Right wheel drive motor 144 is equipped with on right side, vehicle body 99 preceding bottom; 144 in this right side wheel drive motor is taken turns bevel gear 143 with the right side and is linked; On this right side wheel bevel gear 143 right wheel driving wheel 142 is housed, right wheel follower shaft 146 is housed on the vehicle body 99 of right wheel driving wheel 142 rear sides and is contained in the right side wheel driven pulley 147 on the right wheel follower shaft 146.Said revolver drive motors 131 1 sides are provided with revolver drive circuit board 132, and right wheel drive motor 144 1 sides are provided with right wheel drive circuit board 145.The said wheel adopts great friction coefficient, elastomeric rubber to make.
Under the control of revolver drive circuit board 132 and right wheel drive circuit board 145; Revolver drive motors 131 drives revolver bevel gear 130 and right wheel bevel gear 143 runnings respectively with right wheel drive motor 144; Thereby drive revolver driving wheel 114 and right wheel driving wheel 142 rotations, realize that bionic intelligence type air purifying robot advances automatically, retreats or turns to.
Structure composition and its control mode of other each parts of said bionic intelligence type air purifying robot are identical with embodiment 1, repeat no more.
Claims (12)
1. a bionic intelligence type air purifying robot has the both sides correspondence that the vehicle body (99) of automatic travelling device is housed, and the robot head (5) that circumferentially rotates around a center vertical pivot is housed on the said vehicle body (99); This robot head (5) front end is equipped with camera (3) and illuminating lamp (4); Said vehicle body (99) is equipped with infrared inductor (10) all around, and said vehicle body (99) one sides are equipped with toxic gas sensor (8), and vehicle body (99) opposite side is equipped with particulate matter sensors (100); Temperature sensor (101) and humidity sensor (15); It is characterized in that said vehicle body (99) front end is equipped with Universal arm (2), the Universal arm front end connects cleaner head (1); Air cleaning filter is equipped with at vehicle body (99) rear portion, in the head (5) of control circuit board (52) and communication circuit board (51) is housed the rear end nozzle (6) is housed.
2. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; The structure of said automatic travelling device is; The preceding lower left side of vehicle body (99) is equipped with left track drive motor (31); This left side track drive motor (31) axle links with left crawler belt bevel gear (30), on this left side crawler belt bevel gear (30) left crawler belt driving wheel (14) is housed, and left crawler belt follower shaft (33) is housed on the vehicle body (99) of left crawler belt driving wheel (14) rear side and is contained in the left crawler belt driven pulley (13) on the left crawler belt follower shaft (33); Right-hand track chiain drive motors (44) is equipped with on right side, the preceding bottom of vehicle body (99); This right-hand track chiain drive motors (44) axle links with right-hand track chiain bevel gear (43); On this right-hand track chiain bevel gear (43) right-hand track chiain driving wheel (42) is housed, right-hand track chiain follower shaft (46) is housed on the vehicle body (99) of right-hand track chiain driving wheel (42) rear side and is contained in the right-hand track chiain driven pulley (47) on the right-hand track chiain follower shaft (46); Left track (12) holds left crawler belt driven wheel (14,13) and is contained on the left crawler belt driven wheel (14,13), and right side crawler belt (11) holds right-hand track chiain driven wheel (42,47) and is contained on the right-hand track chiain driven wheel (42,47).
3. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; The structure of said automatic travelling device is; The preceding lower left side of vehicle body (99) is equipped with revolver drive motors (131); This revolver drive motors (131) axle links with revolver bevel gear (130), on this revolver bevel gear (130) revolver driving wheel (114) is housed, and revolver follower shaft (133) is housed on the vehicle body (99) of revolver driving wheel (114) rear side and is contained in the revolver driven pulley (113) on the revolver follower shaft (133); Right wheel drive motor (144) is equipped with on right side, the preceding bottom of vehicle body (99); This right side wheel drive motor (144) axle links with right wheel bevel gear (143); Right wheel driving wheel (142) is housed on this right side wheel bevel gear (143), right wheel follower shaft (146) is housed on the vehicle body (99) of right wheel driving wheel (142) rear side and is contained in the right side wheel driven pulley (147) on the right wheel follower shaft (146).
4. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; Straight bristle of cleaner head (88) and dust suction round brush (86,87) are housed on said cleaner head (1) the front end working face; Cleaner head (1) rear end links to each other with Universal arm cleaner head draw-in groove (74) through the Universal arm dust suction joint (73) of the same Universal arm of cleaner head joint bayonet socket (84) (2) front end, and Universal arm (2) is plugged on vehicle body (99) front end through the Universal arm body joint (78) and the Universal arm body joint draw-in groove (79) of its rear end; Said Universal arm (2) comprises the universal jib of more piece (76), and each saves between the universal jib (76) and links to each other with Universal arm left rotation and right rotation axle (82) through Universal arm upper-lower rotating shaft (83); These Universal arm upper-lower rotating shaft (83) one sides are provided with and drive lower rotating electrical machine (75) on its Universal arm that rotates up and down, and these Universal arm left rotation and right rotation axle (82) one sides are provided with the Universal arm left rotation and right rotation motor (77) that drives its left rotation and right rotation; Be provided with cleaner head blank pipe (85) in the said cleaner head (1); Universal arm (2) is axially arranged with the Universal arm cavity (81) that runs through its front-end and back-end; This cleaner head blank pipe (85) is connected with Universal arm cavity (81); Universal arm cavity (81) and be located between the dust hopper (21) in the vehicle body (99) and be provided with dust-absorbing filtering cover (63), this dust-absorbing filtering cover (63) front end is provided with sweep-up pipe valve (37), and these sweep-up pipe valve (37) one sides are provided with the sweep-up pipe valve electric rotating machine (36) of regulating sweep-up pipe valve (37) aperture.
5. bionic intelligence type air purifying robot according to claim 1 is characterized in that, said camera (3), illuminating lamp (4) link to each other through the axle of camera light rotating shaft (39) the camera light electric rotating machine (38) interior with being contained in vehicle body (99).
6. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; Said nozzle (6) is communicated with disinfectant tube (53) one ends; Disinfectant tube (53) other end thimerosal atomizer pump (70) interior with being located at vehicle body (99) is communicated with, and this thimerosal atomizer pump (70) links to each other with thimerosal case (69) through disinfectant water intaking valve (19); One nozzle rotating shaft (41) is housed in the said nozzle (6), and these nozzle rotating shaft (41) one sides are provided with through nozzle rotating shaft (41) and drive the nozzle electric rotating machine (40) that nozzle (6) is done elevating movement.
7. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; Said bionic intelligence type air purifying robot also comprises thermoregulator; The structure of said thermoregulator is that thermoregulator louvre blade (16) links to each other with the axle of thermoregulator louvre blade electric rotating machine (24) through thermoregulator louvre blade rotation connecting rod (25); Said thermoregulator louvre blade (16) downside is provided with thermoregulator cover (26); Be provided with dehumidifying, heater (54) in this thermoregulator cover (26); This dehumidifying, heater (54) downside are evaporimeter (55), and evaporimeter (55) below is provided with at least one group of blower wheel (56), and blower wheel (56) one sides are connected with blower motor (57); These blower wheel (56) one sides also are provided with liquid storage device for drying and filtering (60); Blower wheel (56) below is condenser (64), and these condenser (64) one sides are provided with compressor (61), and condenser (64) below is provided with water-supporting disc (65).
8. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; Said bionic intelligence type air purifying robot also comprises thermoregulator; The structure of said humidistat is that atomizing humidifier louvre blade (9) links to each other with the axle of atomizing humidifier louvre blade electric rotating machine (22) through atomizing humidifier louvre blade rotation connecting rod (23); Said atomizing humidifier louvre blade (9) downside is provided with atomizing humidifier cover (27); Be provided with ultrasonic ultrasonic delay line memory (64) in this atomizing humidifier cover (27), ultrasonic ultrasonic delay line memory (64) one sides are provided with the ultrasonic ultrasonic delay line memory water tank (68) that is attached thereto through atomizer water intaking valve (18).
9. bionic intelligence type air purifying robot according to claim 1; It is characterized in that; The structure of said air cleaning filter is that air cleaning filter louvre blade (7) purifies louvre blade rotation connecting rod (35) through air cleaner and links to each other with the axle that air cleaner purifies louvre blade electric rotating machine (34); Said air cleaning filter louvre blade (7) downside is provided with air cleaning filter cover (62); Be provided with active carbon, photocatalyst complex filter (98) in this air cleaning filter cover (62); This active carbon, photocatalyst complex filter (98) downside are provided with dust absorption fan impeller (29); Dust absorption fan impeller (29) one sides are connected with dust absorption fan motor (28), and dust absorption fan motor (28) downside is provided with by high efficiency particulate air filter lattice (72) and the high efficiency particulate air filter (67) that places the efficient filtrate (71) on the high efficiency particulate air filter lattice (72) to form.
10. bionic intelligence type air purifying robot according to claim 1 is characterized in that, said bionic intelligence type air purifying robot also comprises a charger (89) for the secondary cell charge of bionic intelligence type air purifying robot.
11. bionic intelligence type air purifying robot according to claim 1 is characterized in that, stores man-machine language in the said communication circuit board (51) and exchanges program.
12., it is characterized in that the control circuit of said control circuit board comprises first level shifting circuit, second level shifting circuit according to the described bionic intelligence type of one of claim 1～11 air purifying robot; Single-chip microcomputer, 12V DC power supply circuit, 24V DC power supply circuit, camera and illuminating lamp control circuit; The switching-over of each group switching-over joint of Universal arm drives joint drive circuit, camera and illuminating lamp pitching drive circuit, nozzle pitching drive circuit, sweep-up pipe valve controling circuit; Each louvre blade control circuit, each sensor control circuit, the vehicle body left row is walked motor-drive circuit; Vehicle body right side movable motor drive circuit, blower fan drive circuit, compressor drive circuit; The air blast drive circuit, head rotation drive circuit, spraying motor-drive circuit; And:
The signal input part that the output of the serial ports of microcomputer is connected to single-chip microcomputer through first level shifting circuit and second level shifting circuit of interface circuit successively with signal cable;
The control signal interface of said single-chip microcomputer is also respectively with each sensor control circuit, and the switching-over of each group switching-over joint of Universal arm drives joint drive circuit, camera and illuminating lamp pitching drive circuit; Nozzle pitching drive circuit, sweep-up pipe valve controling circuit, each louvre blade control circuit; Camera and illuminating lamp control circuit, the vehicle body left row is walked motor-drive circuit, vehicle body right side movable motor drive circuit; The blower fan drive circuit, compressor drive circuit, air blast drive circuit; Head rotation drive circuit, and the prime signal controlling end of spraying motor-drive circuit connects;
The back level signal controlling end of said camera and illuminating lamp control circuit is respectively with said illuminating lamp, optics camera and video acquisition card connection; Wherein the output signal of optics camera is delivered to microcomputer through video frequency collection card; The back level signal controlling end of each sensor control circuit links to each other with corresponding sensor respectively; The back level signal controlling end that the switching-over of each group switching-over joint of Universal arm drives the joint drive circuit is respectively with about corresponding switching-over joint, drive motors links to each other up and down; Camera links to each other with illuminating lamp pitching drive motors with camera with the back level signal controlling end of illuminating lamp pitching drive circuit; The back level signal controlling end of nozzle pitching drive circuit links to each other with nozzle pitching drive motors; The back level signal controlling end of sweep-up pipe valve controling circuit links to each other with sweep-up pipe valve control motor, and the back level signal controlling end of each louvre blade control circuit links to each other with corresponding louvre blade control motor respectively.
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| CN2010101471901A CN101972128B (en) | 2010-04-15 | 2010-04-15 | Bionic intelligent air purification robot |
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| CN2010101471901A CN101972128B (en) | 2010-04-15 | 2010-04-15 | Bionic intelligent air purification robot |
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