CN103845001B - Lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and suction apparatus for ash - Google Patents
Lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and suction apparatus for ash Download PDFInfo
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- CN103845001B CN103845001B CN201210516562.2A CN201210516562A CN103845001B CN 103845001 B CN103845001 B CN 103845001B CN 201210516562 A CN201210516562 A CN 201210516562A CN 103845001 B CN103845001 B CN 103845001B
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- lifting
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- cam
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
A kind of lifting and swinging device, including connecting plate（1）And functional unit（100）The lifting and swinging device also includes being used for the lifting and swinging mechanism for driving the functional unit action, the lifting and swinging mechanism includes lifting unit and swing unit, lifting unit driving function unit stretches, after lifting unit extends a segment distance, swing unit connection lifting unit and the swing of driving function unit；The present invention also provides the automatic ash discharge system with above-mentioned lifting and swinging device, supervisory-controlled robot and inhales apparatus for ash.Lifting and swinging apparatus structure of the present invention is simple, and the stretching chain in lifting unit is directly connected to the swing component of swing unit, realizes the flexible of functional unit and swings, broadens the scope of work；The device is widely used, may be mounted at automatic ash discharge system, supervisory-controlled robot and inhales on apparatus for ash, realizes corresponding function.
Description
Technical field
The present invention relates to a kind of lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and apparatus for ash is inhaled, is belonged to
Technical field of household appliance manufacture.
Background technology
After cleaning work is carried out, collecting the dirt inside it needs to clear out of by garbage reclamation station for robot
Go.At present, the ash discharge passage between clean robot and bus stop has three kinds of connected modes：Mode one：Clean robot leads to
The dust suction inlet for crossing its bottom is connected with bus stop suction inlet.Specially the bottom wall of clean robot includes being used to suck dust
With the suction inlet of loose clast, and brush is rotatably mounted near suction inlet.Bus stop includes inclined preceding surface
And the suction inlet on inclined preceding surface is formed at, clean robot can rise along inclined preceding surface.Work as cleaning machine
People along inclined preceding surface rise to stop position when, inclined preceding surface suction inlet coincide with clean robot suction inlet,
And sucked according to the operation of suction unit by bus stop and remove the dust in clean robot and loose clast.In mode
Following defect in one be present：First, when dust and clast are drawn into bus stop by clean robot, discharged from suction inlet
Dust and the brush that is easily mounted near suction inlet of clast snarled；Secondly, the suction passage of bus stop is positioned at clear
The lower section of clean robot, so require the inclined preceding surface of bus stop that there is higher height, be unfavorable for clean robot
Stop；In addition, clean robot suction inlet has wider width, along with the vibrations in the course of work due to machine make connection
Place's sealing is difficult, and suction is reduced so that being difficult to obtain good ash discharge effect.
Ash discharge channel implementation two between clean robot and bus stop：The boss that clean robot passes through its side wall
（Dust outlet）With the shrinkage pool of bus stop front end（Dust suction inlet）Connection.As disclosed in CN101049218 patents, cleaner
Device people includes boss, and the boss is projected into outside robot body side wall, to insert the dust suction path defined in bus stop；Stop
Pull in the shrinkage pool to be matched including its front end with robot boss.Its boss is inserted and stopped by clean robot in docking operation
Stand shrinkage pool, the dust of clean robot is passed through boss and discharged with bus stop dust suction path.The defects of mode two, is that dust is arranged
Outlet is in the side of dust arrester, so that it is difficult to the dust at dust tap distal end and dead angle is discharged, reduction ash discharge effect.
Ash discharge channel implementation three between clean robot and bus stop：The dust that clean robot passes through its top
The dust suction inlet of outlet and bus stop connects.Specially clean robot includes the dust outlet on its top, one open/
Enclosed member activity is connected to the opening and closing that the dust outlet is controlled at dust outlet.Bus stop includes its front end
Projection, dust suction inlet, which is located in the projection, and sweep-up pipe is moving up and down is connected to dust suction inlet.Bus stop is also
Including motor, motor controls moving up and down for sweep-up pipe by gear and the rack being connected on sweep-up pipe.When
After clean robot completion clean operation runs to the specified location of bus stop, motor control sweep-up pipe moves down, while clearly
Opened/closed component at clean robot dust outlet is opened, and sweep-up pipe is connected with dust tap and inhaled according to bus stop
Take the dust in the operation removal clean robot of unit and loose clast.The defects of mode three, is that sweep-up pipe is in dust
The centre insertion ash discharge of device top, equally has dust remaining, ash discharge is ineffective at dust arrester surrounding dead angle.
In addition, existing safety protection robot monitoring range is smaller, and existing dust catcher dust suction scope is smaller, all
It is urgent problem to be solved.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of lifting and swinging device,
The lifting and swinging apparatus structure is simple, and overall structure is more compact, broadens the scope of work, and may be mounted at including automatic removing dust system
System, supervisory-controlled robot（AMP）It is easy to operate and practical on a variety of electric equipments including suction apparatus for ash.
The technical problems to be solved by the invention are realized by following technical approach：
A kind of lifting and swinging device, including connecting plate and functional unit, the lifting and swinging device also include being used to drive institute
The lifting and swinging mechanism of functional unit action is stated, the lifting and swinging mechanism includes lifting unit and swing unit, lifting unit
Driving function unit stretches, after lifting unit extends a segment distance, swing unit connection lifting unit and driving function unit
Swing.
Specifically, the lifting unit includes chain and sprocket wheel, and the swing unit includes cam member and swing component,
Wherein, motor is fixed with the connecting plate, sprocket wheel and cam member, the cam are coaxially disposed on the output shaft of motor
Unit is arranged on the outer rim of sprocket wheel, and chain is set on sprocket wheel, and chain one end is connected with functional unit, and the other end is connected with swing component,
The top of the swing component and the flange of cam member are correspondingly arranged, and the chain is passed through and positioned from swing component end；It is described
Functional unit stretches under the drive of chain, and under the flange effect of cam member, the swing component drives chain and work(successively
Energy unit, makes the functional unit be swung centered on the swing pivot of swing component.
In order to ensure stable connection and drive functional unit lifting, described chain end passes through connected unit and functional unit
It is connected.
In order to realize the reciprocally swinging of functional unit, the cam member includes the first cam and the second cam, the chain
Wheel is arranged between the first cam and the second cam.
As needed, described swing component includes body and lug boss, and the body is arc, its radian and the sprocket wheel
Outer rim radian be correspondingly arranged；Axial direction of the top of the body along the sprocket wheel is provided with lug boss, two institutes towards both sides respectively
Flange of the lug boss stated respectively with the first cam and the second cam is correspondingly arranged.
Specifically, the flange set on described the first cam and the second cam is arc, flange along the first cam or
The axial width gradual change of second cam；Described the first cam and the second cam is symmetrical arranged relative to sprocket wheel, both flanges
Gradient thickness is in opposite direction.
In order to obtain preferable amplitude of fluctuation, described swing pivot is located in outside of the swing component away from sprocket wheel
Portion is on the lower side, and the connecting plate is correspondingly provided with the supporting table of support swing pivot.
For the ease of positioning, described connecting plate is provided with the locating slot for being used for housing the functional unit, the positioning
Gap is left between groove and functional unit.
As needed, the functional unit can be suction tube or CCD camera assembly.
The present invention also provides a kind of automatic ash discharge system, including ash discharge pedestal and clean robot, the front end of ash discharge pedestal
It is raised provided with one, dust outlet is correspondingly provided with clean robot, described projection is provided with lifting and swinging as described above
Device, described connecting plate are fixedly connected with projection, and described functional unit is the suction tube being arranged in the projection, described
Suction tube stretched into by the dust outlet ash inhaled in the dust-collecting box of the clean robot.The present invention provides a kind of monitoring
Robot, including mobile module, described mobile module are provided with lifting and swinging device as described above, described connecting plate with
Mobile module is fixedly connected, and the functional unit is CCD camera assembly.
The present invention provides a kind of suction apparatus for ash, includes the vacuum source, dust storage chamber and Xi Hui mechanisms being connected, described suction ash
Also it is connected on device by the connecting plate with lifting and swinging device as described above, the functional unit is the Xi Hui mechanisms
In suction tube.
In summary, the present invention provides a kind of lifting and swinging device and the electric equipment with the device, described lifting
Pendulous device is simple in construction, and the stretching chain in lifting unit is directly connected to the swing component of swing unit, realizes functional unit
Flexible and swing, broadens the scope of work；The device is widely used, may be mounted at automatic ash discharge system, supervisory-controlled robot（Peace
It is precious）On suction apparatus for ash, corresponding function is realized.Electric equipment with the device, such as：Automatic ash discharge system can pass through
The device is effectively discharged out dust and loose clast in clean robot, and supervisory-controlled robot can be improved by the device and supervised
The visual field is controlled, cleaning range, avoiding barrier of robot etc. can be improved by the device by inhaling apparatus for ash, easy to operate and practical
Property is strong.
Below in conjunction with the accompanying drawings and specific embodiment, the technical approach of the present invention is described in detail.
Brief description of the drawings
Fig. 1 is the Structure explosion diagram 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 diagram of automatic ash discharge system of the present invention；
Fig. 6 is Fig. 5 X to schematic diagram；
Fig. 7 is the overall structure diagram of supervisory-controlled robot of the present invention；
Fig. 8 is the overall structure diagram that the present invention inhales apparatus for ash.
Embodiment
Fig. 1 is the Structure explosion diagram of lifting and swinging device of the present invention.As shown in figure 1, the present invention provides a kind of lifting and swinging
Device A, including connecting plate 1 and functional unit 100, lifting and swinging device A also include being used to drive the functional unit to act
Lifting and swinging mechanism, the lifting and swinging mechanism includes lifting unit and swing unit, and lifting unit driving function unit is stretched
Contracting, after lifting unit extends a segment distance, swing unit connection lifting unit and the swing of driving function unit.
Fig. 2 and Fig. 3 is respectively the contraction state and elongation state schematic diagram of lifting and swinging device of the present invention.Such as Fig. 1 is simultaneously tied
Close shown in Fig. 2, Fig. 3, specifically, the lifting unit includes chain 2 and sprocket wheel 3, and the swing unit includes cam member
With swing component 5, wherein, be fixed with motor 6 on the connecting plate 1, sprocket wheel 3 and cam list be set on the output shaft of motor 6
Member, both are preferably to be coaxially disposed.The cam member is arranged on the outer rim of sprocket wheel 3, and chain 2, the one end of chain 2 are set on sprocket wheel 3
It is connected with functional unit 100, the other end is connected with swing component 5, and the top of the swing component 5 is corresponding with the flange of cam member to be set
Put, the chain 2 is passed through and positioned from the end of swing component 5；The functional unit 100 stretches under the drive of chain 2, in cam
Under the flange effect of unit, the swing component 5 drives chain 2 and functional unit successively, makes the functional unit with swing component 5
Swung centered on swing pivot.In order to ensure stable connection, the described end of chain 2 is connected by connected unit 7 with functional unit.
In order to realize the reciprocally swinging of functional unit, the cam member includes the first cam 41 and the second cam 42, and the sprocket wheel 3 is set
Put between the first cam 41 and the second cam 42.As needed, described swing component 5 includes body 51 and lug boss 52, institute
It is arc to state body 51, and the outer rim radian of its radian and the sprocket wheel 3 is correspondingly arranged；The top of the body 51 is along the sprocket wheel
3 axial direction is provided with lug boss 52 towards both sides respectively, the lug boss 52 described in two respectively with the first cam 41 and the second cam 42
Flange 411,421 be correspondingly arranged.The flange 411 that specifically, is set on described the first cam 41 and the second cam 42,
421 be arc, axial width gradual change of the flange 411,421 along the first cam 41 or the second cam 42；The first described cam 41
It is symmetrical arranged with the second cam 42 relative to sprocket wheel 3, both thickness of flange gradual changes are in opposite direction.In order to obtain preferable swing
Amplitude, the middle part that described swing pivot 53 is located at the outside of the swing component 5 away from sprocket wheel 3 is on the lower side, the correspondence of connecting plate 1
Supporting table 13 provided with support swing pivot 53.As shown in figure 1, the sprocket wheel 3 housed in connecting plate 1, the first cam 41 and work(
Dividing plate 111 can be provided between unit 100, arc gap is provided with dividing plate 111, when the connecting plate 1 of arranged on left and right sides is fastened on
When together, the arc gap of both sides forms the supporting table 13 of similar sliding groove structure, and support and positioning are provided to swing pivot 53.Should
Supporting table 13 serves the positioning to swing pivot 53 and strengthens effect, can also set circular hole in the correspondence position of connecting plate 1
Or the structure of pit etc forms the supporting table 13.When lifting and swinging device is applied to other electrical equipment of different type or structure
When in equipment, in the relevant position of apparatus casing supporting table 13 can also be set to provide support and positioning to swing pivot 53.When
Swing pivot 53 can also be so arranged on to the upper end or lower end of swing component 5, make its corresponding amplitude of fluctuation increase or reduce.Also
It is to say, it is different in the height of the outside set location of swing component 5 by swing pivot 53, realize the regulation to amplitude of fluctuation.In order to
It is easy to position, described connecting plate 1 is provided with the locating slot 12 for being used for housing the functional unit, the locating slot 12 and function
Gap is left between unit.
Above-mentioned lifting unit can also be replaced with rack-and-pinion elevating mechanism, realize the flexible of functional unit；Swing mechanism
Cam member toggle or reciprocator etc. can also be used to replace structure, drive swing component to swing to correspond to, band
The swing of dynamic functional unit.Fig. 4 is the swing state schematic diagram of lifting and swinging device of the present invention.With reference to shown in Fig. 2 to Fig. 4, this
The action process of the provided lifting and swinging device of invention is such：
In the state of as shown in Figure 2, motor 6 is in inactive state, and company is fixed in the front end of swing component 5 and chain 2
Connect, chain 2 is inserted around sprocket wheel 3 and the swing component 5 of unnecessary part and the front end of chain 2 and is arranged on housing on connecting plate 1
In space 11（Reference picture 3, Fig. 4）If chain is shorter, only swing component 5 is inserted in accommodation space 11.Now, chain 2 is in
Extreme higher position, because the end of chain 2 is connected by connected unit 7 with the end of functional unit 100, it is at contraction state.
In the state of as shown in Figure 3, the setting in motion of motor 6, the output shaft band movable sprocket 3 of motor 6 rotates, in sprocket wheel
3 initial periods rotated, chain 2 are intermeshed with sprocket wheel 3, and drive lower chain 2 to decline therewith at it, meanwhile, the front end of chain 2
Swing component 5 progressively disengage accommodation space 11, although motor 6 drives the first cam 41 and the second cam 42 to rotate simultaneously, by
Ridden over after swing component 5 departs from accommodation space 11 on the first cam 41 and/or the second cam 42, its top does not connect with sprocket wheel 3
Touch, the first cam 41 and the second cam 42 during rotation, flange 411,421 thereon can not also with swing component 5
Lug boss 52 is contacted, and now, only chain 2 is released under the drive of sprocket wheel 3, and swing component 5 can't be swung.Due to chain
The end of bar 2 is connected by connected unit 7 with the end of functional unit, so driving functional unit 100 to extend together.When chain 2
When being elongated to maximum length, chain 2 departs from sprocket wheel 3, and motor 6 dallies.
In the state of as shown in Figure 4, motor 6 is rotated further, while is driven and be arranged on the first of the arranged on left and right sides of sprocket wheel 3
The cam 42 of cam 41 and second rotates.Now, chain 2 has been detached from sprocket wheel 3, chain 2 no longer to be arranged on the first cam 41 or
Flange 411,421 on second cam 42 causes to block.First cam 41 and the second cam 42 are during rotation, due to convex
Axial width gradual change of the edge 411,421 along the first cam 41 or the second cam 42, the first cam 41 and the second cam 42 relative to
Sprocket wheel 3 is symmetrical arranged, and both thickness of flange gradual changes are in opposite direction, distinguishes the flange of the first cam 41 and the second cam 42
The arranged on left and right sides of accessary sprocket wheel 3 is in contact with the lug boss 52 being arranged on swing component 5 in turn, and promotes swing component 5 to drive chain
2nd, connected unit 7 and functional unit swing together centered on swing pivot.It is achieved thereby that the flexible and pendulum of functional unit
Dynamic two kinds of motions.
When functional unit stops swinging and needs to be contracted to home position as shown in Figure 2, by controlling motor 6 anti-
Turn, making chain 2, the end of chain 2 is above carried functional unit by connected unit 7 in the case where the reversion of sprocket wheel 3 drives, and realizes what it shrank
Action.Meanwhile inserted around the unnecessary chain 2 of sprocket wheel 3 together with swing component 5 in the accommodation space 11 of connecting plate 1.
That is, the main operational principle of this lifting and swinging device provided by the present invention is exactly, by sprocket wheel, chain
The mechanism for realizing lifting is cooperatively formed with functional unit, by controlling the forward and backward of motor, function is completed by elevating mechanism
The lifting action of unit.From two dislocation assembling the first cam and the second cam and with swing component is formed realize swing machine
Structure, two cam rotations are driven by motor rotation, two cams interact and swing component is acted on respectively, and swing component is around branch thereon
Spot wobble, while connected unit drives functional unit to swing together.Wherein, can be set in functional unit telescopic soft
Pipe, such as：The scalable part such as wired hose or spring is replaced, and can produce other distressed structures.
Above-mentioned lifting and swinging apparatus structure is simple, and the telescopicing performance of the Telescopic flexible pipe in functional unit is harder than common
Straight tube lifting has greater compactness of overall structure, realizes the swing of functional unit, broadens the scope of work；The device is widely used,
It may be mounted at automatic ash discharge system, supervisory-controlled robot（AMP）With inhale on apparatus for ash, realize corresponding function, it is easy to operate and
It is practical.Then application of the above-mentioned lifting and swinging device in the setting of different electrical equipment is carried out by specific embodiment below
Specific description.
Embodiment one
Fig. 5 is the overall structure diagram of automatic ash discharge system of the present invention, and Fig. 6 is Fig. 5 X to schematic diagram.Such as Fig. 5 is simultaneously tied
Close shown in Fig. 6, the present embodiment provides a kind of automatic ash discharge system, including ash discharge pedestal 30 and clean robot 20, ash discharge pedestal
30 front end is provided with a projection 31, and the projection 31 is provided with suction tube 33, or sets dust suction inlet 32 and suction tube simultaneously
33, dust outlet 22 is correspondingly provided with clean robot, and described projection 31 is provided with lifting and swinging device as described above
Connecting plate 1 in A, lifting and swinging device A is fixedly connected with projection 31, and described functional unit is suction tube 33, the suction
One end of pipe 33 is tightly connected with the dust suction inlet 32, and institute is stretched into by the dust outlet 22 after the elongation of suction tube 33
State operation in the dust-collecting box 21 of clean robot 20.
Specifically, the automatic ash discharge system with reference to shown in Fig. 5 and Fig. 6, ash discharge pedestal 30 include a projection of its front end
31, dust suction inlet 32 is located in the projection 31, and the lifting and swinging device A is loaded in the projection 31, and suction tube 33 is upper
End is tightly connected with dust suction inlet 32.Clean robot 20 includes the dust outlet 22 on its top, an opened/closed component
Being connected at dust outlet 22 for activity, controls the opening and closing of the dust outlet 22.Clean robot 20 has performed
After cleaning works reaches the specified location of ash discharge pedestal 30, the opened/closed component at the dust outlet of clean robot is opened.
Meanwhile brought into operation positioned at the lifting and swinging device A of ash discharge pedestal 30.With reference to shown in Fig. 2 to Fig. 4, lifting and swinging device A electricity
Band movable sprocket 3 rotates forward after motivation 6 is powered, and sprocket wheel 3 drives chain 2 to move, due to suction tube 33（Namely Fig. 2 is to shown in Fig. 4
Functional unit 100）With the matching relationship of chain 2, the connected unit 7 positioned at the bottom of suction tube 33 drives suction tube 33 vertically together
Decline, suction tube 33 is reached by dust outlet 22 in the dust-collecting box 21 of clean robot 20, until sprocket wheel 3 and swing component 5
After contact, connected unit 7 can not continue to decline, and reach minimum point, and its state is as shown in Figure 5.After connected unit 7 drops to minimum point,
First cam 41 and the second cam 42 interact respectively produces the action stirred to swing component 5, and swing component 5 is with swing pivot thereon
Swung centered on 53, connected unit 7 drives suction tube 33 to swing together, swings to the position at most edge, its state such as Fig. 6 institutes
Show.Simultaneously ash discharge pedestal 30 suction unit start working, sucked by suction tube 33 and remove the dust in dust-collecting box 21 and
Clast.Because the swing of suction tube 33 acts on, more thoroughly the dust in dust-collecting box 21 can be excluded.Dust is arranged completely
After going out, suction unit is stopped, and motor 6 inverts, and motor 6 inverts with movable sprocket 2, and connected unit 7 returns to centre position,
Chain 2 resets with sprocket wheel 3, and the first cam 41 and the second cam 42 no longer stir swing component 5, and connected unit 7 rises, to extreme higher position
When, motor 6 shuts down, and the opened/closed component closure of clean robot 20, completes whole automatic removing dust process.
Due to being provided with above-mentioned lifting and swinging device in automatic ash discharge system, suction tube can be made in operation process
It is freely lifted, so as to control the depth stretched into inside clean robot dust-collecting box, is reached using the telescopicing performance of Telescopic flexible pipe
The effect of suction tube lifting can have greater compactness of overall structure than common hard straight tube lifting.Meanwhile further through its left and right
Swing, suction tube can be made all to clean the dirt in each position of dust-collecting box totally, draw dust and chip in dust arrester
Thing, the dust at dust-collecting box dead angle can easily be discharged by the swing of suction tube, be effectively discharged out in clean robot
Dust and loose clast.
Embodiment two
Fig. 7 is the overall structure diagram of supervisory-controlled robot of the present invention.As shown in fig. 7, in the present embodiment, there is provided a kind of
Supervisory-controlled robot, including mobile module 300, described mobile module 300 are provided with lifting and swinging device A ' as described above, institute
Connecting plate in the lifting and swinging device A ' stated is fixedly connected with mobile module 300, and the functional unit is CCD camera assembly
400.By the lifting and swinging device A ' being arranged on supervisory-controlled robot, can make CCD camera assembly 400 in operation process from
By stretching and swinging, the monitoring visual field of supervisory-controlled robot is substantially increased.
Embodiment three
Fig. 8 is the overall structure diagram that the present invention inhales apparatus for ash.As shown in figure 8, in the present embodiment, there is provided one kind is inhaled
Apparatus for ash, comprising the vacuum source 501, dust storage chamber 502 and Xi Hui mechanisms 503 being connected, also pass through institute on described suction apparatus for ash
State connecting plate with lifting and swinging device A " as described above to be connected, the functional unit is the suction in the Xi Hui mechanisms 503
Pipe 5031.Apparatus for ash is inhaled under the drive of walking mechanism 504, the operation when operation surface is in walking, by apparatus for ash is inhaled
Lifting and swinging mechanism A " is set, when ground Shang You cracks or it is raised when, lifting and swinging mechanism A " drives suction tube 5031 flexible, keeps away
Open out-of-flatness surface；And during floor cleaning, driving suction tube 5031 swings the dust on absorption ground, realizes and improves robot
The purpose of cleaning range, avoiding barrier.
In summary, the present invention provides a kind of lifting and swinging device and its automatic ash discharge system, supervisory-controlled robot and inhales ash
Device, described lifting and swinging apparatus structure is simple, and the telescopicing performance of the Telescopic flexible pipe in lifting unit is hard more straight than common
Pipe lifting has greater compactness of overall structure, realizes the swing of functional unit, broadens the scope of work；The device is widely used, can
With installed in automatic ash discharge system, supervisory-controlled robot（AMP）With inhale on apparatus for ash, realize corresponding function, no matter vertical or
In horizontal direction, it can effectively realize the flexible of functional unit and swing.Electric equipment with the device, such as：Automatically
Dust removing system can be effectively discharged out dust and loose clast in clean robot by the device, and supervisory-controlled robot can be with
Monitoring visual field is improved by the device, cleaning range, the avoiding barrier of robot can be improved by the device by inhaling apparatus for ash
Deng easy to operate and practical.
Claims (11)
1. a kind of lifting and swinging device, including connecting plate (1) and functional unit (100), it is characterised in that the lifting and swinging device
Also include being used for the lifting and swinging mechanism for driving the functional unit (100) to act, it is single that the lifting and swinging mechanism includes lifting
Member and swing unit, lifting unit driving function unit (100) is flexible, after lifting unit extends a segment distance, swing unit
Connect lifting unit and driving function unit (100) is swung；
Wherein, the lifting unit includes chain (2) and sprocket wheel (3), and the swing unit includes cam member and swing component
(5), wherein, motor (6) is fixed with the connecting plate (1), sprocket wheel (3) and cam are set on the output shaft of motor (6)
Unit, the cam member are arranged on the outer rim of sprocket wheel (3), and chain (2), chain (2) one end and functional unit are set on sprocket wheel (3)
(100) it is connected, the other end is connected with swing component (5), and the top of the swing component (5) and the flange of cam member are correspondingly arranged,
The chain (2) passes through and positioned from swing component (5) end；The functional unit stretches under the drive of chain (2), in cam
Under the flange effect of unit, the swing component (5) drives chain (2) and functional unit successively, swings the functional unit
Swung centered on the swing pivot (53) of part (5).
2. lifting and swinging device as claimed in claim 1, it is characterised in that described chain (2) end passes through connected unit (7)
It is connected with functional unit (100).
3. lifting and swinging device as claimed in claim 1, it is characterised in that the cam member include the first cam (41) and
Second cam (42), the sprocket wheel (3) are arranged between the first cam (41) and the second cam (42).
4. lifting and swinging device as claimed in claim 3, it is characterised in that described swing component (5) include body (51) and
Lug boss (52), the body (51) are arc, and the outer rim radian of its radian and the sprocket wheel (3) is correspondingly arranged；The body
(51) axial direction of the top along the sprocket wheel (3) is provided with lug boss (52) towards both sides respectively, the lug boss (52) described in two point
It is not correspondingly arranged with the flange of the first cam (41) and the second cam (42) (411,421).
5. lifting and swinging device as claimed in claim 4, it is characterised in that described the first cam (41) and the second cam
(42) flange (411,421) set on is arc, flange along the axial width of the first cam (41) or the second cam (42) gradually
Become；Described the first cam (41) and the second cam (42) is symmetrical arranged relative to sprocket wheel (3), both flanges (411,421)
Gradient thickness is in opposite direction.
6. lifting and swinging device as claimed in claim 1, it is characterised in that described swing pivot (53) is located at the swing
Outside of the part (5) away from sprocket wheel (3), the connecting plate (1) are correspondingly provided with the supporting table (13) of support swing pivot (53).
7. lifting and swinging device as claimed in claim 1, it is characterised in that described connecting plate (1), which is provided with, to be used to house
The locating slot (12) of the functional unit (100), gap is left between the locating slot (12) and functional unit (100).
8. lifting and swinging device as claimed in claim 1, it is characterised in that the functional unit is suction tube (33,5031)
Or CCD camera assembly (400).
9. a kind of automatic ash discharge system, including ash discharge pedestal (30) and clean robot (20), the front end of ash discharge pedestal (30) are set
There are one raised (31), be correspondingly provided with dust outlet (22) on clean robot (20), it is characterised in that described projection (31)
The lifting and swinging device (A) as described in claim any one of 1-7 is provided with, described connecting plate (1) is fixed with raised (31)
Connection, described functional unit are the suction tube (33) being arranged on raised (31), and described suction tube (33) passes through institute
State dust outlet (22) and stretch into and ash is inhaled in the dust-collecting box (21) of the clean robot (20).
10. a kind of supervisory-controlled robot, including mobile module (300), it is characterised in that described mobile module is provided with such as right
It is required that the lifting and swinging device (A ') described in any one of 1-7, described connecting plate (1) are fixedly connected with mobile module (300), institute
It is CCD camera assembly (400) to state functional unit.
11. one kind inhales apparatus for ash, the vacuum source (501), dust storage chamber (502) and Xi Hui mechanisms (503) being connected, its feature are included
It is, is also filled on described suction apparatus for ash by the connecting plate (1) and the lifting and swinging as described in claim any one of 1-7
Put (A ") to be connected, the functional unit is the suction tube (5031) in the Xi Hui mechanisms (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 CN103845001A (en) | 2014-06-11 |
| CN103845001B true 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) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015102587B4 (en) * | 2015-02-24 | 2019-10-17 | Vorwerk & Co. Interholding Gmbh | Designed as an attachment suction nozzle for a vacuum cleaner |
| CN107638138B (en) * | 2017-10-27 | 2024-05-10 | 美智纵横科技有限责任公司 | Driving wheel structure and cleaning device |
| CN108082920B (en) * | 2018-02-02 | 2023-07-21 | 珠海汉迪自动化设备有限公司 | Lifting and swinging device and control method thereof |
| 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 |
| DE102019122060A1 (en) * | 2019-08-16 | 2021-02-18 | Vorwerk & Co. Interholding Gmbh | Base station for stationary emptying of a dirty area of a mobile cleaning device, cleaning system and process |
| CN111158369A (en) * | 2019-12-31 | 2020-05-15 | 佛山市云米电器科技有限公司 | Floor sweeping robot and method for detecting and controlling sweeping |
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| CN201455670U (en) * | 2009-05-13 | 2010-05-12 | 温岭市华驰机械有限公司 | Lifting and swinging divider |
| CN201626014U (en) * | 2009-08-30 | 2010-11-10 | 莱州市精密木工机械有限公司 | Automatic dust suction device used on workbench surface of digital control machine tool |
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| CN202527388U (en) * | 2012-03-31 | 2012-11-14 | 上海市电力公司 | Charged sweeping robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103845001A (en) | 2014-06-11 |
| WO2014086301A1 (en) | 2014-06-12 |
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