CN203195609U

CN203195609U - Overtravel cleaning robot

Info

Publication number: CN203195609U
Application number: CN 201320158758
Authority: CN
Inventors: 宋晓龙; 陈东帅; 孙方红; 王恩杰; 李帅成; 刘应瑞; 曹运; 董冲; 万宏; 敖迎春
Original assignee: 宋晓龙
Priority date: 2013-04-02
Filing date: 2013-04-02
Publication date: 2013-09-18
Anticipated expiration: 2023-04-02

Abstract

The utility model belongs to robots and particularly relates to an overtravel cleaning robot. A frame-shaped wiping plate fixing frame (33) is arranged at the front end of a machine frame (15). A fixing plate (2) is arranged above the wiping plate fixing frame (33). A wiping plate motor (4) is fixed on the fixing plate (2). A gear (4-1) is arranged on an out shaft of the wiping plate motor (4). The gear (4-1) and a rack (31) are in meshed transmission. One end of a mechanical arm (5) is fixedly connected in the middle of a wiping plate rotating shaft (3) vertically. The other corner-shaped end of the mechanical arm (5) is fixed in a mechanical arm seat frame (13). An out shaft of a lead screw motor (7) is connected with one end of a lead screw (11) which is in thread connection with a sliding block (8). Fixed driving wheels (22) are arranged at the two ends of a reversing shaft (29). Driven reversing wheels (24) are arranged on the outer sides of the fixed driving wheels (22). The driven reversing wheels (24) and the reversing shaft (29) are fixed through pins (23). The overtravel cleaning robot can achieve stable continuous climbing at a certain speed and carry out cleaning on stairs, human manual labor intensity is lowered, and time is saved.

Description

Get over layer clean robot

Technical field

The utility model belongs to robot, particularly a kind of more layer clean robot.

Background technology

Develop rapidly along with science and technology and society, the quickening of people's living standard raising and rhythm, the robot of various service forms comes into people's life gradually, but the robot that can clean simultaneously floor and stair aspect is rarely found, and cleaning floor and interior stairs are to lose time and physical work, this work of some families often drops on again on the elderly's the body, and is therefore just more aobvious painstaking, also more time-consuming.

Summary of the invention

The purpose of this utility model is to overcome above-mentioned technical deficiency, provides a kind of volume little, and climbing is flexibly and fast cleaned totally thoroughly, saves the more layer clean robot of manpower time.

The technical scheme that the utility model technical solution problem adopts is: more layer clean robot comprises frame, pedestal, machinery wall mounting, mechanical arm, wiping board, the wiping board fixed mount, fixed head, rotary tray motor, rotating disk, the wiping board rotating shaft, gear, tooth bar, be characterized in that the front end in frame is provided with the wiping board fixed mount of shaped as frame, above the wiping board fixed mount, establish fixed head, at the fixing wiping board motor of fixed head, cogged on the shaft of wiping board motor, the wheel and rack engaged transmission, tooth bar is fixedly connected on the movable guide rod, movable guide rod is contained in the movable guide hole, dress wiping board rotating shaft on fixed head, the intermediate vertical of wiping board rotating shaft is fixedly connected with an end of mechanical arm, the wiping board shaft parallel is fixedly connected with the back of wiping board, mechanical arm becomes the other end of turning shape to be fixed in the mechanical arm mounting above the rotating disk, fixed electrical machinery seat below the mechanical arm on rotating disk, fill spindle motor on the motor cabinet, the shaft of spindle motor connects an end of leading screw, the threads of lead screw connection sliding block, dress roller below slide block, the little axle of top plug-in mounting of slide block, above the little axle of following connection of mechanical arm, the fixing pedestal in both sides before and after the frame, front, dress main shaft one in the middle of the pedestal of both sides, back, main shaft two, at main shaft one, on the main shaft two main shaft bearing is housed, the inboard shock mount of main shaft bearing, the spring right side connects reversing shaft, the reversing shaft right-hand member connects cardan shaft, reversing shaft is plugged in main shaft one and the main shaft two and stretches out two ends, at the fixing driving wheel and fix with hold-down screw of the two ends of reversing shaft dress, fill driven reverse wheel in the fixing outside of driving wheel, fix with pin between driven reverse wheel and the reversing shaft, at main shaft one dress sprocket wheel one, sprocket wheel four, at main shaft two dress sprocket wheels two, sprocket wheel three, sprocket wheel one usefulness chain one is in transmission connection with sprocket wheel two, and sprocket wheel four-function chain two is in transmission connection with sprocket wheel three.

The beneficial effects of the utility model are: more layer clean robot can be realized cleaning in the steady and continuous climbing of certain speed and to stair, fixedly driving wheel and driven reverse wheel can accurately be realized wheel circle and fan-shaped conversion, on the level land, still can realize walking function, finish the cleaning to level ground and corner, alleviate the people physical labor intensity and save time.

Description of drawings

Specify with embodiment below in conjunction with accompanying drawing.

Fig. 1 gets over layer clean robot structural front view.

Fig. 2 is the upward view of Fig. 1.

Fig. 3 is main shaft one and the structure chart that connects thereof among Fig. 1.

Among the figure, the 1-wiping board; The 2-fixed head; The rotating shaft of 3-wiping board; 4-wiping board motor; The 4-1-gear; The 5-mechanical arm; The 6-motor cabinet; The 7-spindle motor; The 8-slide block; The little axle of 9-; The 10-roller; The 11-leading screw; The 12-cam motor; 13-mechanical arm mounting; The 14-rotating disk; The 15-frame; 16-sprocket wheel three; The 17-hold-down screw; 18-chain two; The 19-main shaft bearing; 20-main shaft two; 21-sprocket wheel two; 22-is driving wheel fixedly; The 23-pin; The driven reverse wheel of 24-; 25-chain one; 26-sprocket wheel one; The 27-pedestal; 28-main shaft one; The 28-1-spring; The 28-2-cardan shaft; The 29-reversing shaft; The movable guide hole of 30-; The 31-tooth bar; The movable guide rod of 32-; 33-wiping board fixed mount; The 34-rotary tray motor; 35-is motor two initiatively; 36-is motor one initiatively; 37-sprocket wheel four; The 38-cam.

The specific embodiment

Embodiment, with reference to accompanying drawing 1 ~ 3, more layer clean robot is the wiping board fixed mount 33 of establishing a shaped as frame at the front end of frame 15, above wiping board fixed mount 33, establish fixed head 2, at the fixing wiping board motor 4 of fixed head 2, wiping board motor 4 go out to fail on cogged 4-1, gear 4-1 and tooth bar 31 engaged transmission, tooth bar 31 is fixed on the movable guide rod 32, and movable guide rod 32 is contained in the movable guide hole 30.Dress wiping board rotating shaft 3 on fixed head 2, an end of the intermediate vertical solid mechanical arm 5 of wiping power rotating shaft 3, the parallel back that is fixedly connected with wiping board 1 in the wiping board rotating shaft 5.The other end of 5 one-tenth turning shapes of mechanical arm is fixed in the mechanical arm mounting 13 above the rotating disk 14, fixed electrical machinery seat 6 below the mechanical arm 5 on rotating disk 14, and at the motor cabinet 6 fixing spindle motors 7 that fill, the shaft of spindle motor 7 is fixedly connected with an end of leading screw 11.Leading screw 11 slide block 8 that is threaded, dress roller 10 below slide block 8, roller 10 make slide block 8 under the rotation of leading screw 11, and slide in front and back on rotating disk 14, connect on the little axle 9 above the slide block 14 mechanical arm 5 below, mechanical arm 5 is with forward and backward the moving and move up and down of slide block 8.The fixing pedestal 27 in both sides, front and back below frame 15, dress main shaft 1 and main shafts 2 20 in the middle of front-back both sides pedestal 27.At main shaft 1 and main shaft 2 20 main shaft bearing 19 is housed, at main shaft 1 and main shaft 2 20 interior plug-in mounting reversing shafts 29 and stretch out two ends, cooperates right-hand member dress cardan shaft 28-2 with reversing shaft 29, shock mount 28-1 between main shaft bearing 19 and reversing shaft 29.The fixing driving wheel 22 of dress respectively on the two ends inboard of reversing shaft 29, and fixing with hold-down screw 17 fills driven reverse wheel 24 in the fixing outside of driving wheel 22, and usefulness pin 23 is fixed between driven reverse wheel 24 and the reversing shaft 29.At main shaft one 28 dress sprocket wheel 1 and sprocket wheels 4 37, at main shaft 2 20 dress sprocket wheel 2 21 and sprocket wheels 3 16, sprocket wheel one 26 usefulness chains 1 are in transmission connection with sprocket wheel 2 21, and sprocket wheel 3 16 usefulness chains 2 18 are in transmission connection with sprocket wheel 4 37.Cam 38 all is equipped with at the place in the middle of on main shaft 1 and main shaft 2 20, and cam 38 usefulness cam motors 12 drive.At the beneath dress rotary tray motor 34 of frame 15, the shaft of rotary tray motor 34 connects the below of rotating disk 14, and active motor 36 and the active motor two 35 of the transmission of chain 1 and chain 2 18 below frame 15 drives.

More the operation principle of layer clean robot is: cam motor 12 rotates band moving cam 38 and rotates, cam 38 every Rotate 180 degree are just pressed cardan shaft 28-2 once, then the tooth interlock between cardan shaft 28-2 and the reversing shaft 29 makes reversing shaft 29 90-degree rotations drive driven reverse wheel 24 to turn 90 degrees, when driven reverse wheel 24 when fixedly driving wheel 22 shapes are consistent, can climb the building, when forming circle with fixing active 22, driven reverse wheel 24 can advance on the level land, reduce the vibration of robot, when spindle motor 7 drives leading screw 11 rotation, the wiping board rotating shaft 3 that mechanical arm 5 connects can drive wiping board 1 and move up and down, and wiping board motor 4 rotates and can make wiping board 1 left side by tooth bar 31, cleaning is carried out in right motion.

Claims

1. get over layer clean robot for one kind, comprise frame (15), pedestal (27), machinery wall mounting (13), mechanical arm (5), wiping board (1), wiping board fixed mount (33), fixed head (2), rotary tray motor (34), rotating disk (14), wiping board rotating shaft (3), gear (41), tooth bar (31), it is characterized in that the front end in frame (15) is provided with the wiping board fixed mount (33) of shaped as frame, establish fixed head (2) in wiping board fixed mount (33) top, at the fixing wiping board motor (4) of fixed head (2), cogged (4-1) on the shaft of wiping board motor (4), gear (4-1) and tooth bar (31) engaged transmission, tooth bar (31) is fixedly connected on the movable guide rod (32), movable guide rod (32) is contained in the movable guide hole (30), dress wiping board rotating shaft (3) on fixed head (2), the intermediate vertical of wiping board rotating shaft (3) is fixedly connected with an end of mechanical arm (5), the parallel back that is fixedly connected with wiping board (1) of wiping board rotating shaft (3), mechanical arm (5) becomes the other end of turning shape to be fixed in the top mechanical arm mounting (13) of rotating disk (14), mechanical arm (5) below fixed electrical machinery seat (6) on rotating disk (14), the upper dress of motor cabinet (6) spindle motor (7), the shaft of spindle motor (7) connects an end of leading screw (11), leading screw (11) slide block (8) that is threaded, dress roller (10) below slide block (8), the little axle of top plug-in mounting (9) of slide block (8), above the little axle of following connection (9) of mechanical arm (5), the fixing pedestal (27) in both sides before and after the frame (15), front, dress main shaft one (28) in the middle of both sides, the back pedestals (27), main shaft two (20), at main shaft one (28), main shaft bearing (19) is housed on the main shaft two (20), the inboard shock mount of main shaft bearing (19) (28-1), spring (28-1) right side connects reversing shaft (29), reversing shaft (29) right-hand member connects cardan shaft (28-2), reversing shaft (29) is plugged in main shaft one (28) and the main shaft two (20) and stretches out two ends, two ends at reversing shaft (29) fills fixedly driving wheel (22) and fixing with hold-down screw (17), fill driven reverse wheel (24) in the fixing outside of driving wheel (22), fixing with pin (23) between driven reverse wheel (24) and the reversing shaft (29), at main shaft one (28) dress sprocket wheel one (26), sprocket wheel four (37), at main shaft two (20) dress sprocket wheels two (21), sprocket wheel three (16), sprocket wheel one (26) is in transmission connection with chain one (25) and sprocket wheel two (21), and sprocket wheel four (37) is in transmission connection with chain two (18) and sprocket wheel three (16).