CN106859509A - A kind of construction and decoration mopping robot - Google Patents
A kind of construction and decoration mopping robot Download PDFInfo
- Publication number
- CN106859509A CN106859509A CN201710064013.9A CN201710064013A CN106859509A CN 106859509 A CN106859509 A CN 106859509A CN 201710064013 A CN201710064013 A CN 201710064013A CN 106859509 A CN106859509 A CN 106859509A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- pin bushing
- rotating shaft
- spoke
- guide
- 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.)
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Classifications
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of construction and decoration mopping robot, including frame, the frame is square, the frame includes four columns being located on square four angles and the first guide rod being connected between adjacent upright posts, second guide rod, 3rd guide rod, 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper and the first vacuum cup, the side of first guide pin bushing is provided with the first slide bar, first slide bar is set and perpendicular to the first guide rod towards the 3rd guide rod, the frame positioned at the first guide rod top at be provided with the crossbeam parallel with the first guide rod, the crossbeam middle part is provided with strutbeam towards frame central direction, the strutbeam is provided with first rotating shaft.The present invention has a wide range of application, it is adaptable to multiple types of floors situation, with practicality.
Description
Technical field
The present invention relates to robotics, a kind of construction and decoration mopping robot is particularly related to.
Background technology
The housework for wiping ground is comparatively laborious, and hand labour sweat is, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of construction and decoration mopping robot, to solve prior art
The middle technical problem for wiping ground sweat by hand.
In order to solve the above technical problems, embodiments of the invention provide a kind of construction and decoration mopping robot, including machine
Frame, the frame is square, and the frame includes four columns being located on square four angles and is connected to adjacent vertical
The first guide rod, the second guide rod between post, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, institute
State the second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, first guide pin bushing
Bottom face is provided with wiper, and the side of first guide pin bushing is provided with the first slide bar, first slide bar set towards the 3rd guide rod and
Perpendicular to the first guide rod, the frame positioned at the first guide rod top at be provided with the crossbeam parallel with the first guide rod, the horizontal stroke
Beam middle part is provided with the strutbeam perpendicular to crossbeam towards frame central direction, and the strutbeam is provided with first rotating shaft, the first rotating shaft
Overlapped with frame central, be sequentially provided with the first follower lever and the second follower lever in the first rotating shaft, first follower lever and
The angle of the second follower lever is 90 °, and first slide bar is provided with the first sliding sleeve, and second turn is provided with the top of first sliding sleeve
Axle, one end of first follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, on the strutbeam
Runner is additionally provided with, the runner is driven by the first motor, and the runner is provided with the 3rd rotating shaft near edge, the crossbeam
Middle part is provided with driving lever, and the first bar-shaped trough is provided with the middle part of the driving lever, and the 3rd rotating shaft is installed in the first bar-shaped trough,
First follower lever is provided with the second bar-shaped trough, and second bar-shaped trough is located at the medium position and first set of the first follower lever
Between hole, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and described first
The other end of follower lever is provided with the 3rd set of hole, is slided on the 3rd guide rod and is arranged with the 3rd guide pin bushing, the bottom of the 3rd guide pin bushing
End face is provided with wiper, and the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar sets and hang down towards the first guide rod
Directly in the 3rd guide rod, the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, described 3rd set
Hole is installed in the 5th rotating shaft；Slided on second guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with
Wiper, the side of second guide pin bushing is provided with the second slide bar, and second slide bar is set and perpendicular to second towards the 4th guide rod
Guide rod, second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, the two of second follower lever
End is respectively equipped with second set of hole and the 4th set of hole, and second set of hole is installed in the 6th rotating shaft；Slided on 4th guide rod
The 4th guide pin bushing is arranged with, the bottom face of the 4th guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th slide bar, institute
State the 4th slide bar to be set towards the second guide rod and perpendicular to the 4th guide rod, the 4th slide bar is provided with the 4th sliding sleeve, described the
Four sliding sleeves are provided with the 7th rotating shaft, and the 4th set of hole is installed in the 7th rotating shaft；
A water storage case, the water storage case are respectively provided with first guide pin bushing, the second guide pin bushing, the 3rd guide pin bushing, the 4th guide pin bushing
It is provided with the water channel for being supplied water to wiper；
The lower surface of second follower lever is provided with some hole for water sprayings, and the lower surface on first follower lever is provided with some
Hot gas venthole is used to dry；The strutbeam is provided with water injector for connecting the hole for water spraying, is additionally provided with the strutbeam
Hot air generator is used to connect the hot gas venthole；
The column outside of the frame connects wheel by wheel shaft, and the wheel includes wheel hub and tire, the wheel hub bag
Wheel hub fixed plate, spoke retainer plate and the spoke being connected with wheel shaft are included, the spoke retainer plate is vertically connected at wheel hub to be fixed
The outer rim of plate, is hinged with multiple spokes at the two ends outer rim of the spoke retainer plate, the spoke positioned at homonymy is solid along spoke
Surely the circumferencial direction of circle outer rim is uniformly arranged, and the spoke is arranged in pairs at the two ends outer rim of spoke retainer plate, each pair wheel
One tire is installed, the tire is the elastic inflated tire of bar shaped, is set on the spoke retainer plate at the outer end of spoke
There is sliding groove, a sliding ring is installed on the sliding groove, the sliding ring is coaxially disposed with spoke retainer plate, the sliding ring
Circle through being more than spoke retainer plate, be provided with a drive rod between each pair spoke, the spoke inner side is provided with T-shaped along its length
Groove, the two ends of the drive rod are provided with T connector, and are respectively arranged in the T-slot of corresponding spoke, the middle part of the drive rod
Vertical direction is connected with a conductive bar, and the limitation of movement of the conductive bar makes conductive bar in its longitudinal direction in a guide groove
Motion, the guide groove is fixed on spoke retainer plate, and the lower end of the guide rod is hinged with a connecting rod, the other end hinge of the connecting rod
It is connected on sliding ring, a linear electric motors is additionally provided with the spoke retainer plate, the linear electric motors drives sliding ring along sliding groove
Move back and forth, the sliding groove drives drive rod along the radial motion of wheel hub by connecting rod；
Also include a steering driving mechanism, the steering driving mechanism is used for driving moment and moves and turn to.
Wherein, the drive rod is parallel with the axial direction of spoke retainer plate, and the length of the drive rod is fixed more than spoke
The axial length of circle.
Wherein, the runner is made up of stainless steel material.
Above-mentioned technical proposal of the invention has the beneficial effect that：
In such scheme, the present invention is connected and in 90 ° of designs due to the first follower lever and the second follower lever, therefore when first
When follower lever drives the first guide pin bushing and the 3rd guide pin bushing to be moved back and forth on the first guide rod and the 3rd guide rod respectively, the second follower lever
The second guide pin bushing and the 4th guide pin bushing can be driven to be moved back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
Individual runner drives, and can carry out cleaning, efficiency high to floor surface simultaneously；Wheel of the invention is installed on vehicle frame by wheel shaft
On, when ground is coarse, drive the moving mass on linear electric motors to left movement, sliding ring is driven to left movement, so that by connecting
Bar drives drive rod to be moved to the direction away from hub axis, so as to corresponding spoke group is close to each other, becomes single tire
Into waist-drum-shaped, so as to reduce the frictional force with ground, when the smooth easy skidding in ground, the moving mass on driving linear electric motors is to the right
Motion, drives sliding ring to move right, so that drive drive rod to be moved to the direction near hub axis by connecting rod, so that will
Spoke is strutted to both sides, single tire is become flat, so as to increase contact area, prevents from skidding, and improves stability.This hair
It is bright to have a wide range of application, it is adaptable to multiple types of floors situation, with practicality.
Brief description of the drawings
Fig. 1 is top view of the invention.
Fig. 2 is stereogram of the invention, and wheel is not illustrated in the figure.
Fig. 3 is stereogram of the invention two, and wheel is not illustrated in the figure.
Fig. 4 is the sectional view of wheel of the invention.
Fig. 5 is the matching chart of spoke of the invention and drive rod.
Fig. 6 is the stereoscopic figure of wheel of the invention, and one of tire is only illustrated in the figure.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of construction and decoration mopping robot, including frame, described
Frame is square, and the frame includes four columns 1 being located on square four angles and is connected between adjacent upright posts 1
The first guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, are respectively foursquare one side, described
First guide rod 2 and the 3rd guide rod 4 be arranged in parallel, and the guide rod 5 of second guide rod 3 and the 4th be arranged in parallel, the first guide rod 2 perpendicular to
Second guide rod 3.Slided on first guide rod 2 and be arranged with the first guide pin bushing 21, the bottom face of first guide pin bushing 21 is provided with wiper
7, the side of first guide pin bushing 21 is provided with the first slide bar 22, first slide bar 22 set towards the 3rd guide rod 4 and perpendicular to
First guide rod 2, the frame is provided with the crossbeam 8 parallel with the first guide rod 2 at the top of the first guide rod 2, and crossbeam 8 makes somebody a mere figurehead
Set, therefore will not interference with the motion of the first guide pin bushing 21, the middle part of the crossbeam 8 is provided with perpendicular to horizontal stroke towards frame central direction
The strutbeam 9 of beam, the strutbeam 9 is provided with first rotating shaft 10, first rotating shaft 10 and the perpendicular setting of strutbeam 9, and first rotating shaft 10 can
Rotated on strutbeam 9, can be connected using bearing, the first rotating shaft 10 overlaps with frame central point；In the first rotating shaft 10
The first follower lever 11 and the second follower lever 12 are sequentially provided with, the first follower lever 11 and the second follower lever 12 are isometric, and first driven
Axis of the central point of the respective two ends line of 11 and second follower lever of bar 12 with first rotating shaft 10 coincides, the first follower lever
11 and second follower lever 12 it is spaced apart be fixed in first rotating shaft 10, the follower lever 12 of first follower lever 11 and second
Angle be 90 °.
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Such as use bearing connected mode；One end of first follower lever 11 is provided with first set hole 111, and the first set hole 111 connects
It is connected in the second rotating shaft 24, first set hole 111 can mutually be fixedly connected with the second rotating shaft 24 in the present embodiment；On the strutbeam 9 also
Runner 13 is provided with, the runner 13 drives by the way that the first motor is (not shown), and the runner 13 is provided with the 3rd turn near edge
Axle 14, the 3rd rotating shaft 14 is located on the eccentric position of runner 13, and the 3rd rotating shaft 14 can be rotated on runner 13, for example with bearing
Connected mode；The middle part of the crossbeam 8 is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；Institute
The middle part for stating driving lever 15 is provided with the first bar-shaped trough 151, and the 3rd rotating shaft 14 is installed in the first bar-shaped trough 151, the 3rd turn
The way of contact of the bar-shaped trough 151 of axle 14 and first is rolling friction.
First follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and first set hole 111 between, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can
Rotated on the outer end of driving lever 15, for example with bearing connected mode；4th rotating shaft 152 is installed on the second bar-shaped trough
In 113, the 4th rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are rolling friction, the other end of first follower lever 11
The 3rd set of hole 112 is provided with, is slided on the 3rd guide rod 4 and is arranged with the 3rd guide pin bushing 41, the bottom face of the 3rd guide pin bushing 41 sets
Have a wiper 7, the side of the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42, the 3rd slide bar 42 set towards the first guide rod 2 and
Perpendicular to the 3rd guide rod 4, the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, and the 3rd sliding sleeve 43 is provided with the 5th rotating shaft
44, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；Pacify in the 3rd set of hole 112
Loaded in the 5th rotating shaft 44, the 3rd set of hole 112 can mutually be fixedly connected with the 5th rotating shaft 44 in the present embodiment.First guide pin bushing 21,
Symmetrical centered on one slide bar 22 and the 3rd guide pin bushing 41, the 3rd slide bar 42, symmetrical centre point is located on the place axis of first rotating shaft 10.
Slided on second guide rod 3 and be arranged with the second guide pin bushing 31, the bottom face of second guide pin bushing 31 is provided with wiper 7,
The side of second guide pin bushing 31 is provided with the second slide bar 32, and second slide bar 32 is set and perpendicular to towards the 4th guide rod 5
Two guide rods 3, second slide bar 32 is provided with the second sliding sleeve 33, and second sliding sleeve 33 is provided with the 6th rotating shaft 34, the 6th turn
Axle 34 can be in the rotary-top of the second sliding sleeve 33, for example with bearing connected mode；The two ends difference of second follower lever 12
Second set of hole 121 and the 4th set of hole 122 are provided with, second set of hole 121 is installed in the 6th rotating shaft 34, second in the present embodiment
Set hole 121 can mutually be fixedly connected with the 6th rotating shaft 34；Slided on 4th guide rod 5 and be arranged with the 4th guide pin bushing 51, the described 4th
The bottom face of guide pin bushing 51 is provided with wiper 7, and the side of the 4th guide pin bushing 51 is provided with the 4th slide bar 52, the direction of the 4th slide bar 52
Second guide rod 3 is set and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is provided with the 4th sliding sleeve 53, the 4th sliding sleeve 53
The 7th rotating shaft 54 is provided with, the 7th rotating shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example with bearing connected mode；It is described
4th set of hole 122 is installed in the 7th rotating shaft 54, and the 4th set of hole 122 can mutually be fixedly connected with the 7th rotating shaft 54 in the present embodiment.
Symmetrical centered on second guide pin bushing 31, the second slide bar 32 and the 4th guide pin bushing 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.
A water storage case 93 is respectively provided with first guide pin bushing 21, the second guide pin bushing 31, the 3rd guide pin bushing 41, the 4th guide pin bushing 51,
The water storage case 93 is provided with the water channel (not shown) for being supplied water to wiper.
The lower surface of second follower lever 12 is provided with some hole for water sprayings 124, the lower surface on first follower lever 11
Some hot gas ventholes 114 are provided with for drying；The strutbeam 9 is provided with water injector 91 for connecting the hole for water spraying, institute
State and hot air generator 92 is additionally provided with strutbeam 9 for connecting the hot gas venthole.
The outside of column 1 of frame as described in Fig. 4 to Fig. 6 connects wheel by wheel shaft 62, and the wheel includes wheel hub and wheel
Tire 61, the wheel hub includes the wheel hub fixed plate 63, spoke retainer plate 64 and the spoke 65 that are connected with wheel shaft 62, and the spoke is consolidated
Surely circle 64 is vertically connected at the outer rim of wheel hub fixed plate 63, is hinged with described in multiple at the two ends outer rim of the spoke retainer plate 64
Spoke 65, the spoke 65 positioned at homonymy is uniformly arranged along the circumferencial direction of the outer rim of spoke retainer plate 64, and the spoke 65 is in wheel
It is arranged in pairs at the two ends outer rim of spoke retainer plate 64, a tire 61, the wheel is installed at the outer end of each pair spoke 65
Tire 61 is the elastic inflated tire of bar shaped, and the two ends of tire length direction are individually fixed at the outer end of correspondence spoke 65, described
Spoke retainer plate 64 is provided with sliding groove 66, and a sliding ring 67, the sliding ring 67 and spoke are provided with the sliding groove 66
Retainer plate 64 is coaxially disposed, and the circle of the sliding ring 67 is provided with a driving through being more than spoke retainer plate 64 between each pair spoke 65
Bar 68, the inner side of the spoke 65 is provided with T-slot 651 along its length, and the two ends of the drive rod 68 are provided with T connector 681, and divide
It is not installed in the T-slot 651 of corresponding spoke 65, the middle part vertical direction of the drive rod 68 is connected with a conductive bar 69,
The limitation of movement of the conductive bar 69 in guide groove 70, making conductive bar 69 move in its longitudinal direction, fix by the guide groove 70
In on spoke retainer plate 64,69 lower ends of the conductive bar are hinged with a connecting rod 71, and the other end of the connecting rod 71 is articulated with cunning
On moving-coil 67, a linear electric motors 72 are additionally provided with the spoke retainer plate 64, the linear electric motors 72 drive sliding ring 67 along cunning
Dynamic groove 66 moves back and forth, and the sliding groove 66 drives drive rod 68 along the radial motion of wheel hub by connecting rod 71.The connecting rod 71
Had angle setting with the axial direction of wheel hub, to ensure the transmission of power.
Also include a steering driving mechanism 60, the steering driving mechanism 60 is used for driving moment and moves and turn to.
The drive rod 68 is parallel with the axial direction of spoke retainer plate 64, and the length of the drive rod 68 is fixed more than spoke
The axial length of circle 64.
When actually used, can be adjusted according to the difference of application scenarios, the quantity to spoke and corresponding tire, can be with
6 groups, 8 groups, 12 groups, 20 groups etc., after wheel of the invention is installed are set to, when ground is coarse, are driven on linear electric motors
Moving mass drives sliding ring to left movement to left movement (left direction in Fig. 4), so as to drive drive rod to remote by connecting rod
Moved from the direction of hub axis, so as to corresponding spoke group is close to each other, single tire is become waist-drum-shaped, so as to reduce
With the frictional force on ground, when ground is smooth, the moving mass on linear electric motors is driven to move right (the right direction in Fig. 4),
Sliding ring is driven to move right, so that drive drive rod move to the direction near hub axis by connecting rod, so that by spoke
Strutted to both sides, single tire is become flat, so as to increase contact area, improve friction area, prevent from skidding, increase steady
It is qualitative.The control of linear electric motors can be completed by the central processing unit in frame.The deformation of the single tire of bar shaped is former
The similar balloon of reason.
Operation principle of the invention and process are as follows：Robot is positioned on floor, with wiper one facing to ground
Plate, is moved and turned to by steering driving mechanism come driving moment, so as to drive gantry motion, after start-up operation, runner is rotated,
The 3rd rotating shaft on runner is driven to move in a circle, the 3rd rotating shaft drives driving lever to swing back and forth, and driving lever is with crossbeam center
Swing pivot, the 4th rotating shaft on driving lever movable end drives the motion of the first follower lever, makes the first follower lever be with frame central
Swing pivot swings back and forth, and the first follower lever drives the first guide pin bushing to do past on the first guide rod by the second rotating shaft located at end
Linear motion, the wiper on the first guide pin bushing can be used to wash the floor, because the first follower lever and the second follower lever are connected and in 90 °
Design, therefore when the first follower lever drives the first guide pin bushing and the 3rd guide pin bushing to be moved back and forth on the first guide rod and the 3rd guide rod respectively
When, the second follower lever can also drive the second guide pin bushing and the 4th guide pin bushing to be moved back and forth on the second guide rod and the 4th guide rod respectively.Cause
This four wipers are only driven by a runner, can carry out cleaning, efficiency high to floor surface simultaneously.
The runner 13 is made up of stainless steel material, and it is difficult to get rusty, long service life.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of construction and decoration mopping robot, it is characterised in that including frame, the frame is square, the frame
Including four columns on square four angles and the first guide rod being connected between adjacent upright posts, the second guide rod, the
Three guide rods, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, second guide rod and the 4th guide rod is parallel sets
Put, slided on first guide rod and be arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper, first guide pin bushing
Side be provided with the first slide bar, first slide bar is set and perpendicular to the first guide rod, the position of the frame towards the 3rd guide rod
The crossbeam parallel with the first guide rod is provided with the first guide rod top, the crossbeam middle part is provided with vertically towards frame central direction
In the strutbeam of crossbeam, the strutbeam is provided with first rotating shaft, and the first rotating shaft overlaps with frame central, in the first rotating shaft
It is sequentially provided with the first follower lever and the second follower lever, the angle of first follower lever and the second follower lever is 90 °, described first
Slide bar is provided with the first sliding sleeve, and the second rotating shaft is provided with the top of first sliding sleeve, and one end of first follower lever is provided with
First set hole, the first set hole is connected in the second rotating shaft, and runner is additionally provided with the strutbeam, and the runner is by the first electricity
Machine drives, and the runner is provided with the 3rd rotating shaft near edge, driving lever is provided with the middle part of the crossbeam, in the driving lever
Portion is provided with the first bar-shaped trough, and the 3rd rotating shaft is installed in the first bar-shaped trough, and first follower lever is provided with the second bar shaped
Groove, second bar-shaped trough is located between the medium position of the first follower lever and first set hole, and the outer end of the driving lever sets
There is the 4th rotating shaft, the 4th rotating shaft is installed in the second bar-shaped trough, the other end of first follower lever is provided with the 3rd set of hole,
Slided on 3rd guide rod and be arranged with the 3rd guide pin bushing, the bottom face of the 3rd guide pin bushing is provided with wiper, the 3rd guide pin bushing
Side is provided with the 3rd slide bar, and the 3rd slide bar is set and perpendicular to the 3rd guide rod towards the first guide rod, on the 3rd slide bar
The 3rd sliding sleeve is provided with, the 3rd sliding sleeve is provided with the 5th rotating shaft, and the 3rd set of hole is installed in the 5th rotating shaft；Described second
Slided on guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with wiper, and the side of second guide pin bushing is provided with
Second slide bar, second slide bar is set and perpendicular to the second guide rod towards the 4th guide rod, and second slide bar is provided with second
Sliding sleeve, second sliding sleeve is provided with the 6th rotating shaft, and second follower lever is respectively arranged at two ends with second set of hole and the 4th set
Hole, second set of hole is installed in the 6th rotating shaft；Slided on 4th guide rod and be arranged with the 4th guide pin bushing, the 4th guide pin bushing
Bottom face be provided with wiper, the side of the 4th guide pin bushing is provided with the 4th slide bar, and the 4th slide bar is set towards the second guide rod
And perpendicular to the 4th guide rod, the 4th slide bar is provided with the 4th sliding sleeve, the 4th sliding sleeve is provided with the 7th rotating shaft, described
Four sets of holes are installed in the 7th rotating shaft；
A water storage case is respectively provided with first guide pin bushing, the second guide pin bushing, the 3rd guide pin bushing, the 4th guide pin bushing, the water storage case is provided with
For the water channel supplied water to wiper；
The lower surface of second follower lever is provided with some hole for water sprayings, and the lower surface on first follower lever is provided with some hot gas
Venthole is used to dry；The strutbeam is provided with water injector for connecting the hole for water spraying, and hot gas is additionally provided with the strutbeam
Generator is used to connect the hot gas venthole；
The frame column outside by wheel shaft connect wheel, the wheel include wheel hub and tire, the wheel hub including with
The connected wheel hub fixed plate of wheel shaft, spoke retainer plate and spoke, the spoke retainer plate are vertically connected at wheel hub fixed plate
Outer rim, is hinged with multiple spokes at the two ends outer rim of the spoke retainer plate, the spoke positioned at homonymy is along spoke retainer plate
The circumferencial direction of outer rim is uniformly arranged, and the spoke is arranged in pairs at the two ends outer rim of spoke retainer plate, each pair spoke
One tire is installed, the tire is the elastic inflated tire of bar shaped, and the spoke retainer plate is provided with cunning at outer end
Dynamic groove, is provided with a sliding ring on the sliding groove, the sliding ring is coaxially disposed with spoke retainer plate, the circle of the sliding ring
Through more than spoke retainer plate, being provided with a drive rod between each pair spoke, the spoke inner side is provided with T-slot along its length, institute
The two ends for stating drive rod are provided with T connector, and are respectively arranged in the T-slot of corresponding spoke, and the middle part of the drive rod is vertical
Direction is connected with a conductive bar, and the limitation of movement of the conductive bar makes conductive bar move in its longitudinal direction in a guide groove,
The guide groove is fixed on spoke retainer plate, and the lower end of the guide rod is hinged with a connecting rod, and the other end of the connecting rod is articulated with
On sliding ring, be additionally provided with a linear electric motors on the spoke retainer plate, the linear electric motors drive sliding ring along sliding groove back and forth
Mobile, the sliding groove drives drive rod along the radial motion of wheel hub by connecting rod；
Also include a steering driving mechanism, the steering driving mechanism is used for driving moment and moves and turn to.
2. construction and decoration mopping robot according to claim 1, it is characterised in that the drive rod is fixed with spoke
The axial direction of circle is parallel, the axial length of the length more than spoke retainer plate of the drive rod.
3. runner according to claim 2, it is characterised in that the runner is made up of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710064013.9A CN106859509A (en) | 2017-02-04 | 2017-02-04 | A kind of construction and decoration mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710064013.9A CN106859509A (en) | 2017-02-04 | 2017-02-04 | A kind of construction and decoration mopping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106859509A true CN106859509A (en) | 2017-06-20 |
Family
ID=59165850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710064013.9A Pending CN106859509A (en) | 2017-02-04 | 2017-02-04 | A kind of construction and decoration mopping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106859509A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
-
2017
- 2017-02-04 CN CN201710064013.9A patent/CN106859509A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
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Application publication date: 20170620 |
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