CN106351163B - A kind of surface gathered water cleaning robot - Google Patents
A kind of surface gathered water cleaning robot Download PDFInfo
- Publication number
- CN106351163B CN106351163B CN201610734711.0A CN201610734711A CN106351163B CN 106351163 B CN106351163 B CN 106351163B CN 201610734711 A CN201610734711 A CN 201610734711A CN 106351163 B CN106351163 B CN 106351163B
- Authority
- CN
- China
- Prior art keywords
- joint
- pedestal
- fixedly mounted
- water
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/108—Removing liquids or semi- liquids, e.g. absorbing rain water, sucking-off mud
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of surface gathered water cleaning robot, including walking mechanism, mechanical arm, water suction module, it is characterised in that：The mechanical arm is mounted on the base by the first joint on the holder of end face；The holder of the fixed seat upper surface of the water suction module is installed on the robotic arm by the 4th joint；The walking mechanism includes pedestal, 2 motor fixing seats, 2 first servo motors, 2 bull wheels, compression box, aqueduct, water tank, camera, control module, power module, the second servo motor, bogie, 2 steamboats, and described 2 motor fixing seats are fixedly mounted on pedestal lower face；The present invention is small, can be consigned by dilly to the scene of the accident, complete the rescue to side dumper, improves rescue speed.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of surface gathered water clears up robot.
Background technology
After raining every time, road surface always has sheet of ponding, vehicle by when be easy to splash spray, satisfied the need pedestrian
It makes a big impact, and surface gathered water is not easily cleaned, needs to put into a large amount of manpower and materials, cause the great wasting of resources, and
And since road surface slippery situation vehicle of passing by one's way threatens to the safety of sanitationman, it is badly in need of a kind of surface gathered water and clears up machine
People.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of surface gathered water cleaning robot, movement is flexible, and road is drawn by sponge
Area water.
Technical solution used in the present invention is：A kind of surface gathered water clears up robot, including walking mechanism, mechanical arm,
Absorb water module, it is characterised in that：The mechanical arm is mounted on the base by the first joint on the holder of end face；The suction
The holder of the fixed seat upper surface of water module is installed on the robotic arm by the 4th joint；
The walking mechanism include pedestal, 2 motor fixing seats, 2 first servo motors, 2 bull wheels, compression box,
Aqueduct, water tank, camera, control module, power module, the second servo motor, bogie, 2 steamboats, described 2
Motor fixing seat is fixedly mounted on pedestal lower face；2 first servo motors are fixedly mounted on 2 motor fixing seats
On；2 bull wheels are fixedly mounted on 2 first servo motor output shafts；The compression box is fixedly mounted on pedestal
On upper surface, the water tank is fixedly mounted on pedestal lower face, and described aqueduct one end is mounted on compression box bottom,
The other end is mounted on water tank side；The camera is fixedly mounted on the holder of pan frontward end；The control module
It is fixedly mounted on the right side of pedestal upper surface；The power module is fixedly mounted on the left of pedestal upper surface；Described second is watched
Motor is taken to be fixedly mounted in the mounting base at pedestal upper surface rear portion；The bogie upper surface is fixedly mounted on the second servo
On motor output shaft；2 steamboats are mounted in the mounting base of bogie both sides；
The mechanical arm includes the first joint, large arm, second joint, forearm, third joint, rocking arm, the 4th joint, institute
The large arm lower end stated is mounted on the base by the first joint on the holder of end, and first joint is directly driven by steering engine
It is dynamic；The forearm upper end is mounted on large arm upper end by second joint, and the second joint is directly driven by steering engine；
The rocking arm upper end is mounted on by third joint on the holder of forearm lower end, and the third joint is direct by steering engine
Driving；
The water suction module includes water-absorbing sponge, fixed seat, and the water-absorbing sponge is mounted on fixed seat by bolt
On lower face；The fixed seat overhead support is mounted on rocking arm lower end by the 4th joint, and the 4th joint is by rudder
Machine directly drives.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：
The present invention is small, can be consigned by dilly to the scene of the accident, complete the rescue to side dumper, improve rescue
Speed.
Description of the drawings
Fig. 1 is the structural schematic diagram after the present invention is completed.
Fig. 2 is the structural schematic diagram after another angle of the present invention is completed.
Fig. 3 is the structural schematic diagram after another angle of the present invention is completed.
Drawing reference numeral：1- walking mechanisms；2- mechanical arms；3- water suction modules；101- pedestals；102- motor fixing seats；103-
First servo motor；104- bull wheels；105- compression box；106- aqueducts；107- water tanks；108- cameras；109- controls mould
Block；110- power modules；The second servo motors of 111-；112- bogies；113- steamboats；The first joints 201-；202- large arm；
203- second joints；204- forearms；205- thirds joint；206- rocking arms；The 4th joints 207-；301- water-absorbing sponges；302- is solid
Reservation.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of surface gathered water clears up robot, including walking mechanism 1, mechanical arm 2, absorption mould
Block 3, it is characterised in that：The mechanical arm 2 is mounted on by the first joint 201 on the holder of 101 upper surface of pedestal；Described
The holder of 302 upper surface of fixed seat for the module 3 that absorbs water is mounted on by the 4th joint 207 on mechanical arm 2；
The walking mechanism 1 includes that the motor fixing seat 102,2 of pedestal 101,2 first servo motor 103,2 is big
Wheel 104, compression box 105, aqueduct 106, water tank 107, camera 108, control module 109, power module 110, second are watched
112,2 motor 111, bogie steamboats 113 are taken, described 2 motor fixing seats 102 are fixedly mounted on 101 lower face of pedestal
On；2 first servo motors 103 are fixedly mounted in 2 motor fixing seats 102；2 bull wheels 104 are fixed
On 2 103 output shafts of first servo motor；The compression box 105 is fixedly mounted on 101 upper surface of pedestal, institute
The water tank 107 stated is fixedly mounted on 101 lower face of pedestal, and described 106 one end of aqueduct is mounted on 105 bottom of compression box
Portion, the other end are mounted on 107 side of water tank；The camera 108 is fixedly mounted on the holder of 101 front end of pedestal；Institute
The control module 109 stated is fixedly mounted on the right side of 101 upper surface of pedestal；The power module 110 is fixedly mounted on pedestal 101
On the left of upper surface；Second servo motor 111 is fixedly mounted in the mounting base at 101 upper surface rear portion of pedestal；Described
112 upper surface of bogie is fixedly mounted on 111 output shaft of the second servo motor；2 steamboats 113 are mounted on bogie
In 112 both sides mounting bases；
The mechanical arm 2 include the first joint 201, large arm 202, second joint 203, forearm 204, third joint 205,
Rocking arm 206, the 4th joint 207,202 lower end of large arm are mounted on the branch of 101 upper end of pedestal by the first joint 201
On frame, first joint 201 is directly driven by steering engine；204 upper end of forearm is mounted on by second joint 203
202 upper end of large arm, the second joint 203 are directly driven by steering engine；206 upper end of rocking arm passes through third joint
205 are mounted on the holder of 204 lower end of forearm, and the third joint 205 is directly driven by steering engine；
The water suction module 3 includes water-absorbing sponge 301, fixed seat 302, and the water-absorbing sponge 301 is pacified by bolt
On 302 lower face of fixed seat；302 overhead support of fixed seat is mounted on 206 lower end of rocking arm by the 4th joint 207
Portion, the 4th joint 207 are directly driven by steering engine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Operation principle of the present invention：Power module 110 is 2 first servo motors 103, the second servo motor 111, first pass
Section 201, second joint 203, third joint 205, the 4th joint 207 provide electric power, and camera 108 acquires information and is transported to control
On molding block 109, power module 110 is controlled by control module 109, each electric power of equipment is exported, set cleaning route first,
Camera 108 acquires information and navigates into control module 109 to robot, and 2 first servo motors 103 drive 2 bull wheels
104 rotations make robot move, and the second servo motor 111 drives the rotation of bogie 112 that robot is made to turn, and camera 108 is examined
Absorption mould is made by the first joint 201, second joint 203, third joint 205, the linkage of the 4th joint 207 when measuring surface gathered water
The water-absorbing sponge 301 of block 3 is pressed onto water accumulation part, completes water suction, then water suction module 3 is moved in compression box 105 and is closed by first
Water-absorbing sponge 301 is compressed in section 201, second joint 203, third joint 205, the linkage of the 4th joint 207, and water passes through water guide
Pipe 106 flows into collection of the completion of water tank 107 to ponding.
Claims (1)
1. a kind of surface gathered water clears up robot, including walking mechanism（1）, mechanical arm（2）, water suction module（3）, feature exists
In：The mechanical arm（2）Pass through the first joint（201）Mounted on pedestal（101）On the holder of upper surface；The absorption mould
Block（3）Fixed seat（302）The holder of upper surface passes through the 4th joint（207）Mounted on mechanical arm（2）On；
The walking mechanism（1）Including pedestal（101）, 2 motor fixing seats（102）, 2 first servo motors（103）、2
A bull wheel（104）, compression box（105）, aqueduct（106）, water tank（107）, camera（108）, control module（109）, supply
It can module（110）, the second servo motor（111）, bogie（112）, 2 steamboats（113）, 2 motor fixing seats
（102）It is fixedly mounted on pedestal（101）On lower face；2 first servo motors（103）It is fixedly mounted on 2 motors
Fixed seat（102）On；2 bull wheels（104）It is fixedly mounted on 2 first servo motors（103）On output shaft；Described
Compression box（105）It is fixedly mounted on pedestal（101）On upper surface, the water tank（107）It is fixedly mounted on pedestal（101）Under
On end face, the aqueduct（106）One end is mounted on compression box（105）Bottom, the other end are mounted on water tank（107）Side
Face；The camera（108）It is fixedly mounted on pedestal（101）On the holder of front end；The control module（109）Fixed peace
Mounted in pedestal（101）On the right side of upper surface；The power module（110）It is fixedly mounted on pedestal（101）On the left of upper surface；It is described
The second servo motor（111）It is fixedly mounted on pedestal（101）In the mounting base at upper surface rear portion；The bogie（112）
Upper surface is fixedly mounted on the second servo motor（111）On output shaft；2 steamboats（113）Mounted on bogie（112）
In the mounting base of both sides；
The mechanical arm（2）Including the first joint（201）, large arm（202）, second joint（203）, forearm（204）, third close
Section（205）, rocking arm（206）, the 4th joint（207）, the large arm（202）Lower end passes through the first joint（201）It is mounted on
Pedestal（101）On the holder of upper end, first joint（201）It is directly driven by steering engine；The forearm（204）Upper end
Portion passes through second joint（203）Mounted on large arm（202）Upper end, the second joint（203）It is directly driven by steering engine；Institute
The rocking arm stated（206）Upper end passes through third joint（205）Mounted on forearm（204）On the holder of lower end, the third
Joint（205）It is directly driven by steering engine；
The water suction module（3）Including water-absorbing sponge（301）, fixed seat（302）, the water-absorbing sponge（301）Pass through spiral shell
Bolt is mounted on fixed seat（302）On lower face；The fixed seat（302）Overhead support passes through the 4th joint（207）It is mounted on
Rocking arm（206）Lower end, the 4th joint（207）It is directly driven by steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610734711.0A CN106351163B (en) | 2016-08-28 | 2016-08-28 | A kind of surface gathered water cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610734711.0A CN106351163B (en) | 2016-08-28 | 2016-08-28 | A kind of surface gathered water cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106351163A CN106351163A (en) | 2017-01-25 |
| CN106351163B true CN106351163B (en) | 2018-08-10 |
Family
ID=57854622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610734711.0A Active CN106351163B (en) | 2016-08-28 | 2016-08-28 | A kind of surface gathered water cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106351163B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109098136A (en) * | 2018-06-06 | 2018-12-28 | 湖北文理学院 | A kind of device for collecting road table small range ponding |
| CN113737700A (en) * | 2021-07-15 | 2021-12-03 | 李鹏 | Road ponding clearing device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29908429U1 (en) * | 1999-05-05 | 1999-07-29 | Mulag Fahrzeug Woessner | Device for adjusting the working distance |
| CN201172803Y (en) * | 2008-01-16 | 2008-12-31 | 李晓东 | Vehicle-mounted multifunctional mechanical arm and environmental sanitation vehicle with the mechanical arm |
| CN201377082Y (en) * | 2008-12-28 | 2010-01-06 | 郭修安 | Vehicle-mounted double-sided screen and wall cleaning machine |
| CN102178491A (en) * | 2011-05-18 | 2011-09-14 | 上海市闵行第二中学 | Ground dehumidifying robot |
| CN202610741U (en) * | 2012-04-09 | 2012-12-19 | 上海控江中学附属民办学校 | Intelligent fallen leaf collecting device |
| CN204608667U (en) * | 2015-01-26 | 2015-09-02 | 林文远 | Vehicle environment optimizes robot |
| CN104863077B (en) * | 2015-06-02 | 2017-01-11 | 沈阳敬达交通工程设备有限公司 | Road marker cleaning vehicle |
-
2016
- 2016-08-28 CN CN201610734711.0A patent/CN106351163B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106351163A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106351163B (en) | A kind of surface gathered water cleaning robot | |
| CN105862635B (en) | Suitable for the retractable full-automatic sweeping robot and method of work of highway | |
| CN105728398A (en) | Automatic flight surface cleaning robot for photovoltaic array | |
| CN108791212A (en) | A kind of engineering dregs vehicle fast cleaning machine | |
| CN109080591A (en) | Cleaning robot | |
| CN208947287U (en) | Cleaning robot | |
| CN106906772A (en) | A kind of guardrail auto-testing cleaning device | |
| CN106192833B (en) | A kind of sweep device and electric ground sweeper | |
| CN201258465Y (en) | Open type sucking sweeper | |
| CN207143824U (en) | One kind remote control pavement cleaning vehicle | |
| CN104060564B (en) | Kerb cleaning device | |
| CN206220037U (en) | Water absorber and the water scooping machine of the water absorber is installed | |
| CN205703653U (en) | A kind of rust removing device for steel tube | |
| CN212980089U (en) | Automatic driving auxiliary device for automobile | |
| CN206941441U (en) | A kind of traffic mark board with automatic dust removing apparatus | |
| CN109717786A (en) | A kind of glass curtain wall cleaning machine device people's system | |
| CN206702772U (en) | A kind of composite multifunction rain brush steel bar deburring equipment | |
| CN201745541U (en) | Vehicle cleaning device | |
| CN209523499U (en) | A kind of gas-pushing glass curtain wall cleaning machine device people | |
| CN206110047U (en) | Brush device and electronic floor sweeper | |
| CN206467614U (en) | A kind of radial type road sweeper of tight turn radius | |
| CN210680644U (en) | Anti-collision automobile chassis | |
| CN206034355U (en) | Construction of highway is with caring car | |
| CN206110042U (en) | Adjust brush ground clearance's electronic floor sweeper | |
| CN106510561B (en) | Floor washing machine with bidirectional water absorption rake mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180706 Address after: 362000 49 hillside village, Kam Chuan village, Quangang District, Quanzhou, Fujian Applicant after: Zhuang Yonghe Address before: 054900 71 east section village, Luzhai Township, Linxi County, Xingtai, Hebei Applicant before: Zhang Yuhua |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200106 Address after: 402, room 3, building 44, two ring road,, Huian, Fujian, Quanzhou Patentee after: Zheng Xitian Address before: 362000 49 hillside village, Kam Chuan village, Quangang District, Quanzhou, Fujian Patentee before: Zhuang Yonghe |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200708 Address after: 362000 49 hillside village, Kam Chuan village, Quangang District, Quanzhou, Fujian Patentee after: Zhuang Yonghe Address before: 402, room 3, building 44, two ring road,, Huian, Fujian, Quanzhou Patentee before: Zheng Xitian |
|
| TR01 | Transfer of patent right |