CN103845001A - Lifting swinging device, automatic dust discharging system with same, monitoring robot with same and dust absorbing device with same - Google Patents
Lifting swinging device, automatic dust discharging system with same, monitoring robot with same and dust absorbing device with same Download PDFInfo
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- CN103845001A CN103845001A CN201210516562.2A CN201210516562A CN103845001A CN 103845001 A CN103845001 A CN 103845001A CN 201210516562 A CN201210516562 A CN 201210516562A CN 103845001 A CN103845001 A CN 103845001A
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- lifting
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- cam
- functional unit
- swinging
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/106—Dust removal
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
Abstract
A lifting swinging device comprises a connecting board (1) and a functional unit (100) and further comprises a lifting swinging mechanism used for driving the functional unit to move. The lifting swinging mechanism comprises a lifting unit and a swinging unit. The lifting unit drives the functional unit to stretch and contract. After the lifting unit stretches for a distance, the swinging unit is connected with the lifting unit and drives the functional unit to swing. The invention further provides an automatic dust discharging system with the lifting swinging device, a monitoring robot with the lifting swinging device and a dust absorbing device with the lifting swinging device. The lifting swinging device is simple in structure, an extensible chain in the lifting unit is directly connected with a swinging piece of the swinging unit so that the functional unit can stretch and swing, and a working range is enlarged. The lifting swinging device is wide in application and can be installed on the automatic dust discharging system, the monitoring robot and the dust absorbing device so that corresponding functions can be achieved.
Description
Technical field
The present invention relates to a kind of lifting and swinging device and automatic ash discharge system thereof, supervisory-controlled robot and suction apparatus for ash, belong to household electrical appliances manufacturing technology field.
Background technology
Robot is after carrying out cleaning work, and the dirt of collecting therein need to clear out by garbage reclamation station.At present, the ash discharge passage between clean robot and bus stop has three kinds of connected modes: mode one: clean robot is connected with bus stop suction inlet by the dust suction inlet of its bottom.The diapire that is specially clean robot comprises the suction inlet for sucking dust and loose clast, and brush is rotatable is arranged near suction inlet.Bus stop comprises the front surface of inclination and is formed at the suction inlet of the front surface of inclination, and clean robot can rise along the front surface tilting.In the time that clean robot rises to stop position along the front surface tilting, the front surface suction inlet of inclination and clean robot suction inlet coincide, and are sucked and removed dust and the loose clast in clean robot by bus stop according to the operation of suction unit.In mode one, there is following defect: first, in the time that clean robot is drawn in bus stop by dust and clast, near the brush that the dust of discharging from suction inlet and clast are easily installed in suction inlet snarls; Secondly, the suction passage of bus stop is positioned at the below of clean robot, has higher height like this with regard to the front surface that requires bus stop to tilt, and is unfavorable for the stop of clean robot; In addition, clean robot suction inlet has wider width, adds the vibrations due to machine in the course of work and makes junction sealing difficulty, and suction reduces to such an extent as to is difficult to obtain good ash discharge effect.
Ash discharge passage implementation two between clean robot and bus stop: clean robot is connected by the boss (dust outlet) of its sidewall and the shrinkage pool (dust suction inlet) of bus stop front end.As disclosed in CN101049218 patent, clean robot comprises boss, and this boss is projected into outside robot body sidewall, in order to insert the dust suction path defined in bus stop; Bus stop comprises the shrinkage pool that its front end and robot boss match.Clean robot inserts bus stop shrinkage pool by its boss in the time of docking operation, and the dust of clean robot is discharged by boss and bus stop dust suction path.The defect of mode two is, dust outlet is in a side of dust arrester, to such an extent as to is difficult to the dust at dust tap far-end and dead angle place to discharge, and reduces ash discharge effect.
Ash discharge passage implementation three between clean robot and bus stop: clean robot is connected by the dust outlet on its top and the dust suction inlet of bus stop.Be specially the dust outlet that clean robot comprises its top, the dust outlet place that is connected to of an opened/closed member activity controls opening and closure of this dust outlet.Bus stop comprises the projection of its front end, and dust suction inlet is positioned in this projection and the sweep-up pipe dust suction inlet that is connected to moving up and down.Bus stop also comprises drive motors, and drive motors is by gear and be connected to moving up and down of tooth bar control sweep-up pipe on sweep-up pipe.When clean robot completes after the assigned address that clean operation runs to bus stop, drive motors control sweep-up pipe moves down, the opened/closed member at clean robot dust outlet place is opened simultaneously, and sweep-up pipe is connected with dust tap and shifts out dust and the loose clast in clean robot according to the operation of bus stop suction unit.The defect of mode three is, sweep-up pipe inserts ash discharge in dust arrester top centre, and at dust arrester surrounding dead angle, place has dust remnants equally, ash discharge poor effect.
In addition, existing safety protection robot monitoring range is less, and existing dust catcher dust suction scope is less, is all problem demanding prompt solution.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, a kind of lifting and swinging device is provided, this lifting and swinging apparatus structure is simple, overall structure is compacter, broaden the scope of work, can be arranged on including automatic ash discharge system, supervisory-controlled robot (AMP) and inhale on the multiple electric equipment apparatus for ash, easy to operate and practical.
Technical problem to be solved by this invention realizes by following technical approach:
A kind of lifting and swinging device, comprise connecting plate and functional unit, this lifting and swinging device also comprises the lifting and swinging mechanism for driving described functional unit action, described lifting and swinging mechanism comprises lifting unit and swing unit, lifting unit drives functional unit flexible, extend after a segment distance at lifting unit, swing unit connects lifting unit and drives functional unit to swing.
Specifically, described lifting unit comprises chain and sprocket wheel, and described swing unit comprises cam unit and swing component, wherein, on described connecting plate, be fixed with motor, sprocket wheel and cam unit are coaxially set on the output shaft of motor, and described cam unit is arranged on the outer rim of sprocket wheel, establishes chain on sprocket wheel, chain one end is connected with functional unit, the other end is connected with swing component, the corresponding setting of flange of the top of described swing component and cam unit, and described chain passes and locates from swing component end; Described functional unit is flexible under the drive of chain, and under the flange effect of cam unit, described swing component drives chain and functional unit successively, and described functional unit is swung centered by the swing fulcrum of swing component.
In order to guarantee stable connection and to drive functional unit lifting, described chain end is connected with functional unit by connected unit.
For the reciprocally swinging of practical function unit, described cam unit comprises the first cam and the second cam, and described sprocket wheel is arranged between the first cam and the second cam.
As required, described swing component comprises body and lug boss, and described body is arc, the corresponding setting of outer rim radian of its radian and described sprocket wheel; The top of described body is axially provided with lug boss towards both sides respectively along described sprocket wheel, the lug boss described in two respectively with the corresponding setting of flange of the first cam and the second cam.
Specifically, the flange arranging on the first described cam and the second cam is arc, and flange is along the axial width gradual change of the first cam or the second cam; Described the first cam and the second cam are symmetrical arranged with respect to sprocket wheel, both thickness of flange gradual change opposite directions.
In order to obtain preferably amplitude of fluctuation, it is on the lower side away from the middle part in the outside of sprocket wheel that described swing fulcrum is positioned at described swing component, and described connecting plate correspondence is provided with the brace table of swinging in the cross rest fulcrum.
For the ease of location, described connecting plate is provided with the locating slot for accommodating described functional unit, between described locating slot and functional unit, leaves gap.
As required, described functional unit can be suction tube or CCD camera assembly.
The present invention also provides a kind of automatic ash discharge system, comprise ash discharge pedestal and clean robot, the front end of ash discharge pedestal is provided with a projection, on clean robot, correspondence is provided with dust outlet, described projection is provided with lifting and swinging device as above, described connecting plate is fixedly connected with projection, and described functional unit is the suction tube being arranged in described projection, and described suction tube stretches into by described dust outlet inhales ash in the dust-collecting box of described clean robot.The invention provides a kind of supervisory-controlled robot, comprise mobile module, described mobile module is provided with lifting and swinging device as above, and described connecting plate is fixedly connected with mobile module, and described functional unit is CCD camera assembly.
The invention provides a kind of apparatus for ash of inhaling, comprise the vacuum source, dust storage chamber and the Xi Hui mechanism that are connected, on described suction apparatus for ash, be also connected with lifting and swinging device as above by described connecting plate, described functional unit is the suction tube in described Xi Hui mechanism.
In sum, the invention provides a kind of lifting and swinging device and the electric equipment with this device, described lifting and swinging apparatus structure is simple, and the stretching chain in lifting unit directly connects the swing component of swing unit, flexible and the swing of practical function unit, broadens the scope of work; This device is of many uses, can be arranged on automatic ash discharge system, supervisory-controlled robot (AMP) and inhale on apparatus for ash, realizes corresponding function.With the electric equipment of this device, for example: automatic ash discharge system can be discharged dust and the loose clast in clean robot effectively by this device, supervisory-controlled robot can improve monitoring visual field by this device, inhale cleaning range, avoiding barrier etc. that apparatus for ash can improve by this device robot, easy to operate and practical.
Below in conjunction with the drawings and specific embodiments, technical approach of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the structure explosive view of lifting and swinging device of the present invention;
Fig. 2 is the contraction state schematic diagram of lifting and swinging device of the present invention;
Fig. 3 is the elongation state schematic diagram of lifting and swinging device of the present invention;
Fig. 4 is the swing state schematic diagram of lifting and swinging device of the present invention;
Fig. 5 is the overall structure schematic diagram of automatic ash discharge system of the present invention;
Fig. 6 is that the X of Fig. 5 is to schematic diagram;
Fig. 7 is the overall structure schematic diagram of supervisory-controlled robot of the present invention;
Fig. 8 is the overall structure schematic diagram that the present invention inhales apparatus for ash.
The specific embodiment
Fig. 1 is the structure explosive view of lifting and swinging device of the present invention.As shown in Figure 1, the invention provides a kind of lifting and swinging device A, comprise connecting plate 1 and functional unit 100, this lifting and swinging device A also comprises the lifting and swinging mechanism for driving described functional unit action, described lifting and swinging mechanism comprises lifting unit and swing unit, lifting unit drives functional unit flexible, extends after a segment distance at lifting unit, and swing unit connects lifting unit and drives functional unit to swing.
Fig. 2 and Fig. 3 are respectively contraction state and the elongation state schematic diagram of lifting and swinging device of the present invention.As Fig. 1 and in conjunction with as shown in Fig. 2, Fig. 3, specifically, described lifting unit comprises chain 2 and sprocket wheel 3, described swing unit comprises cam unit and swing component 5, wherein, on described connecting plate 1, be fixed with motor 6, sprocket wheel 3 and cam unit are set on the output shaft of motor 6, both are preferably coaxial setting.Described cam unit is arranged on the outer rim of sprocket wheel 3, on sprocket wheel 3, establish chain 2, chain 2 one end are connected with functional unit 100, and the other end is connected with swing component 5, the corresponding setting of flange of the top of described swing component 5 and cam unit, described chain 2 passes and locates from swing component 5 ends; Described functional unit 100 is flexible under the drive of chain 2, and under the flange effect of cam unit, described swing component 5 drives chain 2 and functional unit successively, and described functional unit is swung centered by the swing fulcrum of swing component 5.In order to guarantee stable connection, described chain 2 ends are connected with functional unit by connected unit 7.For the reciprocally swinging of practical function unit, described cam unit comprises the first cam 41 and the second cam 42, and described sprocket wheel 3 is arranged between the first cam 41 and the second cam 42.As required, described swing component 5 comprises body 51 and lug boss 52, and described body 51 is arc, the corresponding setting of outer rim radian of its radian and described sprocket wheel 3; The top of described body 51 along described sprocket wheel 3 be axially provided with towards both sides respectively lug boss 52 described in 52, two of lug bosses respectively with the corresponding setting of flange 411,421 of the first cam 41 and the second cam 42.Specifically, the flange 411,421 arranging on the first described cam 41 and the second cam 42 is arc, and flange 411,421 is along the axial width gradual change of the first cam 41 or the second cam 42; Described the first cam 41 and the second cam 42 are symmetrical arranged with respect to sprocket wheel 3, both thickness of flange gradual change opposite directions.In order to obtain preferably amplitude of fluctuation, it is on the lower side away from the middle part in the outside of sprocket wheel 3 that described swing fulcrum 53 is positioned at described swing component 5, and described connecting plate 1 correspondence is provided with the brace table 13 of swinging in the cross rest fulcrum 53.As shown in Figure 1, between connecting plate 1 accommodating sprocket wheel 3, the first cam 41 and functional unit 100, be provided with dividing plate 111, on dividing plate 111, be provided with arc gap, in the time that the connecting plate 1 of arranged on left and right sides snaps together, the arc gap of both sides forms the brace table 13 of similar sliding groove structure, provides support and locates swinging fulcrum 53.This brace table 13 has played swinging location and the strengthening effect of fulcrum 53, and the structure that also can circular hole or pit and so on be set at the correspondence position of connecting plate 1 forms described brace table 13.When lifting and swinging application of installation is on other electric equipments of dissimilar or structure time, brace table 13 can also be set in the relevant position of apparatus casing and provide support and locate swinging fulcrum 53.Upper end or the lower end that swing fulcrum 53 can certainly be arranged on to swing component 5, make its corresponding amplitude of fluctuation increase or reduce.That is to say, by swinging the height difference of fulcrum 53 in swing component 5 arranged outside positions, realize the adjusting to amplitude of fluctuation.For the ease of location, described connecting plate 1 is provided with the locating slot 12 for accommodating described functional unit, between described locating slot 12 and functional unit, leaves gap.
Above-mentioned lifting unit also can replace with rack-and-pinion elevating mechanism, practical function unit flexible; The cam unit of swing mechanism also can adopt toggle or reciprocator etc. to replace structure, carrys out corresponding driving swing component and swings, and drives the swing of functional unit.Fig. 4 is the swing state schematic diagram of lifting and swinging device of the present invention.In conjunction with shown in Fig. 2 to Fig. 4, the course of action of lifting and swinging device provided by the present invention is such:
Under state as shown in Figure 2, motor 6 is in starting state not, swing component 5 is fixedly connected with the front end of chain 2, chain 2 is walked around the swing component 5 of sprocket wheel 3 and unnecessary part and chain 2 front ends and is inserted in the accommodation space 11 being arranged on connecting plate 1 (with reference to Fig. 3, Fig. 4), if chain is shorter, only swing component 5 is inserted in accommodation space 11.Now, chain 2, in extreme higher position, because chain 2 ends are connected with the end of functional unit 100 by connected unit 7, makes it in contraction state.
Under state as shown in Figure 3, motor 6 setting in motions, the output shaft band movable sprocket 3 of motor 6 rotates, the initial period rotating at sprocket wheel 3, chain 2 is intermeshing with sprocket wheel 3, and drive lower chain 2 to decline at it thereupon, simultaneously, the swing component 5 of chain 2 front ends departs from accommodation space 11 gradually, although motor 6 drives the first cam 41 and the second cam 42 to rotate simultaneously, because swing component 5 rides on the first cam 41 and/or the second cam 42 after departing from accommodation space 11, its top does not contact with sprocket wheel 3, the first cam 41 and the second cam 42 are in the process of rotating, flange 411 on it, 421 also cannot contact with the lug boss 52 on swing component 5, now, only chain 2 is discharged under sprocket wheel 3 drives, and swing component 5 can't swing.Because the end of chain 2 is connected with the end of functional unit by connected unit 7, so drive functional unit 100 to extend together.In the time that chain 2 is elongated to maximum length, chain 2 departs from sprocket wheel 3, and motor 6 dallies.
Under state as shown in Figure 4, motor 6 is rotated further, and drives the first cam 41 and the second cam 42 that are arranged on sprocket wheel 3 arranged on left and right sides to rotate simultaneously.Now, chain 2 has departed from sprocket wheel 3, and chain 2 no longer causes and blocks being arranged on flange 411,421 on the first cam 41 or the second cam 42.The first cam 41 and the second cam 42 are in the process of rotating, because flange 411,421 is along the axial width gradual change of the first cam 41 or the second cam 42, the first cam 41 and the second cam 42 are symmetrical arranged with respect to sprocket wheel 3, and both thickness of flange gradual change opposite directions, the flange of the first cam 41 and the second cam 42 is contacted with the lug boss 52 being arranged on swing component 5 in turn from the arranged on left and right sides of sprocket wheel 3 respectively, and promote swing component 5 drive chain 2, connected unit 7 together with functional unit to swing centered by fulcrum, swing.Thereby realize the flexible of functional unit and swung two kinds of motions.
In the time that functional unit stops swinging and need to be contracted to home position as shown in Figure 2, reverse by controlling motor 6, make chain 2 under sprocket wheel 3 reversions drive, the end of chain 2 will be carried on functional unit by connected unit 7, realizes the action of its contraction.Meanwhile, the unnecessary chain 2 of walking around sprocket wheel 3 is inserted in the accommodation space 11 of connecting plate 1 together with swing component 5.
That is to say, the groundwork principle of this lifting and swinging device provided by the present invention is exactly, coordinate and form the mechanism that realizes lifting by sprocket wheel, chain and functional unit, by controlling the forward and backward of motor, complete the lifting action of functional unit through elevating mechanism.The first cam and the second cam being assembled by two dislocation also coordinates swing component to form the mechanism that realizes swing, rotate and drive two cams to rotate by motor, two cams are respectively alternately to swing component effect, the spot wobble of swing component on it, connected unit drives functional unit to swing together simultaneously.Wherein, in functional unit, telescopic flexible pipe can be set, for example: the scalable part such as wired hose or spring is replaced, and can produce other distressed structure.
Above-mentioned lifting and swinging apparatus structure is simple, and the telescopicing performance of the Telescopic flexible pipe in functional unit has compacter overall structure than common hard straight tube lifting, and the swing of practical function unit, broadens the scope of work; This device is of many uses, can be arranged on automatic ash discharge system, supervisory-controlled robot (AMP) and inhale on apparatus for ash, realizes corresponding function, easy to operate and practical.With next, by specific embodiment, the application to above-mentioned lifting and swinging device in different electrical equipment arranges is specifically described.
Embodiment mono-
Fig. 5 is the overall structure schematic diagram of automatic ash discharge system of the present invention, and the X that Fig. 6 is Fig. 5 is to schematic diagram.As Fig. 5 and in conjunction with as shown in Fig. 6, the present embodiment provides a kind of automatic ash discharge system, comprise ash discharge pedestal 30 and clean robot 20, the front end of ash discharge pedestal 30 is provided with a projection 31, this projection 31 is provided with suction tube 33, or dust suction inlet 32 and suction tube 33 are set simultaneously, on clean robot, correspondence is provided with dust outlet 22, described projection 31 is provided with lifting and swinging device A as above, connecting plate 1 in lifting and swinging device A is fixedly connected with projection 31, described functional unit is suction tube 33, one end of described suction tube 33 and described dust suction inlet 32 are tightly connected, after extending, suction tube 33 stretches into the interior operation of dust-collecting box 21 of described clean robot 20 by described dust outlet 22.
Specifically, in conjunction with the automatic ash discharge system shown in Fig. 5 and Fig. 6, ash discharge pedestal 30 comprises a projection 31 of its front end, and dust suction inlet 32 is positioned in this projection 31, described lifting and swinging device A is loaded in this projection 31, and the upper end of suction tube 33 and dust suction inlet 32 are tightly connected.Clean robot 20 comprise its top dust outlet 22, one opened/closed member activities be connected to dust outlet 22 places, control opening and closure of this dust outlet 22.Clean robot 20 executes cleaning works and arrives after ash discharge pedestal 30 assigned addresses, and the opened/closed member at the dust outlet place of clean robot is opened.Meanwhile, the lifting and swinging device A that is positioned at ash discharge pedestal 30 brings into operation.In conjunction with shown in Fig. 2 to Fig. 4, band movable sprocket 3 forwards after motor 6 energisings of lifting and swinging device A, sprocket wheel 3 drives chain 2 to move, due to the namely functional unit 100 shown in Fig. 2 to Fig. 4 of suction tube 33() and the matching relationship of chain 2, the connected unit 7 that is positioned at suction tube 33 bottoms drives suction tube 33 vertically to decline together, suction tube 33 arrives by dust outlet 22 in the dust-collecting box 21 of clean robot 20, until after sprocket wheel 3 contacts with swing component 5, connected unit 7 cannot continue to decline, arrive minimum point, its state as shown in Figure 5.Connected unit 7 drops to after minimum point, the first cam 41 and the second cam 42 produce the action of stirring to swing component 5 respectively alternately, centered by the swing fulcrum 53 of swing component 5 on it, swing, connected unit 7 drives suction tube 33 to swing together, the position that swings to edge, its state as shown in Figure 6.The suction unit of the pedestal of ash discharge simultaneously 30 is started working, and sucks and remove dust and the clast in dust-collecting box 21 by suction tube 33.Due to the swing effect of suction tube 33, can more thoroughly the dust in dust-collecting box 21 be excluded.After dust is discharged completely, suction unit quits work, and motor 6 reverses, and motor 6 is with movable sprocket 2 to reverse, connected unit 7 returns to centre position, chain 2 resets with sprocket wheel 3, and the first cam 41 and the second cam 42 are no longer stirred swing component 5, and connected unit 7 rises, during to extreme higher position, motor 6 shuts down, and the opened/closed member closure of clean robot 20, completes whole automatic removing dust process.
Owing to being provided with above-mentioned lifting and swinging device in automatic ash discharge system, can make suction tube free lifting in operation process, thereby control the degree of depth that stretches into clean robot dust-collecting box inside, the effect that the telescopicing performance of employing Telescopic flexible pipe reaches suction tube lifting can have compacter overall structure than common hard straight tube lifting.Simultaneously, swing by it again, can make suction tube that the dirt in each position of dust-collecting box is all cleaned totally, draw dust and clast in dust arrester, the dust at dust-collecting box dead angle place be can discharge easily by the swing of suction tube, dust and loose clast in clean robot effectively discharged.
Embodiment bis-
Fig. 7 is the overall structure schematic diagram of supervisory-controlled robot of the present invention.As shown in Figure 7, in the present embodiment, a kind of supervisory-controlled robot is provided, comprise mobile module 300, described mobile module 300 is provided with lifting and swinging device A ' as above, connecting plate in described lifting and swinging device A ' is fixedly connected with mobile module 300, and described functional unit is CCD camera assembly 400.By being arranged on the lifting and swinging device A ' on supervisory-controlled robot, can make CCD camera assembly 400 free-extension and swing in operation process, greatly improve the monitoring visual field of supervisory-controlled robot.
Embodiment tri-
Fig. 8 is the overall structure schematic diagram that the present invention inhales apparatus for ash.As shown in Figure 8, in the present embodiment, a kind of apparatus for ash of inhaling is provided, comprise the vacuum source 501, dust storage chamber 502 and the Xi Hui mechanism 503 that are connected, on described suction apparatus for ash also by described connecting plate and lifting and swinging device A as above " be connected, described functional unit is the suction tube 5031 in described Xi Hui mechanism 503.Inhale apparatus for ash under the drive of walking mechanism 504, in the walking limit operation of operation surface limit, by the A of lifting and swinging mechanism being set on suction apparatus for ash ", in the time of Shang You crack, ground or projection; the A of lifting and swinging mechanism " drive suction tube 5031 flexible, avoid out-of-flatness surface; And when floor cleaning, drive suction tube 5031 to swing the ground dust of absorption, realize the object such as cleaning range, avoiding barrier that improves robot.
In sum, the invention provides a kind of lifting and swinging device and automatic ash discharge system thereof, supervisory-controlled robot and suction apparatus for ash, described lifting and swinging apparatus structure is simple, the telescopicing performance of the Telescopic flexible pipe in lifting unit has compacter overall structure than common hard straight tube lifting, the swing of practical function unit, broadens the scope of work; This device is of many uses, can be arranged on automatic ash discharge system, supervisory-controlled robot (AMP) and inhale on apparatus for ash, realizes corresponding function, no matter in horizontal or vertical direction, and the effectively flexible and swing of practical function unit.With the electric equipment of this device, for example: automatic ash discharge system can be discharged dust and the loose clast in clean robot effectively by this device, supervisory-controlled robot can improve monitoring visual field by this device, inhale cleaning range, avoiding barrier etc. that apparatus for ash can improve by this device robot, easy to operate and practical.
Claims (12)
1. a lifting and swinging device, comprise connecting plate (1) and functional unit (100), it is characterized in that, this lifting and swinging device also comprises the lifting and swinging mechanism for driving described functional unit (100) action, described lifting and swinging mechanism comprises lifting unit and swing unit, lifting unit drives functional unit (100) flexible, extends after a segment distance at lifting unit, and swing unit connects lifting unit and drives functional unit (100) to swing.
2. lifting and swinging device as claimed in claim 1, it is characterized in that, described lifting unit comprises chain (2) and sprocket wheel (3), described swing unit comprises cam unit and swing component (5), wherein, on described connecting plate (1), be fixed with motor (6), sprocket wheel (3) and cam unit are set on the output shaft of motor (6), described cam unit is arranged on the outer rim of sprocket wheel (3), on sprocket wheel (3), establish chain (2), chain (2) one end is connected with functional unit (100), the other end is connected with swing component (5), the setting corresponding to the flange of cam unit of the top of described swing component (5), described chain (2) passes and locates from swing component (5) end, described functional unit is flexible under the drive of chain (2), and under the flange effect of cam unit, described swing component (5) drives chain (2) and functional unit successively, and described functional unit is swung centered by the swing fulcrum (53) of swing component (5).
3. lifting and swinging device as claimed in claim 2, is characterized in that, described chain (2) end is connected with functional unit (100) by connected unit (7).
4. lifting and swinging device as claimed in claim 2, is characterized in that, described cam unit comprises the first cam (41) and the second cam (42), and described sprocket wheel (3) is arranged between the first cam (41) and the second cam (42).
5. lifting and swinging device as claimed in claim 4, is characterized in that, described swing component (5) comprises body (51) and lug boss (52), and described body (51) is arc, the corresponding setting of outer rim radian of its radian and described sprocket wheel (3); The top of described body (51) is axially provided with respectively lug boss (52) along described sprocket wheel (3) towards both sides, the lug boss (52) described in two respectively with the corresponding setting of flange (411,421) of the first cam (41) and the second cam (42).
6. lifting and swinging device as claimed in claim 5, it is characterized in that, the upper flange (411,421) arranging of described the first cam (41) and the second cam (42) is arc, and flange is along the axial width gradual change of the first cam (41) or the second cam (42); Described the first cam (41) and the second cam (42) are symmetrical arranged with respect to sprocket wheel (3), both flange (411,421) gradient thickness opposite directions.
7. lifting and swinging device as claimed in claim 2, is characterized in that, described swing fulcrum (53) is positioned at the outside of described swing component (5) away from sprocket wheel (3), and described connecting plate (1) correspondence is provided with the brace table (13) of swinging in the cross rest fulcrum (53).
8. lifting and swinging device as claimed in claim 1, is characterized in that, described connecting plate (1) is provided with the locating slot (12) for accommodating described functional unit (100), between described locating slot (12) and functional unit (100), leaves gap.
9. lifting and swinging device as claimed in claim 1, is characterized in that, described functional unit is suction tube (33,5031) or CCD camera assembly (400).
10. an automatic ash discharge system, comprise ash discharge pedestal (30) and clean robot (20), the front end of ash discharge pedestal (30) is provided with a projection (31), the upper correspondence of clean robot (20) is provided with dust outlet (22), it is characterized in that, described projection (31) is provided with the lifting and swinging device (A) as described in claim 1-8 any one, described connecting plate (1) is fixedly connected with projection (31), described functional unit is for being arranged on the suction tube (33) in described projection (31), described suction tube (33) stretches into the interior ash of inhaling of dust-collecting box (21) of described clean robot (20) by described dust outlet (22).
11. 1 kinds of supervisory-controlled robots, comprise mobile module (300), it is characterized in that, described mobile module is provided with lifting and swinging device as described in claim 1-8 any one (A '), described connecting plate (1) is fixedly connected with mobile module (300), and described functional unit is CCD camera assembly (400).
Inhale apparatus for ash for 12. 1 kinds, comprise the vacuum source (501), dust storage chamber (502) and the Xi Hui mechanism (503) that are connected, it is characterized in that, on described suction apparatus for ash, be also connected by described connecting plate (1) and lifting and swinging device as described in claim 1-8 any one (A "), described functional unit is the suction tube (5031) in described Xi Hui mechanism (503).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210516562.2A CN103845001B (en) | 2012-12-05 | 2012-12-05 | Lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and suction apparatus for ash |
| PCT/CN2013/088663 WO2014086301A1 (en) | 2012-12-05 | 2013-12-05 | Lifting and swinging device, and automatic dust discharging system, monitoring robot and dust absorbing device, having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210516562.2A CN103845001B (en) | 2012-12-05 | 2012-12-05 | Lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and suction apparatus for ash |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103845001A true CN103845001A (en) | 2014-06-11 |
| CN103845001B CN103845001B (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210516562.2A Active CN103845001B (en) | 2012-12-05 | 2012-12-05 | Lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and suction apparatus for ash |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103845001B (en) |
| WO (1) | WO2014086301A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105902238A (en) * | 2015-02-24 | 2016-08-31 | 沃维克股份有限公司 | Suction nozzle for a vacuum cleaner |
| CN107638138A (en) * | 2017-10-27 | 2018-01-30 | 江苏美的清洁电器股份有限公司 | Driving wheel structure and cleaning device |
| CN108082920A (en) * | 2018-02-02 | 2018-05-29 | 珠海汉迪自动化设备有限公司 | Lift rocking equipment and its control method |
| CN109480713A (en) * | 2018-12-20 | 2019-03-19 | 北京享捷科技有限公司 | A kind of sweeping robot dust exhaust apparatus and dust collection method |
| CN112386165A (en) * | 2019-08-16 | 2021-02-23 | 德国福维克控股公司 | Master station for emptying dirty chamber of mobile cleaning machine at fixed point, cleaning system and cleaning method |
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| CN105902238A (en) * | 2015-02-24 | 2016-08-31 | 沃维克股份有限公司 | Suction nozzle for a vacuum cleaner |
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| CN107638138A (en) * | 2017-10-27 | 2018-01-30 | 江苏美的清洁电器股份有限公司 | Driving wheel structure and cleaning device |
| CN108082920A (en) * | 2018-02-02 | 2018-05-29 | 珠海汉迪自动化设备有限公司 | Lift rocking equipment and its control method |
| CN109480713A (en) * | 2018-12-20 | 2019-03-19 | 北京享捷科技有限公司 | A kind of sweeping robot dust exhaust apparatus and dust collection method |
| CN109480713B (en) * | 2018-12-20 | 2023-09-19 | 北京享捷科技有限公司 | Dust collection device and dust collection method for sweeping robot |
| CN112386165A (en) * | 2019-08-16 | 2021-02-23 | 德国福维克控股公司 | Master station for emptying dirty chamber of mobile cleaning machine at fixed point, cleaning system and cleaning method |
| CN112386165B (en) * | 2019-08-16 | 2022-05-10 | 德国福维克控股公司 | Master station for emptying dirty chamber of mobile cleaning machine at fixed point, cleaning system and cleaning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103845001B (en) | 2017-12-22 |
| WO2014086301A1 (en) | 2014-06-12 |
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