CN105030161A - Foot type mopping robot - Google Patents
Foot type mopping robot Download PDFInfo
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- CN105030161A CN105030161A CN201510334953.6A CN201510334953A CN105030161A CN 105030161 A CN105030161 A CN 105030161A CN 201510334953 A CN201510334953 A CN 201510334953A CN 105030161 A CN105030161 A CN 105030161A
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Abstract
A foot type mopping robot mainly comprises a robot main body, a steering engine A, a steering wheel A, a steering engine fixing rack B, a steering engine B, a steering wheel B, a big arm connecting rack A, a steering engine fixing rack C, a steering engine C, a steering wheel C, a big arm connecting rack B, an L-shaped rack, a manipulator main plate, a T-shaped sliding plate, a T-shaped fixing plate, a gripper arm, an arc-shaped connecting plate, a steering rack, a steering engine D, a mop rod, a rib, a mopping base, a hook, a garbage box, a wheel driving motor, wheels, a front layering partition, a rear layering partition, a steering wheel E, a steering engine fixing rack E, a steering engine E, a steering engine fixing rack F, a steering engine F, a steering wheel F, a thigh connecting rod A, a thigh connecting rod B, a steering engine fixing rack G, a steering engine G, a steering wheel G, a shank, a driving motor A, a brush connecting rack, a brush, a rolling brush fixing rack, a rolling brush, a driving motor B, a U-steel type shell and an ash stopping plate. By the foot type mopping robot, the work efficiency can be improved; and a cleaning effect is high.
Description
Technical field the present invention relates to electromechanical equipment technical field, especially a kind of clean robot.
Background technology is along with the development of robot field, increasing clean robot starts to enter multifarious family for mankind's service, traditional clean robot has the floating dust of cleaning floor surface and the ability of small garbage, traditional clean robot belongs to Lun Hang robot, the ability of mopping floor can only not walked on smooth ground mostly, the configuration aspects of traditional clean robot, still have greatly improved room for promotion.Its weak point: although have the ability of the floating dust of cleaning floor surface, operating efficiency is low, and cleaning effect is bad.
Summary of the invention the object of this invention is to provide a kind of can increasing work efficiency and the good sufficient formula floor-mopping robot of cleaning effect.
The present invention mainly comprises: robot body, steering wheel A, steering wheel A, steering wheel fixed mount B, steering wheel B, steering wheel B, large arm link A, steering wheel fixed mount C, steering wheel C, steering wheel C, large arm link B, L-type frame, manipulator master, T-shaped slide plate, T-shaped stator, chela, arc brace, rudder frame, steering wheel D, mop rod, fin, mop floor chassis, hook, dustbin, wheel drive motors, wheel, front layering dividing plate, rear layering dividing plate, steering wheel E, steering wheel fixed mount E, steering wheel E, steering wheel fixed mount F, steering wheel F, steering wheel F, thick link A, thick link B, steering wheel fixed mount G, steering wheel G, steering wheel G, shank, drive motors A, hairbrush link, hairbrush, round brush fixed mount, round brush, drive motors B, channel steel type housing and dust block board.Wherein, this robot body is rectangle housing, at the upper surface of this robot body, is fixedly connected with the bindiny mechanism of two manipulators.The bindiny mechanism of each manipulator is by steering wheel A, steering wheel A, steering wheel fixed mount B, steering wheel B, steering wheel B, large arm link A, steering wheel fixed mount C, steering wheel C, steering wheel C, large arm link B and L-type frame.The movable upper end of the output shaft of steering wheel A connects steering wheel A, the top of steering wheel A is provided with steering wheel fixed mount B, the side, two, left and right of this steering wheel fixed mount B is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount B is fixedly connected with steering wheel B, the free end of this steering wheel B output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount B and steering wheel B, and steering wheel B is flexibly connected with one end of large arm link A.The through hole of above-mentioned another side of steering wheel fixed mount B is flexibly connected by bolt with the through hole of one end of large arm link B.The side, two, left and right of this steering wheel fixed mount C is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount C is fixedly connected with steering wheel C, the free end of this steering wheel C output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount C and steering wheel C, and steering wheel C is flexibly connected with the other end of large arm link A.The through hole of above-mentioned another side of steering wheel fixed mount C is flexibly connected by bolt with the through hole of the other end of large arm link B.The bottom of this steering wheel fixed mount C is fixedly connected with L-type frame, and the bottom of this L-type frame is provided with manipulator.This manipulator master is U-shaped, T-shaped slide plate is bolted in the upper end of manipulator master, T-shaped stator is socketed respectively at the two ends of this T-shaped slide plate, chela is respectively equipped with in the upper end of each T-shaped stator, the lower end of T-shaped stator is bolted one end of arc brace, the other end of arc brace is connected with rudder frame, and rudder frame center is connected on the output shaft of steering wheel D, and steering wheel D is fixed in the U-shaped master of manipulator.Inner side in the middle part of above-mentioned chela is provided with some grooves, and mop rod is two vertical plates, is provided with some the fins be parallel to each other on the top of the front-back of this Mop rod, and the fin on Mop rod is corresponding with the groove inside above-mentioned chela.Mop rod lower end is fixedly connected with the chassis that mops floor, and this mop chassis is level board, is provided with some hooks below the chassis that mops floor.In the middle part of this robot body, be embedded with dustbin, the bottom in this dustbin front is provided with a strip through-hole, and the bottom of dustbin extends to the outside of the lower surface of robot body.Be fixedly connected with 4 wheel drive motors at the lower surface of this robot body, the output shaft of each wheel drive motors is plugged in the bearing in the middle part of wheel.The two ends on the top of robot body two sides, are respectively equipped with groove.On inwall before this robot body and inwall below, be fixedly connected with front layering dividing plate and rear layering dividing plate respectively, namely before before layering dividing plate with robot body before inwall be fixedly linked, the two ends, left and right of front layering dividing plate and the inwall of robot body left and right side are fixedly linked, namely after layering dividing plate below with robot body after inwall be fixedly linked, the two ends, left and right of rear layering dividing plate and the inwall of robot body left and right side are fixedly linked.In each inside grooves, the top of front layering dividing plate and rear layering dividing plate, be respectively equipped with steering wheel E, the inside of steering wheel fixed mount E is fixedly connected with steering wheel E, and the free end of this steering wheel E output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount E and steering wheel E.Above-mentioned steering wheel fixed mount E is fixedly connected with steering wheel fixed mount F, fixing steering wheel F on steering wheel fixed mount F, the corresponding through hole in a position is equipped with in the side, two, left and right of this steering wheel fixed mount F, the free end of this steering wheel F output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount F and steering wheel F, steering wheel F is flexibly connected with one end of thick link A, and the through hole of a steering wheel fixed mount F side is flexibly connected by bolt with the through hole of one end of thick link B.The side, two, left and right of steering wheel fixed mount G is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount G is fixedly connected with steering wheel G, the free end of this steering wheel G output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount G and steering wheel G, and steering wheel G is flexibly connected with the other end of thick link A.The through hole of above-mentioned another side of steering wheel fixed mount G is flexibly connected by bolt with the through hole of the other end of thick link B.Shank is connected with steering wheel fixed mount G.Two drive motors A are fixedly connected with at the lower surface of this front layering dividing plate at this, each drive motors A is connected by the through hole of output shaft with hairbrush link upper end, this hairbrush fixed mount is the channel steel type housing of under shed, is fixedly connected with hairbrush in the inside of hairbrush link.Round brush fixed mount is fixedly connected on the lower surface of robot body, one end of round brush fixed mount is provided with bearing, and round brush one end is plugged on Bearing inner, and the round brush other end is by the output shaft of drive motors B, be connected with drive motors B, drive motors B is fixed on the lower surface of robot body.At the lower surface of robot body, after round brush, be fixedly connected with the channel steel type housing of a upper shed, have certain angle between this channel steel type housing and lower surface of robot body, the angle preferably between this channel steel type housing and lower surface of robot body is 45 degree.Adjacent with round brush in one end of channel steel type housing, the other end of channel steel type housing is connected with the just basifacial strip through-hole of large dustbin.Preferably be fixedly connected with dust block board in the upper end of channel steel type housing.
The present invention in use, when robot is operated in wheel row state, by the rotation of joint motor, four legs are shunk and is close to body, article two, mechanical arm is regained, now robot carries out work of sweeping the floor, and hairbrush and round brush are respectively in the running of the driving of drive motors A and drive motors B, and wheel moves in the driving Xia Shi robot of wheel drive motors.When needs mop floor, robot switches to sufficient row state, by the rotation of joint motor, is launched by four legs, uses four leg walkings; Article two, mechanical arm launches, and catches mop rod to mop floor.
The present invention compared with prior art tool has the following advantages: increase work efficiency and cleaning effect is good.
Accompanying drawing explanation
Fig. 1 is sufficient row stated integer schematic diagram of the present invention;
Fig. 2 is side view of the present invention;
Fig. 3 is top view of the present invention;
Fig. 4 is mechanical arm schematic diagram of the present invention;
Fig. 5 is leg schematic diagram of the present invention.
Detailed description of the invention is in the simplified schematic diagram of the present invention of Fig. 1 to Fig. 5, and this robot body 1 is rectangle housing, at the upper surface of this robot body, is fixedly connected with the bindiny mechanism of two manipulators.The bindiny mechanism of each manipulator is by steering wheel A, steering wheel A, steering wheel fixed mount B, steering wheel B, steering wheel B, large arm link A, steering wheel fixed mount C, steering wheel C, steering wheel C, large arm link B and L-type frame.The movable upper end of the output shaft of steering wheel A2 connects steering wheel A3, the top of steering wheel A is provided with steering wheel fixed mount B4, the side, two, left and right of this steering wheel fixed mount B is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount B is fixedly connected with steering wheel B5, the free end of this steering wheel B output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount B and steering wheel B6, and steering wheel B is flexibly connected with one end of large arm link A7.The through hole of above-mentioned another side of steering wheel fixed mount B is flexibly connected by bolt with the through hole of one end of large arm link B.The side, two, left and right of this steering wheel fixed mount C8 is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount C is fixedly connected with steering wheel C9, the free end of this steering wheel C output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount C and steering wheel C10, and steering wheel C is flexibly connected with the other end of large arm link A.The through hole of above-mentioned another side of steering wheel fixed mount C is flexibly connected by bolt with the through hole of the other end of large arm link B11.The bottom of this steering wheel fixed mount C is fixedly connected with L-type frame 12, and the bottom of this L-type frame is provided with manipulator.This manipulator master 13 is U-shaped, T-shaped slide plate 14 is bolted in the upper end of manipulator master, T-shaped stator 15 is socketed respectively at the two ends of this T-shaped slide plate, chela 16 is respectively equipped with in the upper end of each T-shaped stator, the lower end of T-shaped stator is bolted one end of arc brace 17, the other end of arc brace is connected with rudder frame 18, and rudder frame center is connected on the output shaft of steering wheel D19, and steering wheel D is fixed in the U-shaped master of manipulator.Inner side in the middle part of above-mentioned chela is provided with groove, and mop rod 20 is two vertical plates, is provided with the fin 21 be parallel to each other on the top of the front-back of this Mop rod, and the fin on Mop rod is corresponding with the groove inside above-mentioned chela.Mop rod lower end is fixedly connected with the chassis 22 that mops floor, and this mop chassis is level board, is provided with hook 23 below the chassis that mops floor.In the middle part of this robot body, be embedded with dustbin 24, the bottom in this dustbin front is provided with a strip through-hole, and the bottom of dustbin extends to the outside of the lower surface of robot body.Be fixedly connected with 4 wheel drive motors 25 at the lower surface of this robot body, the output shaft of each wheel drive motors is plugged in the bearing in the middle part of wheel 26.The two ends on the top of robot body two sides, are respectively equipped with groove.On inwall before this robot body and inwall below, be fixedly connected with front layering dividing plate 27 and rear layering dividing plate 28 respectively, namely before before layering dividing plate with robot body before inwall be fixedly linked, the two ends, left and right of front layering dividing plate and the inwall of robot body left and right side are fixedly linked, namely after layering dividing plate below with robot body after inwall be fixedly linked, the two ends, left and right of rear layering dividing plate and the inwall of robot body left and right side are fixedly linked.In each inside grooves, the top of front layering dividing plate and rear layering dividing plate, be respectively equipped with steering wheel E29, the inside of steering wheel fixed mount E30 is fixedly connected with steering wheel E31, and the free end of this steering wheel E output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount E and steering wheel E.Above-mentioned steering wheel fixed mount E is fixedly connected with steering wheel fixed mount F32, fixing steering wheel F33 on steering wheel fixed mount F, the corresponding through hole in a position is equipped with in the side, two, left and right of this steering wheel fixed mount F, the free end of this steering wheel F output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount F and steering wheel F34, steering wheel F is flexibly connected with one end of thick link A35, and the through hole of a steering wheel fixed mount F side is flexibly connected by bolt with the through hole of one end of thick link B36.The side, two, left and right of steering wheel fixed mount G37 is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount G is fixedly connected with steering wheel G38, the free end of this steering wheel G output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount G and steering wheel G39, and steering wheel G is flexibly connected with the other end of thick link A.The through hole of above-mentioned another side of steering wheel fixed mount G is flexibly connected by bolt with the through hole of the other end of thick link B.Shank 40 is connected with steering wheel fixed mount G.Two drive motors A41 are fixedly connected with at the lower surface of this front layering dividing plate at this, each drive motors A is connected by the through hole of output shaft with hairbrush link 42 upper end, this hairbrush fixed mount is the channel steel type housing of under shed, is fixedly connected with hairbrush 43 in the inside of hairbrush link.Round brush fixed mount 44 is fixedly connected on the lower surface of robot body, one end of round brush fixed mount is provided with bearing, and round brush 45 one end is plugged on Bearing inner, and the round brush other end is by the output shaft of drive motors B46, be connected with drive motors B, drive motors B is fixed on the lower surface of robot body.At the lower surface of robot body, after round brush, be fixedly connected with the channel steel type housing 47 of a upper shed, the angle between this channel steel type housing and lower surface of robot body is 45 degree.Adjacent with round brush in one end of channel steel type housing, the other end of channel steel type housing is connected with the just basifacial strip through-hole of large dustbin.Dust block board 48 is fixedly connected with in the upper end of channel steel type housing.
Claims (3)
1. a sufficient formula floor-mopping robot, mainly comprise robot body, steering wheel A, steering wheel A, steering wheel fixed mount B, steering wheel B, steering wheel B, large arm link A, steering wheel fixed mount C, steering wheel C, steering wheel C, large arm link B, L-type frame, manipulator master, T-shaped slide plate, T-shaped stator, chela, arc brace, rudder frame, steering wheel D, mop rod, fin, mop floor chassis, hook, dustbin, wheel drive motors, wheel, front layering dividing plate, rear layering every, steering wheel E, steering wheel fixed mount E, steering wheel E, steering wheel fixed mount F, steering wheel F, steering wheel F, thick link A, thick link B, steering wheel fixed mount G, steering wheel G, steering wheel G, shank, drive motors A, hairbrush link, hairbrush, round brush fixed mount, round brush, drive motors B, channel steel type housing and dust block board, it is characterized in that: this robot body is rectangle housing, at the upper surface of this robot body, be fixedly connected with the bindiny mechanism of two manipulators, the bindiny mechanism of each manipulator is by steering wheel A, steering wheel A, steering wheel fixed mount B, steering wheel B, steering wheel B, large arm link A, steering wheel fixed mount C, steering wheel C, steering wheel C, large arm link B and L-type frame, the movable upper end of the output shaft of steering wheel A connects steering wheel A, the top of steering wheel A is provided with steering wheel fixed mount B, the side, two, left and right of this steering wheel fixed mount B is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount B is fixedly connected with steering wheel B, the free end of this steering wheel B output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount B and steering wheel B, steering wheel B is flexibly connected with one end of large arm link A, the through hole of above-mentioned another side of steering wheel fixed mount B is flexibly connected by bolt with the through hole of one end of large arm link B, the side, two, left and right of this steering wheel fixed mount C is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount C is fixedly connected with steering wheel C, the free end of this steering wheel C output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount C and steering wheel C, steering wheel C is flexibly connected with the other end of large arm link A, the through hole of above-mentioned another side of steering wheel fixed mount C is flexibly connected by bolt with the through hole of the other end of large arm link B, the bottom of this steering wheel fixed mount C is fixedly connected with L-type frame, the bottom of this L-type frame is provided with manipulator, this manipulator master is U-shaped, T-shaped slide plate is bolted in the upper end of manipulator master, T-shaped stator is socketed respectively at the two ends of this T-shaped slide plate, chela is respectively equipped with in the upper end of each T-shaped stator, the lower end of T-shaped stator is bolted one end of arc brace, the other end of arc brace is connected with rudder frame, rudder frame center is connected on the output shaft of steering wheel D, steering wheel D is fixed in the U-shaped master of manipulator, inner side in the middle part of above-mentioned chela is provided with groove, mop rod is two vertical plates, the fin be parallel to each other is provided with on the top of the front-back of this Mop rod, fin on Mop rod is corresponding with the groove inside above-mentioned chela, mop rod lower end is fixedly connected with the chassis that mops floor, this mop chassis is level board, mop floor below chassis and be provided with hook, dustbin is embedded with in the middle part of this robot body, the bottom in this dustbin front is provided with a strip through-hole, the bottom of dustbin extends to the outside of the lower surface of robot body, 4 wheel drive motors are fixedly connected with at the lower surface of this robot body, the output shaft of each wheel drive motors is plugged in the bearing in the middle part of wheel, the two ends on the top of robot body two sides, be respectively equipped with groove, on inwall before this robot body and inwall below, be fixedly connected with front layering dividing plate and rear layering dividing plate respectively, namely before before layering dividing plate with robot body before inwall be fixedly linked, the two ends, left and right of front layering dividing plate and the inwall of robot body left and right side are fixedly linked, namely after layering dividing plate below with robot body after inwall be fixedly linked, the two ends, left and right of rear layering dividing plate and the inwall of robot body left and right side are fixedly linked, in each inside grooves, the top of front layering dividing plate and rear layering dividing plate, be respectively equipped with steering wheel E, the inside of steering wheel fixed mount E is fixedly connected with steering wheel E, the free end of this steering wheel E output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount E and steering wheel E, above-mentioned steering wheel fixed mount E is fixedly connected with steering wheel fixed mount F, fixing steering wheel F on steering wheel fixed mount F, the corresponding through hole in a position is equipped with in the side, two, left and right of this steering wheel fixed mount F, the free end of this steering wheel F output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount F and steering wheel F, steering wheel F is flexibly connected with one end of thick link A, the through hole of a steering wheel fixed mount F side is flexibly connected by bolt with the through hole of one end of thick link B, the side, two, left and right of steering wheel fixed mount G is equipped with the corresponding through hole in a position, the inside of this steering wheel fixed mount G is fixedly connected with steering wheel G, the free end of this steering wheel G output shaft is successively through the through hole in the middle part of the through hole of a side of steering wheel fixed mount G and steering wheel G, steering wheel G is flexibly connected with the other end of thick link A, the through hole of above-mentioned another side of steering wheel fixed mount G is flexibly connected by bolt with the through hole of the other end of thick link B, shank is connected with steering wheel fixed mount G, two drive motors A are fixedly connected with at the lower surface of this front layering dividing plate at this, each drive motors A is connected by the through hole of output shaft with hairbrush link upper end, this hairbrush fixed mount is the channel steel type housing of under shed, hairbrush is fixedly connected with in the inside of hairbrush link, round brush fixed mount is fixedly connected on the lower surface of robot body, one end of round brush fixed mount is provided with bearing, round brush one end is plugged on Bearing inner, the round brush other end is by the output shaft of drive motors B, be connected with drive motors B, drive motors B is fixed on the lower surface of robot body, at the lower surface of robot body, after round brush, be fixedly connected with the channel steel type housing of a upper shed, certain angle is had between this channel steel type housing and lower surface of robot body, adjacent with round brush in one end of channel steel type housing, the other end of channel steel type housing is connected with the just basifacial strip through-hole of large dustbin.
2. the sufficient formula floor-mopping robot of one according to claim 1, is characterized in that: the angle between this channel steel type housing and lower surface of robot body is 45 degree.
3. the sufficient formula floor-mopping robot of one according to claim 1 and 2, is characterized in that: be fixedly connected with dust block board in the upper end of channel steel type housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510334953.6A CN105030161B (en) | 2015-06-17 | 2015-06-17 | A kind of sufficient formula floor-mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510334953.6A CN105030161B (en) | 2015-06-17 | 2015-06-17 | A kind of sufficient formula floor-mopping robot |
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| Publication Number | Publication Date |
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| CN105030161A true CN105030161A (en) | 2015-11-11 |
| CN105030161B CN105030161B (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510334953.6A Active CN105030161B (en) | 2015-06-17 | 2015-06-17 | A kind of sufficient formula floor-mopping robot |
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| CN201316232Y (en) * | 2008-11-07 | 2009-09-30 | 国立高雄第一科技大学 | Improved structure of moving cleaner |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN103909992A (en) * | 2014-04-11 | 2014-07-09 | 南通大学 | Robot cleaner for corridors |
| US20140311811A1 (en) * | 2011-11-07 | 2014-10-23 | Anton Niederberger | Chassis for a Robot |
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2015
- 2015-06-17 CN CN201510334953.6A patent/CN105030161B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030031508A (en) * | 2003-01-14 | 2003-04-21 | 박동원 | The Motor Cleaner for Wiping Floor of a Room |
| CN200974567Y (en) * | 2006-11-24 | 2007-11-14 | 华中科技大学 | Cleaning robot running gear |
| CN201316232Y (en) * | 2008-11-07 | 2009-09-30 | 国立高雄第一科技大学 | Improved structure of moving cleaner |
| US20140311811A1 (en) * | 2011-11-07 | 2014-10-23 | Anton Niederberger | Chassis for a Robot |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN103909992A (en) * | 2014-04-11 | 2014-07-09 | 南通大学 | Robot cleaner for corridors |
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