CN102068222A - Sequential lifting device for cleaning tools of floor cleaning robot - Google Patents
Sequential lifting device for cleaning tools of floor cleaning robot Download PDFInfo
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- CN102068222A CN102068222A CN 201010557179 CN201010557179A CN102068222A CN 102068222 A CN102068222 A CN 102068222A CN 201010557179 CN201010557179 CN 201010557179 CN 201010557179 A CN201010557179 A CN 201010557179A CN 102068222 A CN102068222 A CN 102068222A
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- connecting rod
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Abstract
The invention discloses a sequential lifting device for cleaning tools of a floor cleaning robot. The sequential lifting device comprises a single degree-of-freedom power assembly, a lever assembly, a disc brush assembly and a water absorbing rake assembly, wherein a power device in the single degree-of-freedom power assembly is fixed on a power device bracket and connected with a push-pull connecting rod cross beam, two ends of the push-pull connecting rod cross beam are provided with push-pull connecting rods, the lower position of the push-pull connecting rods is connected with the disc brush assembly, and the end of the push-pull connecting rod is provided with a chute; and a lever in the lever assembly is arranged on a pivot connecting rod, the short arm end of the lever is connected with a tension spring, the long arm of the lever passes through the chute of the push-pull connecting rod, and the end of the lever is connected with the water absorbing rake assembly. The sequential lifting device has simple structure, is convenient to control, realizes step-by-step motion of multiple cleaning tools, saves the cost, is convenient to drive and control, and can effectively reduce the abrasion of the cleaning tools and the floor, effectively protect the cleaning tools and the floor, furthest reduce the residual sewage of the floor, meanwhile save the energy required by the robot during moving and save energy consumption.
Description
Technical field
The present invention relates to a kind of burnisher that the floor cleaning machine people in field is cleaned on ground that is applied to, especially relate to that a kind of floor cleaning machine people promotes successively or the device of the required cleaning instrument that descends when carrying out the ground cleaning, belong to the Robotics field.
Background technology
Along with the urbanization development; office building; the shopping square; the airport; shipping warehouse etc. need carry out large tracts of land ground cleaning and the place of keeping a public place clean more and more; and now; floor cleaning work all is to finish by manpower or by the cleaning machine that the people controls; in whole cleaning course; the labour who all musts be guarded or looked after all the time; along with deepening continuously of technical research; consider from human cost and operating efficiency equal angles; the researcher has proposed to substitute manpower by robot and has carried out the cleaning of large-area ground; at first robot does not need wage; can day and night work; and can under the environment of dangerous or pollution, use, greatly reduce human cost, improve operating efficiency; liberated the labour; and can protect people's life and healthy and safe, thereby allow robot replace the mankind to be engaged in all kinds of simple work, for example cleaning is the inexorable trend of modernized society's development.
Yet now, also be not applicable to the robot of large tracts of land ground cleaning on the domestic market, its many key technology is also not perfect.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the present invention is to provide a kind of simple in structure, can realize the lifting of multiple burnisher order by single motor, thereby a kind of floor cleaning machine people burnisher that the technology on robot cleaner ground is pushed to use lowering or hoisting gear in proper order.
The present invention is achieved through the following technical solutions:
A kind of floor cleaning machine people burnisher order lowering or hoisting gear is characterized in that, comprises single-degree-of-freedom Power Component, lever assembly, dish brush assemblies and suction rake assembly, wherein:
The single-degree-of-freedom Power Component comprises power set, push-and-pull connecting rod crossbeam, push-and-pull connecting rod and power set support, wherein, the power set support is arranged on floor cleaning machine people's the base, power set are fixed on power set support top, power set are connected with push-and-pull connecting rod crossbeam, and the two ends of push-and-pull connecting rod crossbeam are separately installed with the push-and-pull connecting rod, also are provided with a chute in position, push-and-pull connecting rod bottom;
Lever assembly comprises lever, fulcrum connecting rod and extension spring, wherein, the fulcrum connecting rod is fixed on the base, lever is installed on the fulcrum connecting rod by the curved arc that the one side matches with fulcrum connecting rod shape, wherein, the curved arc of lever one side is set side by side with a plurality of, can be by regulating the cooperation between fulcrum connecting rod and the different curved arc, realize the variation of the long-armed and galianconism length of lever, thereby change lever institute's applied pressure or pulling force size, and lifting beam by a spring, the galianconism end of lever is connected with extension spring, extension spring is fixed on floor cleaning machine people's the body, the long-armed chute that then passes the push-and-pull connecting rod of lever is connected with suction rake assembly by a suction rake mounting rail in its end;
Above-mentioned dish brush assemblies is connected with the lower end of push-and-pull connecting rod.
Above-mentioned dish brush assemblies comprises dish brush installing rack, dish brush and dish brush drive motor, and wherein, the dish brush is connected with the dish brush drive motor, and all is installed on the dish brush installing rack, and dish brush installing rack is connected with above-mentioned push-and-pull connecting rod.
And above-mentioned power set are structure of linear motion, as electric pushrod, motor-driven cam structure, motor-driven pinion and rack, motor-driven screw-nut body, motor-driven linkage etc.
In addition, chute on the push-and-pull connecting rod is the end that U-shaped mouth structure and opening are positioned at the push-and-pull connecting rod, the openend of U-shaped mouth is horizontally installed with a sleeve by screw rod, can realize the adjusting of chute length by the sleeve of changing different-thickness, the contact position that chute and lever are long-armed and then be adjusted, thus can adjustment dish brush assemblies and suction rake component priority order promote time institute's interlude length.
The invention has the beneficial effects as follows: the present invention is simple in structure; the control aspect; utilize the single-degree-of-freedom Power Component can realize the substep motion of multiple burnisher; provide cost savings; the convenient driving controlled; and the present invention is when off working state; burnisher is mentioned; can effectively reduce the wearing and tearing on burnisher and ground; burnisher and ground have been protected effectively; time of simultaneously saving the robot motion institute's energy requirement, saved energy resource consumption, in addition; when the present invention finishes at cleaning course; the residual large amount of sewage of brush tray bottom meeting by promoting the mode of burnisher step by step, can be mentioned the dish brush earlier; after with suction rake sewage being cleaned out, will absorb water again to harrow and mention.So at utmost reduced the residual sewage in ground.
Description of drawings
Fig. 1 is the structure diagram of one embodiment of the invention;
Fig. 2 is the structural representation of one embodiment of the invention;
Fig. 3 is the structural representation of chute of the present invention.
Main Reference numeral implication is among the figure:
1, power set 2, push-and-pull connecting rod crossbeam 3, push-and-pull connecting rod
31, chute 32, sleeve 33, screw rod
4, power set support 5, dish brush assemblies 6, suction rake assembly
7, lever 8, fulcrum connecting rod 9, extension spring
10, spring lifts beam 11, suction rake mounting rail 12, dish brush
13, dish brush drive motor 14, dish brush installing rack 15, curved arc.
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment of the present invention in detail:
Fig. 1 is the structure diagram of one embodiment of the invention; Fig. 2 is the structural representation of one embodiment of the invention; Fig. 3 is the structural representation of chute of the present invention.
As shown in Figure 1 to Figure 3: floor cleaning machine people burnisher order lowering or hoisting gear, comprise single-degree-of-freedom Power Component, lever assembly, dish brush assemblies 5 and suction rake assembly 6, wherein, dish brush assemblies 5 and suction rake assembly 6 are burnisher, and:
The single-degree-of-freedom Power Component comprises power set 1, push-and-pull connecting rod crossbeam 2, push-and-pull connecting rod 3 and power set support 4, wherein, power set support 4 is arranged on floor cleaning machine people's the base, power set 1 are fixed on power set support 4 tops, power set 1 are connected with push-and-pull connecting rod crossbeam 2, in the present embodiment, power set 1 are electric pushrod, it can make stretching motion, and power set 1 also can be other structure of linear motion, as motor-driven cam structure, motor-driven pinion and rack, motor-driven screw-nut body, motor-driven linkage etc., and the two ends of push-and-pull connecting rod crossbeam 2 are separately installed with push-and-pull connecting rod 3, also be provided with a chute 31 in position, push-and-pull connecting rod 3 bottom, in order to lift described lever assembly, wherein, as shown in Figure 3: the chute 31 on the push-and-pull connecting rod 3 is positioned at the end of push-and-pull connecting rod 3 for U-shaped mouth structure and opening, the openend of U-shaped mouth is horizontally installed with a sleeve 32 by screw rod 33, can realize the adjusting of chute 31 length by the sleeve 32 of changing different-thickness, the contact position that chute and lever are long-armed and then be adjusted, thus can adjustment dish brush assemblies 5 and suction rake assembly 6 orders promote time institute's interlude length.
In addition, the bottom of push-and-pull connecting rod 3 is terminal pad brush assemblies 5 also, dish brush assemblies 5 comprises dish brush installing rack 14, dish brush 12 and dish brush drive motor 13, wherein, dish brush 12 is connected with dish brush drive motor 13, and all be installed on the dish brush installing rack 14, in the present embodiment, dish brush installing rack 14 is rigidly connected with above-mentioned push-and-pull connecting rod 3, when electric pushrod drove push-and-pull connecting rod 3 and does lifter motion, dish brush assemblies 5 was lifted away from ground by integral body, otherwise, when electric pushrod drive push-and-pull connecting rod 3 was made downward motion, 5 of brush assemblies of dish were on the ground compacted.
Lever assembly comprises lever 7, fulcrum connecting rod 8 and extension spring 9, wherein, fulcrum connecting rod 8 is fixed on the base, lever 7 is installed on the fulcrum connecting rod 8 by the curved arc 15 that the one side matches with fulcrum connecting rod 8 shapes, wherein, the curved arc 15 of lever 7 one sides is set side by side with a plurality of, can be by regulating the cooperation between fulcrum connecting rod 8 and the different curved arc 15, realize the variation of the long-armed and galianconism length of lever 7, thereby change 7 applied pressures of lever or pulling force size, and lifting beam 10 by a spring, the galianconism end of lever 7 is connected with extension spring 9, extension spring 9 is fixed on floor cleaning machine people's the body, the long-armed chute 31 that then passes push-and-pull connecting rod 3 of lever 7 is connected with suction rake assembly 6 by a suction rake mounting rail 13 in its end; Wherein, suction rake mounting rail 13 is harrowed assembly 6 by being threaded with suction, the dismounting of very convenient suction rake assembly 6, when electric pushrod drive push-and-pull connecting rod 3 is done lifter motion, bar thick stick 7 long-armed can being drawn high by push-and-pull connecting rod 3, thereby make suction rake assembly 6 break away from ground, otherwise, when electric pushrod drive push-and-pull connecting rod 3 is made downward motion, lever 7 makes suction rake assembly 6 compress ground under the effect of extension spring 9 restoring forces, simultaneously, also has a block plate (not shown) above the link of lever 7 and extension spring 9, the depression distance of its control suction rake assembly 6 is promptly done the location to the depression distance of suction rake assembly 6.
The course of work of the present invention is:
Electric pushrod at first directly acts on the push-and-pull connecting rod crossbeam 2 of fixedlying connected with it, push-and-pull connecting rod crossbeam 2 drives 3 motions of push-and-pull connecting rod, thereby make the dish brush assemblies 5 of fixedlying connected to keep synchronization lifting to move with push-and-pull connecting rod 3 with push-and-pull connecting rod 3, and push-and-pull connecting rod 3 passes through the chute structure function in lever 7, through of short duration time-delay, utilize lever principle that the suction rake assembly 6 of lever 7 ends is mentioned, reach the purpose that single driving force promotes multiple burnisher step by step, realize the substep running of each system.
Promptly when electric pushrod is done stretching motion, the push-and-pull connecting rod crossbeam 2 that links to each other with the electric pushrod movable end drives push-and-pull connecting rod 3 and does lifter motion, thereby the dish brush assemblies 5 that links to each other with push-and-pull connecting rod 3 other ends begins to be lifted away from ground, meanwhile, the lever 7 long-armed suction rake assemblies 6 that still under the effect of extension spring 9, press in push-and-pull connecting rod 3 chutes, make it be adjacent to ground, and when electric pushrod 3 continuation elongations, make the bottom of push-and-pull connecting rod 3 chutes and the long-armed touching of lever 7, and after beginning to lift lever 7 long-armed, the long-armed ability of lever 7 is lifted away from ground at the suction rake assembly 6 of the long-armed end of the following lever 7 of lifting of push-and-pull connecting rod 3, thereby the sequencing of realization dish brush assemblies 5 and suction rake assembly 6 promotes; Otherwise, electric pushrod is done when shortening motion, the push-and-pull connecting rod crossbeam 2 that links to each other with the electric pushrod movable end drives push-and-pull connecting rod 3 and does descending motion, thereby do descending motion synchronously with the dish brush assemblies 5 that push-and-pull connecting rod 3 other ends link to each other, and compress ground, meanwhile, the lever 7 long-armed supports that lose push-and-pull connecting rod 3 in push-and-pull connecting rod 3 chutes, it descends under the restoring force effect of extension spring 9, and make suction rake assembly 6 be adjacent to ground, when cleaning course finished, the residual large amount of sewage of dish brush 12 bottoms meeting was by promoting the mode of burnisher step by step, can earlier dish brush 12 be mentioned, after with suction rake assembly 6 sewage being cleaned out, will absorb water again and harrow assembly 6 and mention, can farthest reduce the residual sewage in ground like this.
In addition, lever assembly of the present invention can be adjusted the installation that cooperatively interacts of fulcrum connecting rod 8 and different curved arc 15 as required, adjust the length of the long-armed and end arm of lever, and then adjustment dish brush assemblies 5 and suction rake assembly 6 orders promote time institute's interlude length.
And the chute length on the push-and-pull connecting rod also can change, and the long-armed contact position of chute and lever can be adjusted, thus can adjustment dish brush assemblies 5 and suction rake assembly 6 orders promote time institute's interlude length.
The present invention is by the mode of order substep lifting ground clean robot burnisher; it is residual to have reduced ground sewage effectively; ground and burnisher have been protected; saved the robot energy; and it is simple that the present invention also has control; characteristics such as reliable operation make the floor cleaning machine people stride forward major step to industrialized requirement, are convenient to it and apply.
Below disclose the present invention with preferred embodiment, so it is not in order to restriction the present invention, and all employings are equal to replaces or technical scheme that the equivalent transformation mode is obtained, all drops within protection scope of the present invention.
Claims (6)
1. a floor cleaning machine people burnisher order lowering or hoisting gear is characterized in that, comprises single-degree-of-freedom Power Component, lever assembly, dish brush assemblies and suction rake assembly, wherein:
The single-degree-of-freedom Power Component comprises power set, push-and-pull connecting rod crossbeam, push-and-pull connecting rod and power set support, wherein, the power set support is arranged on floor cleaning machine people's the base, power set are fixed on power set support top, power set are connected with push-and-pull connecting rod crossbeam, and the two ends of push-and-pull connecting rod crossbeam are separately installed with the push-and-pull connecting rod, also are provided with a chute in position, push-and-pull connecting rod bottom;
Lever assembly comprises lever, fulcrum connecting rod and extension spring, wherein, the fulcrum connecting rod is fixed on the base, lever is installed on the fulcrum connecting rod by the curved arc that the one side matches with fulcrum connecting rod shape, the galianconism end of lever lifts beam by a spring and is connected with extension spring, extension spring is fixed on floor cleaning machine people's the body, and the long-armed chute that then passes the push-and-pull connecting rod of lever is connected with suction rake assembly by a suction rake mounting rail in its end;
Above-mentioned dish brush assemblies is connected with the lower end of push-and-pull connecting rod.
2. a kind of floor cleaning machine people burnisher order lowering or hoisting gear according to claim 1, it is characterized in that, described dish brush assemblies comprises dish brush installing rack, dish brush and dish brush drive motor, wherein, the dish brush is connected with the dish brush drive motor, and all be installed on the dish brush installing rack, dish brush installing rack is connected with above-mentioned push-and-pull connecting rod.
3. floor cleaning machine people burnisher order lowering or hoisting gear according to claim 1 is characterized in that described power set are straight-line motion mechanism.
4. a kind of floor cleaning machine people burnisher order lowering or hoisting gear according to claim 3, it is characterized in that described straight-line motion mechanism is any in electric pushrod, motor-driven cam structure, motor-driven pinion and rack, motor-driven screw-nut body, the motor-driven linkage.
5. a kind of floor cleaning machine people burnisher order lowering or hoisting gear according to claim 1, it is characterized in that, chute on the described push-and-pull connecting rod is the end that U-shaped mouth structure and opening are positioned at the push-and-pull connecting rod, its both sides have the through hole that many groups be arranged in parallel, at the openend of U-shaped mouth, screw rod passes through hole and is horizontally installed with a sleeve.
6. floor cleaning machine people burnisher order lowering or hoisting gear according to claim 1 is characterized in that the curved arc of described lever one side is set side by side with a plurality of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010557179 CN102068222B (en) | 2010-11-24 | 2010-11-24 | Sequential lifting device for cleaning tools of floor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010557179 CN102068222B (en) | 2010-11-24 | 2010-11-24 | Sequential lifting device for cleaning tools of floor cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102068222A true CN102068222A (en) | 2011-05-25 |
| CN102068222B CN102068222B (en) | 2012-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010557179 Expired - Fee Related CN102068222B (en) | 2010-11-24 | 2010-11-24 | Sequential lifting device for cleaning tools of floor cleaning robot |
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| CN (1) | CN102068222B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102835938A (en) * | 2011-06-24 | 2012-12-26 | 广东白云清洁科技有限公司 | Water scraper assembly structure of ground washing car |
| CN104302221A (en) * | 2012-02-16 | 2015-01-21 | 坦南特公司 | Surface maintenance vehicle with compact side brush assembly |
| CN108403027A (en) * | 2018-03-29 | 2018-08-17 | 杭州吉迈机器人有限公司 | A kind of intelligent ground clean robot |
| CN109330508A (en) * | 2018-10-15 | 2019-02-15 | 常州大学 | A kind of household floor-mopping robot |
| CN109431399A (en) * | 2018-08-24 | 2019-03-08 | 大连美质百利电器有限公司 | It sweeps to wash and smears electric sweeper |
| CN109700394A (en) * | 2018-12-02 | 2019-05-03 | 杨留英 | Glass curtain wall cleaning device |
| CN109965790A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The water suction rake of arc-shaped floor-cleaning machine device people and floor-cleaning machine device people |
| CN110464266A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | The suspension of the cleaning module of clean robot |
| CN110897562A (en) * | 2019-12-20 | 2020-03-24 | 华南智能机器人创新研究院 | Intelligent device for unmanned cleaning |
| CN111743472A (en) * | 2018-10-18 | 2020-10-09 | 圣云来 | Household toilet wall ceramic tile treatment equipment and treatment method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102835938A (en) * | 2011-06-24 | 2012-12-26 | 广东白云清洁科技有限公司 | Water scraper assembly structure of ground washing car |
| CN104302221A (en) * | 2012-02-16 | 2015-01-21 | 坦南特公司 | Surface maintenance vehicle with compact side brush assembly |
| CN109965790A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The water suction rake of arc-shaped floor-cleaning machine device people and floor-cleaning machine device people |
| CN108403027A (en) * | 2018-03-29 | 2018-08-17 | 杭州吉迈机器人有限公司 | A kind of intelligent ground clean robot |
| CN109431399A (en) * | 2018-08-24 | 2019-03-08 | 大连美质百利电器有限公司 | It sweeps to wash and smears electric sweeper |
| CN109330508A (en) * | 2018-10-15 | 2019-02-15 | 常州大学 | A kind of household floor-mopping robot |
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| CN111743472A (en) * | 2018-10-18 | 2020-10-09 | 圣云来 | Household toilet wall ceramic tile treatment equipment and treatment method |
| CN111743472B (en) * | 2018-10-18 | 2021-06-04 | 南京溧水高新产业股权投资有限公司 | Household toilet wall ceramic tile treatment equipment and treatment method |
| CN109700394A (en) * | 2018-12-02 | 2019-05-03 | 杨留英 | Glass curtain wall cleaning device |
| CN109700394B (en) * | 2018-12-02 | 2020-12-22 | 南京美华羽绒制品有限公司 | Glass curtain wall cleaning device |
| CN110464266A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | The suspension of the cleaning module of clean robot |
| CN110897562A (en) * | 2019-12-20 | 2020-03-24 | 华南智能机器人创新研究院 | Intelligent device for unmanned cleaning |
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| CN102068222B (en) | 2012-07-18 |
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