CN104720692B - Unimog - Google Patents

Unimog Download PDF

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Publication number
CN104720692B
CN104720692B CN201510052307.0A CN201510052307A CN104720692B CN 104720692 B CN104720692 B CN 104720692B CN 201510052307 A CN201510052307 A CN 201510052307A CN 104720692 B CN104720692 B CN 104720692B
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CN
China
Prior art keywords
cleaning head
walking
unimog
head assembly
elevating
Prior art date
Application number
CN201510052307.0A
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Chinese (zh)
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CN104720692A (en
Inventor
苗青
刘建泉
陈智
尤伟
王先伟
Original Assignee
上海电机学院
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Priority to CN201510052307.0A priority Critical patent/CN104720692B/en
Publication of CN104720692A publication Critical patent/CN104720692A/en
Application granted granted Critical
Publication of CN104720692B publication Critical patent/CN104720692B/en

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Abstract

The invention discloses a kind of unimog, including:Walking mechanism, refuse sweeping and collection assembly and control system;Also include the drive component of cleaning head assembly and the control cleaning head assembly action;The refuse sweeping and collection assembly are arranged on described walking mechanism one end, and the cleaning head assembly is arranged on the other end of the walking mechanism by the drive component;The drive component includes elevating mechanism, rotating mechanism and telescoping mechanism, wherein, the contracting mechanism is arranged in the walking mechanism, and the elevating mechanism is arranged on the contracting mechanism, and the rotating mechanism is arranged on the elevating mechanism and is connected with the cleaning head assembly;The control system controls the walking mechanism, refuse sweeping and collection assembly and drive component action.The present invention can complete the cleaning in various regions in multiple degrees of freedom.

Description

Unimog
Technical field
The present invention relates to cleaning products field, more particularly to a kind of Multifunctional cleaning that can carry out multiple degrees of freedom cleaning Machine.
Background technology
With the development of science and technology, increasing electrification product enters in the life of people.For example:Electric cleaning Product early has been enter into the family of ordinary people, and such as dust catcher is exactly very typical household electrical appliance, but either dust catcher is still Other cleaning glass, cleaning products of roof or narrow regions, all without people free from numerous and diverse work completely. Main reason is that, the function of cleaning products in the market is relatively simple, also without a cleaning products, can collect cleaning General floorings, the function of cleaning vertical surface and roof and other narrow zones is integrated.It is most in addition to cleaning floor Other work need for manpower and largely participate in completing, and are no lack of some dangerous cleaning works of tool certainly.
The content of the invention
The present invention provides a kind of unimog, and cleaning different surfaces can be comprehensively cleaned in multiple frees degree.
In order to solve the above technical problems, the present invention provides a kind of unimog, including:Walking mechanism, refuse sweeping And collection assembly and control system;Also include the drive component of cleaning head assembly and the control cleaning head assembly action;It is described Refuse sweeping and collection assembly are arranged on described walking mechanism one end, and the cleaning head assembly is arranged on by the drive component The other end of the walking mechanism;The drive component includes elevating mechanism, rotating mechanism and telescoping mechanism, wherein, it is described to stretch Contracting mechanism is arranged in the walking mechanism, and the elevating mechanism is arranged on the telescoping mechanism, and the rotating mechanism is installed It is connected on the elevating mechanism and with the cleaning head assembly;The control system controls the walking mechanism, refuse sweeping And collection assembly and drive component action.
Preferably, the walking mechanism includes a pair of Athey wheels be arrangeding in parallel, crawler belt corresponding with the Athey wheel With the motor for driving Athey wheel.
Preferably, the refuse sweeping and collection assembly include:Round brush and garbage collection box, the round brush are arranged on institute Walking mechanism front end is stated, the position of the garbage collection box is corresponding with round brush.
Preferably, the cleaning head assembly includes:Cleaning head and dust cap, the cleaning head are arranged on the dust cap Bottom, the dust cap top is connected with the rotating mechanism.
Preferably, the rotating mechanism includes:Runing rest, rotating support and first, second electric rotating machine, it is described One end of rotating support is connected to the elevating mechanism, and the other end is connected with the runing rest, the runing rest bottom It is connected with the cleaning head assembly;First electric rotating machine be arranged on the runing rest on and with the cleaning head assembly Connection, second electric rotating machine is arranged on the rotating support, and is connected with the runing rest.
Preferably, the elevating mechanism includes:Rotation platform, sliding axle, screw mandrel and slide holder, wherein, it is described Rotation platform is arranged on telescoping mechanism, and the sliding axle is installed in parallel on the rotation platform, and the screw mandrel is by the 3rd rotation Rotating motor drives and drives the slide holder to be lifted on the sliding axle, and the slide holder is solid with the rotating mechanism Connect, the 3rd electric rotating machine is arranged on the rotation platform.
Preferably, the 3rd electric rotating machine drives the screw mandrel to rotate by driving belt.
Preferably, the telescoping mechanism includes:The guide rail of walking mechanism inside both sides is located at, the guide rail is located at The upper and mobile platform that can be moved back and forth along the guide rail and the motor for driving the mobile platform to move.
Preferably, the top of the mobile platform is affixed with the elevating mechanism.
Preferably, the control system uses single-chip microcomputer, PLC or MCU as control unit.
Compared with prior art, the combination of walking mechanism of the invention and refuse sweeping and collection assembly has reached most basic Large area clean require, cleaning head assembly be used for clean after deep clean;Elevating mechanism can lift institute in vertical direction Cleaning head assembly is stated, rotating mechanism rotates the cleaning head assembly;Telescoping mechanism is set to be come and gone with the walking mechanism On the parallel direction in path, the cleaning head assembly is moved forward and backward;Clean head assembly and control in the range of its 6 frees degree flexibly The drive component of conversion can also be easily accomplished the cleaning on other different directions in addition to horizontal direction.
In addition, the present invention can also go deep into the place that various narrow regions treatment are extremely difficult to usually.When needs clean big During area opening, the refuse sweeping and collection assembly and walking mechanism of scavenging machine one end need to be only controlled, drive round brush to rotate, Rubbish is rolled, in feeding collecting box.If treatment vertical wall, pieces of glass, or clean such as stair small space, then can make With integrated mode, cleaning head assembly also or is raised into reductions, also or rotated to an angle, also or front and rear stretching, also or combined and make With to enable that cleaning head touches the particular location for needing cleaning.In a word, clean head assembly and control its 6 frees degree In the range of flexible transformation elevating mechanism, rotating mechanism, the design of telescoping mechanism farthest increased scavenging machine of the present invention Flexibility ratio, reduce labour intensity, improve cleaning scope and effect.
Brief description of the drawings
Fig. 1 is the structural representation of unimog in the embodiment of the invention.
Wherein, 1- Athey wheels, 2- crawler belts, 3- cleaning heads, 4- dust caps, the electric rotating machines of 51- first, the electric rotatings of 52- second Machine, the electric rotating machines of 53- the 3rd, 6- rotating supports, 7- screw mandrels, 8- slide holders, 9- driving belts, 10- mobile platforms, 11- rotation platforms, 12- garbage collection box, 13- round brush, 14- motors, 15- runing rests, 16- sliding axles, 17- guide rails.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention Specific embodiment be described in detail.It should be noted that, accompanying drawing of the present invention is in the form of simplification and using non-essence Accurate ratio, is only used to conveniently, lucidly aid in illustrating the purpose of the embodiment of the present invention.
Unimog of the invention, including:Walking mechanism, refuse sweeping and collection assembly, control system, cleaning head Component and the drive component of the control cleaning head assembly action.Wherein, the refuse sweeping and collection assembly are arranged on described Walking mechanism one end, the cleaning head assembly is arranged on the other end of the walking mechanism by the drive component;The drive Dynamic component includes elevating mechanism, rotating mechanism and telescoping mechanism, wherein, the telescoping mechanism is arranged in the walking mechanism, The elevating mechanism be arranged on the telescoping mechanism on, the rotating mechanism be arranged on the elevating mechanism on and with the cleaning Head assembly is connected;The control system controls the walking mechanism, refuse sweeping and collection assembly and drive component action.Tool Body ground, the combination of walking mechanism of the invention and refuse sweeping and collection assembly has reached most basic large area and has cleaned requirement, The deep clean that cleaning head assembly is used for after cleaning;Elevating mechanism can in vertical direction lift the cleaning head assembly, rotation Mechanism rotates the cleaning head assembly;Telescoping mechanism can be on the direction parallel with the walking mechanism trip path, Qian Houyi Move the cleaning head assembly;Cleaning head assembly and control in the range of its 6 frees degree that the drive component of flexible transformation can also be light Pine completes the cleaning in addition to horizontal direction on other different directions.
Specifically, Fig. 1 is refer to, the walking mechanism includes a pair of the Athey wheels 1 be arrangeding in parallel, with the Athey wheel 1 The motor 14 of corresponding crawler belt 2 and driving Athey wheel 1.Motor 14 can drive Athey wheel 1 to rotate, so as to drive crawler belt 2 roll so that whole scavenging machine can walk in various environment.
Preferably, the refuse sweeping and collection assembly include:Round brush 13 and garbage collection box 12, the round brush 13 set Put in the walking mechanism front end, the position of the garbage collection box 12 is corresponding with round brush 13, drive of the round brush 13 in round brush motor Dynamic lower rotation, so as to rubbish is rolled into garbage collection box 12, the most basic large area of completion is cleaned and required.
With continued reference to Fig. 1, the cleaning head assembly includes:Cleaning head 3 and dust cap 4, the cleaning head 3 are arranged on described The bottom of dust cap 4, the top of the dust cap 4 is connected with the rotating mechanism.After with refuse sweeping and swept collection assembly, Can also continue to carry out deep clean with cleaning head assembly.Further, by setting mop on the cleaning head 3, then can rise To the effect for mopping floor;And dust exhaust apparatus is set, then can play a part of dust suction, the object on cleaning head 3 can be according to reality Need to set.
Preferably, the rotating mechanism includes:Runing rest 15, the electric rotating machine of rotating support 6 and first, second 51st, 52, one end of the rotating support 6 is connected to the slide holder 8 of the elevating mechanism, the other end and the rotation branch Frame 15 is connected, and the bottom of the runing rest 15 is hinged with the dust cap 4 of the cleaning head assembly;First electric rotating machine 51 is pacified It is connected on the runing rest 15 and with the dust cap 4 of the cleaning head assembly, for head assembly from level will to be cleaned Face direction rotates to be vertical direction;Second electric rotating machine 52 is arranged on the rotating support 6, and rotates branch with described Frame 15 is connected, for driving cleaning head assembly to make 360 degree of rotations by runing rest 15, to enable cleaning head 3 in horizontal plane Or make the motion of circle shape on vertical wall.
Fig. 1 is continued referring to, the elevating mechanism includes:Rotation platform 11, sliding axle 16, screw mandrel 7 and slide holder 8.Wherein, the rotation platform 11 is arranged on telescoping mechanism, and the sliding axle 16 is installed in parallel on the rotation platform 11, The screw mandrel 7 is driven by the 3rd electric rotating machine 53 and then the slide holder 8 is lifted on the sliding axle 16, and described Three electric rotating machines 53 are arranged on the rotation platform 11, and drive the screw mandrel 7 to rotate by driving belt 9.Specifically, when When 3rd electric rotating machine 53 drives rotation, because of its cooperation interaction relation with screw mandrel 7, slide holder 8 then can be along two cunnings Moving axis 16 is moved up and down vertically, and the elevating mechanism is particularly weighed when the cleaning at the higher positions such as roof, window is processed Will.
Preferably, the telescoping mechanism includes:The guide rail 17 of walking mechanism inside both sides is located at, described leading is located at On rail 17 and the mobile platform 10 that can be moved back and forth along the guide rail 17 and drive the motor that the mobile platform 10 moves (not shown), the top of the mobile platform 10 is affixed with the rotation platform 11 of the elevating mechanism.Motor drives movement Platform 10 moves along a straight line on guide rail 17, and then adjusts the extension elongation of cleaning head 3, such that it is able to be used in the cleaning of each size Environment.
Preferably, the control system uses single-chip microcomputer, PLC or MCU as control unit.By the control system, Unimog of the invention can complete cleaning action using automatic or manual two ways.For example, the present invention can set Set time and the distance of scavenging machine walking so that scavenging machine carries out folding back and forth movement in purging zone, while can also increase Barrier avoiding function influences the efficiency of cleaning works to prevent sweeper from being blocked the way by barrier.When cleaning head assembly needs deeply It is during some small spaces, then manually adjustable to move forward and backward it, reach suitable position.
It should be noted that the walking mechanism mentioned in this specific embodiment, elevating mechanism, rotating mechanism, telescoping mechanism, Refuse sweeping and collection assembly and cleaning head assembly, all with certain mechanical structure, but the machinery described in the present embodiment Structure is to realize one of the alternative of these body functions, therefore other can realize various functions of the present invention Different mechanical structures all should fall into protection scope of the present invention, such as, elevating mechanism can use other non-screw mandrel+electric rotating machines Combination, and manual laminated structure is used, for another example in order to more reduce volume, can be designed between rotating mechanism and lifting structure Telescopic rod is connected.
Obviously, those skilled in the art can carry out various changes and modification without deviating from spirit of the invention to invention And scope.So, if these modifications of the invention and modification belong to the claims in the present invention and its equivalent technologies scope it Interior, then the present invention is also intended to including including these changes and modification.

Claims (10)

1. a kind of unimog, including:Walking mechanism, refuse sweeping and collection assembly and control system;It is characterized in that: Also include the drive component of cleaning head assembly and the control cleaning head assembly action;
The refuse sweeping and collection assembly are arranged on described walking mechanism one end, and the cleaning head assembly is by the driving group Part is arranged on the other end of the walking mechanism;
The drive component includes elevating mechanism, rotating mechanism and telescoping mechanism, wherein, the telescoping mechanism is arranged on the row Walk in mechanism, the elevating mechanism is arranged on the telescoping mechanism, the rotating mechanism is arranged on the elevating mechanism simultaneously It is connected with the cleaning head assembly;
The control system controls the walking mechanism, refuse sweeping and collection assembly and drive component action.
2. unimog as claimed in claim 1, it is characterised in that the walking mechanism includes a pair be arranged in parallel The motor of Athey wheel, crawler belt corresponding with the Athey wheel and driving Athey wheel.
3. unimog as claimed in claim 1, it is characterised in that the refuse sweeping and collection assembly include:Rolling Brush and garbage collection box, the round brush are arranged on the walking mechanism front end, and the position of the garbage collection box is corresponding with round brush.
4. unimog as claimed in claim 1, it is characterised in that the cleaning head assembly includes:Cleaning head and anti- Dirt lid, the cleaning head is arranged on the dust cap bottom, and the dust cap top is connected with the rotating mechanism.
5. unimog as claimed in claim 1, it is characterised in that the rotating mechanism includes:Runing rest, rotation Support frame and first, second electric rotating machine, one end of the rotating support are connected to the elevating mechanism, the other end with it is described Runing rest is connected, and the runing rest bottom is connected with the cleaning head assembly;First electric rotating machine is arranged on described It is connected on runing rest and with the cleaning head assembly, second electric rotating machine is arranged on the rotating support, and It is connected with the runing rest.
6. unimog as claimed in claim 1, it is characterised in that the elevating mechanism includes:Rotation platform, slip Axle, screw mandrel and slide holder, wherein, the rotation platform is arranged on telescoping mechanism, and the sliding axle is installed in parallel in institute State on rotation platform, the screw mandrel is driven by the 3rd electric rotating machine and drives the slide holder to be lifted on the sliding axle, The slide holder is affixed with the rotating mechanism, and the 3rd electric rotating machine is arranged on the rotation platform.
7. unimog as claimed in claim 6, it is characterised in that the 3rd electric rotating machine passes through driving belt band The dynamic screw mandrel rotation.
8. unimog as claimed in claim 1, it is characterised in that the telescoping mechanism includes:It is located at the walking The guide rail of in-house both sides, the mobile platform that be located on the guide rail and can be moved back and forth along the guide rail and driving institute State the motor of mobile platform motion.
9. unimog as claimed in claim 8, it is characterised in that the top of the mobile platform and the lift Structure is affixed.
10. unimog as claimed in claim 1, it is characterised in that the control system using single-chip microcomputer, PLC or MCU is used as control unit.
CN201510052307.0A 2015-01-31 2015-01-31 Unimog CN104720692B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510052307.0A CN104720692B (en) 2015-01-31 2015-01-31 Unimog

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510052307.0A CN104720692B (en) 2015-01-31 2015-01-31 Unimog

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Publication Number Publication Date
CN104720692A CN104720692A (en) 2015-06-24
CN104720692B true CN104720692B (en) 2017-06-27

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CN106510563A (en) * 2015-09-11 2017-03-22 广西大学 High-altitude robot cleaner
CN105962858B (en) * 2016-06-28 2018-10-12 佛山科学技术学院 A kind of obstacle crossing type robot for cleaning external wall
CN108209737A (en) * 2018-02-09 2018-06-29 芜湖众维教研仪器研发有限责任公司 A kind of stair cleaning vehicle
CN108685530A (en) * 2018-05-21 2018-10-23 宁波智邦智汇信息科技有限公司 A kind of interior automatic adjustment Intelligent cleaning robot
CN108814428A (en) * 2018-05-24 2018-11-16 河南城建学院 A kind of novel intelligent home robot
CN109013449A (en) * 2018-08-09 2018-12-18 张玉祥 A kind of portable automobile interior decoration cleaning device
CN110159015B (en) * 2019-05-24 2020-12-22 青田县武莲科技有限公司 Dustproof heat dissipation system for big data server room
CN110696988A (en) * 2019-10-14 2020-01-17 江苏科技大学 Crawler-type wall-climbing underwater decontamination robot
CN111184480A (en) * 2020-03-03 2020-05-22 上海菲恒生活用品有限公司 Kitchen dirt cleaning device

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EP0389459A2 (en) * 1989-03-13 1990-09-26 Transitions Research Corporation Tether-guided vehicle and method of controlling same
CN201346183Y (en) * 2008-12-15 2009-11-18 东莞清溪光荣电业制品厂 Floor-sweeping machine with reversible front cover
CN201529090U (en) * 2009-06-15 2010-07-21 青岛科技大学 Household automatic cleaner
CN201537057U (en) * 2009-06-30 2010-08-04 宁波锦隆电器有限公司 Multifunctional sweeping machine
CN202699049U (en) * 2012-08-23 2013-01-30 田川 Indoor multifunctional cleaning machine
CN203828846U (en) * 2013-12-20 2014-09-17 上海电机学院 Compact adjustable electric cleaning device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0389459A2 (en) * 1989-03-13 1990-09-26 Transitions Research Corporation Tether-guided vehicle and method of controlling same
CN201346183Y (en) * 2008-12-15 2009-11-18 东莞清溪光荣电业制品厂 Floor-sweeping machine with reversible front cover
CN201529090U (en) * 2009-06-15 2010-07-21 青岛科技大学 Household automatic cleaner
CN201537057U (en) * 2009-06-30 2010-08-04 宁波锦隆电器有限公司 Multifunctional sweeping machine
CN202699049U (en) * 2012-08-23 2013-01-30 田川 Indoor multifunctional cleaning machine
CN203828846U (en) * 2013-12-20 2014-09-17 上海电机学院 Compact adjustable electric cleaning device

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