CN102068222B - 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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- CN102068222B CN102068222B CN 201010557179 CN201010557179A CN102068222B CN 102068222 B CN102068222 B CN 102068222B CN 201010557179 CN201010557179 CN 201010557179 CN 201010557179 A CN201010557179 A CN 201010557179A CN 102068222 B CN102068222 B CN 102068222B
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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 is applied to the floor cleaning machine people of ground field of washing; 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 urbanization development, office building, shopping square, 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 accomplish by manpower or by the cleaning machine that the people controls, in whole cleaning course, and the labour who all musts be guarded or looked after all the time; Along with deepening continuously of technical research, consider that from human cost and operating efficiency equal angles the researcher has proposed to substitute manpower by robot and 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 let 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 deficiency of prior art; The object of the present invention is to provide a kind of simple in structure, can realize that multiple burnisher goes up and down in proper order through single motor, thereby a kind of floor cleaning machine people burnisher order lowering or hoisting gear of pushing the technology on robot cleaner ground to use to.
The present invention realizes through following technical scheme:
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, and power set are fixed on power set support top, and 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, and wherein, the fulcrum connecting rod is fixed on the base; Lever is installed on the fulcrum connecting rod through the curved arc that the one of which 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 through regulating the cooperation between fulcrum connecting rod and the different curved arc; Realize the long-armed variation with galianconism length of lever; Thereby change lever institute's applied pressure or pulling force size, and the galianconism end of lever lifts beam through a spring and 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 through 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, like 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 through screw rod; Can realize the adjusting of chute length through the sleeve of replacing different-thickness, contact position that chute and lever are long-armed and then quilt are adjusted, thereby can adjustment dish brush assemblies and suction rake component priority order lifting time institute's interlude length.
The invention has the beneficial effects as follows: the present invention is simple in structure, the control aspect, utilizes the single-degree-of-freedom Power Component can realize the substep motion of multiple burnisher, provides cost savings; Make things convenient for drive controlling, and the present invention mentions burnisher when off working state; Can effectively reduce the wearing and tearing on burnisher and ground, protect burnisher and ground 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 through 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
To combine accompanying drawing below, specify the specific embodiment of the present invention:
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.
Extremely shown in Figure 3 like Fig. 1: 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, the dish brush assemblies 5 and the rake assembly 6 that absorbs water 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, and 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, and in this embodiment, power set 1 are electric pushrod; It can make stretching motion; And power set 1 also can be other structure of linear motion, and like 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 through screw rod 33; Can realize the adjusting of chutes 31 length through the sleeve 32 of changing different-thickness, the contact position that chute and lever are long-armed and then adjusted, thereby can adjustment dish brush assemblies 5 and suction rake assembly 6 promote time institute's interlude length in proper order.
In addition, the bottom of push-and-pull connecting rod 3 is terminal pad brush assemblies 5 also, and 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 is installed on the dish brush installing rack 14; In this embodiment, dish brush installing rack 14 is rigidly connected with above-mentioned push-and-pull connecting rod 3, when electric pushrod drive push-and-pull connecting rod 3 is done lifter motion; Dish brush assemblies 5 is 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, and wherein, fulcrum connecting rod 8 is fixed on the base; Lever 7 is installed on the fulcrum connecting rod 8 through the curved arc 15 that the one of which 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 through regulating the cooperation between fulcrum connecting rod 8 and the different curved arc 15; Realize the long-armed variation with galianconism length of lever 7; Thereby change 7 applied pressures of lever or pulling force size, and the galianconism end of lever 7 lifts beam 10 through a spring and 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 through a suction rake mounting rail 13 in its end; Wherein, suction rake mounting rail 13 is harrowed assembly 6 through being threaded the dismounting of very convenient suction rake assembly 6 with suction; 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, thus make suction rake assembly 6 disengaging ground; Otherwise when electric pushrod drive push-and-pull connecting rod 3 was made downward motion, lever 7 made suction rake assembly 6 compress ground under the effect of extension spring 9 restoring forces; Simultaneously; Above the link of lever 7 and extension spring 9, also have a block plate (not shown), 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 that is fixedly 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 that is fixedly connected with push-and-pull connecting rod 3 to keep synchronization lifting to move 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, utilizes lever principle that lever 7 terminal suctions rake assemblies 6 are 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, and 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 continue elongation when electric pushrod 3, 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, and 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 makes 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 through promote 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 arcs 15 as required; The long-armed length with the end arm of adjustment 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 through the mode of the ground clean robot burnisher that goes up and down in proper order step by step; It is residual to have reduced ground sewage effectively, has protected ground and burnisher, has 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 replacement or the technical scheme that obtained of equivalent transformation mode, all drop 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, and power set are fixed on power set support top, and 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, and lever is installed on the fulcrum connecting rod through the curved arc that the one of which side matches with fulcrum connecting rod shape; The galianconism end of lever lifts beam through 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 through 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, and 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 laterally arrange, and 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 CN102068222A (en) | 2011-05-25 |
| CN102068222B true 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) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US9498099B2 (en) * | 2012-02-16 | 2016-11-22 | Tennant Company | 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 |
| CN108670132A (en) * | 2018-03-29 | 2018-10-19 | 杭州吉迈机器人有限公司 | A kind of water suction rake lifting gear and floor-cleaning machine |
| 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 |
| CN109330508B (en) * | 2018-10-15 | 2020-11-10 | 常州大学 | Domestic mopping robot |
| CN109394097B (en) * | 2018-10-18 | 2020-12-15 | 嘉兴奥恒进出口有限公司 | Household toilet wall ceramic tile treatment equipment |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100420171B1 (en) * | 2001-08-07 | 2004-03-02 | 삼성광주전자 주식회사 | Robot cleaner and system therewith and method of driving thereof |
| KR100507928B1 (en) * | 2003-07-24 | 2005-08-17 | 삼성광주전자 주식회사 | Robot cleaner |
| ES2346343T3 (en) * | 2005-02-18 | 2010-10-14 | Irobot Corporation | AUTONOMOUS SURFACE CLEANING ROBOT FOR DRY AND WET CLEANING. |
| KR20070101002A (en) * | 2006-04-10 | 2007-10-16 | 이바도 | Cleaning robot system of satellite type |
| CN201948947U (en) * | 2010-11-24 | 2011-08-31 | 昆山市工业技术研究院有限责任公司 | Orderly elevating device for cleaning tools of ground cleaning robot |
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2010
- 2010-11-24 CN CN 201010557179 patent/CN102068222B/en not_active Expired - Fee Related
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| CN102068222A (en) | 2011-05-25 |
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