CN107320021A - Tunnel and Ti Bu mops robot - Google Patents
Tunnel and Ti Bu mops robot Download PDFInfo
- Publication number
- CN107320021A CN107320021A CN201710714515.1A CN201710714515A CN107320021A CN 107320021 A CN107320021 A CN 107320021A CN 201710714515 A CN201710714515 A CN 201710714515A CN 107320021 A CN107320021 A CN 107320021A
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- CN
- China
- Prior art keywords
- handkerchief
- frame
- service sink
- robot
- drag
- 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
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
- Manipulator (AREA)
Abstract
Tunnel and Ti Bu mops robot, including service sink, sideslip frame, interior extension frame, Internal baffle, outer baffle, stripper plate, stir Xi Gang, clamping jaw arm mechanism, main boom, link, plug-in frame, drag handkerchief, motor, hydraulic cylinder, car body.Service sink, clamping jaw arm mechanism, main boom are installed in front of car body.Sideslip frame, interior extension frame are installed in service sink, Internal baffle, stripper plate, Xi Gang, outer baffle is stirred.Handkerchief is dragged to hang on interior extension frame.Two main boom front ends set link part.Two plug-in frames are connected into front and rear two row by link, drag handkerchief to hang on plug-in frame.When mopping floor, two link parts are drawn close side by side.Two rows drag handkerchief to mop floor in turn, clean in turn.Clamping jaw arm mechanism handle is removed between extension frame and plug-in frame including dragging handkerchief, shifts, hangs up.Drag handkerchief to stir in service sink to wash and extrusion dehydration.Floor-mopping robot energy mopping railway station, subway tunnel, ladder step and all broad floors.Mop floor two to three meters of amplitude broad, can avoidance gathering, intersection water, water saving.
Description
Technical field
The invention belongs to environmental protection machinery field, particularly tunnel and Ti Bu mops robot.
Background technology
Existing railway station and subway station, tunnel are all very broad, and ladder step is again long, and step is again more.The mop of tunnel ground,
Although useful floor cleaning machine mops floor, this kind of floor cleaning machine uses greatly disc rotary, coordinates a small amount of water spray, and back adds water suction rake water suction.
This kind of floor cleaning machine one is that the area that mops floor is narrow, and two be ground and unclean after mopping floor.Because there is one layer of very thin sewage to stay all the time
On the ground, ground is not clean, it is necessary to which repeated multiple times mop floor after mopping floor.Also useful strip drags handkerchief to be arranged in front of floor cleaning machine
Or rear mops floor.Although the area that mops floor is wider, this strip drags handkerchief to clean automatically, drags behind a small amount of ground, drags handkerchief
Wipe dirty, operating personnel often also continue to mop floor, until handkerchief is dragged in operating personnel's cleaning, some ground have bedraggled.Ladder step
Mopping, although the ladder step that employs having wipes the machinery for dragging machine etc, but drags handkerchief cleaning same pretty troublesome.In most cases, ladder step
It is still artificial mopping.Particularly station underpass and ladder is walked, and train bus stop number of times is frequent, the time that can be mopped floor every time
Often all very short, resulting in needs more street cleaner's surprise to mop floor.Inefficiency, labor strength is big.
The content of the invention
The invention aims to overcome existing cleaning station tunnel and the shortcoming of ladder step to be mopped floor area there is provided one kind
It is wide, the tunnel and Ti Bu mops robot for dragging handkerchief, hereinafter referred to as mop robot can be cleaned automatically at any time.
What the present invention was realized in：Tunnel and Ti Bu mops robot, including service sink, sideslip frame, interior extension frame, interior gear
Plate, outer baffle, stripper plate, stir Xi Gang, clamping jaw arm mechanism, main boom, link, plug-in frame, drag handkerchief, motor, hydraulic cylinder, car
Body.Sideslip frame is arranged in service sink.Lowering or hoisting gear is installed between sideslip frame two ends and service sink coverboard.Service sink is arranged on
In front of car body.Interior extension frame is arranged on sideslip frame.It is provided with and pushes away between the interior vertical sliding block for hanging frame one end and the connection of sideslip frame termination
Enter device.Fixture block and bayonet socket are provided with interior extension frame.Handkerchief is dragged to include hanging block, frame plate, handkerchief bar.Hanging block lower end is linked to be one with frame plate
Body, handkerchief bar is fixed on frame plate.Hook is provided with hanging block and is hung tag.When dragging the handkerchief to clean, the hanging block of handkerchief is dragged to hang on interior extension frame,
Hang on fixture block.Internal baffle is arranged on interior extension frame.Liter is installed between the leading truck and interior extension frame that are connected on Internal baffle
Falling unit.Outer baffle is arranged on the both sides of service sink.It is provided with service sink and stirs Xi Gang.Clamping jaw arm mechanism include rear jig arm,
Preceding jig arm, chuck, clamping jaw, hydraulic cylinder.The rear jig arm rear end of clamping jaw arm mechanism is hinged above the service sink in front of car body
On rotating disk.The device that clamping jaw integral-rotation can be made, make clamping jaw open and close up is installed on chuck.Main boom include preceding arm support,
Rear arm support, hydraulic cylinder.Main boom sets Second Mate, and Second Mate's main boom rear end is arranged on the car body below service sink.Handkerchief is dragged to set
There is front row to drag handkerchief and heel row to drag handkerchief, forward and backward row drags handkerchief to clean in turn, mopped floor in turn.Mounted on plug-in frame drag the structure of handkerchief with it is interior
Hang frame identical.When handkerchief is dragged in cleaning, clamping jaw arm mechanism is transferred in service sink, hung over dragging handkerchief clamping to remove on plug-in frame
On interior extension frame；Water filling drags handkerchief to drop to the stripper plate set below service sink after stirring Xi Gang and stirring and wash setting time in service sink
On, Internal baffle is moved down, and outer baffle clamps Tuo Pa foreign sides, and interior extension frame is moved down, and handkerchief bar is squeezed dehydration；Drag handkerchief cleaning setting number of times
Afterwards, clamping jaw arm mechanism is transferred on the vacant plug-in frame of correspondence and hung up dragging handkerchief to be removed from interior extension frame in service sink, then
Sequentially remove and drag handkerchief on plug-in frame, be put into service sink, circulate said process, clean, mop floor in turn in turn.One piece of link handle
Former and later two plug-in frames link together, and drag handkerchief to hang over one link part of composition on plug-in frame, a mop robot peace
Equipped with two link parts.Rack is provided with the middle of link, link both sides are provided with slideway, slideway and are provided with cunning
Installed in shell, slip case and be connected with gear, wheel and rack is engaged, cogged motor is installed on slip case.Pacify slip case top
Dress is fixed with connector, and Second Mate's main boom front end is hinged together with the connector on a slip case respectively.Mop robot is dragged
When washing ladder step, handkerchief is dragged to be placed in ladder step the row dragged in handkerchief connected on forward and backward two exclusive extension frames, each link part
On slip case on gear motor driving lower band carry-over bar be drive drag handkerchief along ladder step length direction move left and right one section of setting
Distance, i.e. mop complete the mop process of one-level ladder step.Vertical slideway, sideslip frame two ends are installed in service sink on the inwall on both sides
Vertical sliding block is fixedly connected with, sliding block is found and is arranged in vertical slideway.Two link parts can inwardly be drawn in, and tucked way has two
Individual link part is forward and backward staggeredly to draw in and two link partial turns two kinds of embodiments of gathering.Stripper plate is arranged on clear
It is following in wash pool.Link is provided with limit for height wheel below.Mop robot energy mopping tunnel and ladder are walked.Time dirt is provided with car body
Water tank, light foul water tank, foul water tank, filtered water tank.There are two kinds of embodiments of drive type and hand-held in mop robot.
The advantage of the invention is that：1st, handkerchief is dragged due to being provided with two rows, often arranges two and drag handkerchief, every is dragged handkerchief all long, every
Handkerchief is dragged to be up to five meters or so of 1 to one point, mop robot, which opens past width, can reach two to three meters.And meet barrier
Hinder thing, two link parts can be drawn in, and mop floor efficiency high.2nd, water tank is provided with car body, there is provided service sink, and clear
Squash type dehydration device is provided with wash pool, clamping jaw arm mechanism, main boom are provided with car body, can be dragging handkerchief clear in turn
Wash, mop floor in turn.Both work efficiency is improved, makes ground after mopping cleaner again.3rd, be provided with car body foul water tank, secondary foul water tank,
Light foul water tank, filtered water tank, reasonable intersection water, water-saving result substantially, act on big to water-deficient area.4th, mop robot can be dragged
Car washing station tunnel, ladder step and platform, can complete the mop on the main ground in station.5th, there is unattended and someone behaviour in mop robot
Make two kinds of vehicles.Using unattended vehicle, operator on duty can mitigate the labor intensity of operating personnel with complete monitoring.
Brief description of the drawings
Fig. 1 is the overall structure figure of tunnel and Ti Bu mops robot.
Fig. 2 is the top view in Fig. 1.
Fig. 3 is installation diagram of the sideslip frame in service sink.
Fig. 4 is installation diagram of the interior extension frame on sideslip frame.
Fig. 5 is to drag handkerchief installation site structure chart corresponding with interior extension frame.
Fig. 6 is to drag in Fig. 5 handkerchief to be arranged on structure chart on interior extension frame.
Fig. 7 is the installation site structure chart of extension frame including baffle structure and Internal baffle.
Fig. 8 is that Internal baffle is arranged on situation map on interior extension frame.
Fig. 9 is to stir cleaning device structure chart.
Figure 10 is outer baffle mounting structure and stirs Xi Gang and stir to wash handkerchief bar situation map.
Figure 11 is to drag handkerchief extrusion dehydration situation map.
Figure 12 is mop robot mopping ladder step situation map.
Figure 13 is that the link part in front of mop robot draws situation map in.
Figure 14 is another gathering method figure of mop robot.
In accompanying drawing：Seat cushion 1, operation dish 2, car body 3, pivot pin 4, hinge seat 5, rotating disk 6, rear jig arm 7, hydraulic cylinder 8, motor 9,
Service sink 10, preceding jig arm 11, chuck 12, clamping jaw 13, connector 14, slip case 15, link 16, plug-in frame 17, drag handkerchief 18, limit for height
Wheel 19, preceding arm support 20, rear arm support 21, wheel 22, pedal 23, rack 24, slideway 25, gear 26, vertical slideway 27, vertical sliding block 28,
Service sink coverboard 29, support 30, sideslip frame 31, nut 32, screw mandrel 33, interior extension frame 34, bayonet socket 35, fixture block 36, concave surface 37, hook
38th, hang tag 39, clamping jaw hook and slot 40, notch 41, hanging block 42, frame plate 43, handkerchief bar 44, spring 45, leading truck 46, Internal baffle 47, turn
Axle 48, crank 49, stir and wash thick stick 50, roller 51, support 52, support axle 53, outer baffle 54, outer baffle axle 55, stripper plate 56, draining
Mouth 57, service sink bottom plate 58, three horn rings 59, piston rod 60, supporting skid rail 61, support slipper 62, hinge 63, ladder step 64.
Embodiment
It is the overall structure figure of tunnel and Ti Bu mops robot in Fig. 1.The front of car body 3 is provided with service sink 10, cleans
Motor 9 is installed on the coverboard of pond side.Service sink is rectangle housing.Clamping jaw arm mechanism include preceding jig arm 11, rear jig arm 7,
Hydraulic cylinder 8, chuck 12, clamping jaw 13.Rotating disk 6 is arranged on the front upper place of car body 3.Hinge seat 5 is arranged on rotating disk 6.The rear end of jig arm 7 afterwards
Linked together with pivot pin 4 with hinge seat 5.The preceding rear end of jig arm 11 is hinged together with the rear front end of jig arm 7.Jig arm rear end is with turning afterwards
Hydraulic cylinder 8 is assembled between disk, between preceding jig arm back segment and rear jig arm.Forward and backward jig arm is all multi-joint telescoping arm configuration.Fore-clamp
Arm front end is connected with chuck 12.Clamping jaw 13 is arranged on chuck 12.Epimere is two pieces of platy structures in clamping jaw 13, i.e., plate is pressed from both sides.Plate
Folder lower end has two claw-like structures, i.e. pawl to press from both sides.Plate is pressed from both sides and pawl folder is referred to as clamping jaw.Hydraulic pressure is installed between chuck and preceding jig arm front end
Cylinder.Clamping jaw is installed on chuck 12 to open and closing device, clamping jaw Integral rotating device, these devices are all prior arts, are
Drawing is clear, and said apparatus is not drawn into.
Main boom is arranged on below service sink.Main boom includes preceding arm support 20, rear arm support 21, hydraulic cylinder 8.After rear arm support 21
End is hinged on car body 3.The front end of rear arm support 21 is hinged together with the preceding rear end of arm support 20.Between rear arm support and car body, rear arm support
Hydraulic cylinder 8 is assembled between preceding arm support.Link 16 is connected forward and backward two pieces plug-in frames 17.The cunning of link 16
Slip case 15 is installed on road.Slip case 15 is connected with connector 14 above.Preceding arm support front end is hinged on connector 14.
The side of handkerchief 18 is dragged to be connected with hanging block, hanging block is hung on plug-in frame 17.Link is mounted below limit for height wheel 19.Car body
Lower section is provided with wheel 22.It is drive type vehicle that mop robot, which has drawn in two kinds of vehicles of hand-held and drive type, Fig. 1,.
The rear of car body 3 is provided with operation dish 2, seat cushion 1, pedal 23.
It is the top view in Fig. 1 in Fig. 2.Fig. 2 is by the situation after the counter-clockwise rotated ninety degrees of Fig. 1 top view.Car body
Rotating disk 6 is installed in the middle of 3 fronts.The rear jig arm 7 of clamping jaw arm mechanism is installed on rotating disk.In order to not keep off front figure, in Fig. 1
Clamping jaw arm mechanism the leading portion of rear jig arm 7 and preceding jig arm all eliminate.Service sink 10 is arranged in front of car body.Service sink side
Coverboard on motor 9 is installed.Car body forefront is link part.Link part is orderly in order to mop floor in front of car body
Arrangement installs the general name for all parts for dragging handkerchief to be connected with each other, including dragging handkerchief.Link part be divided into left frame part and
Right shelf part.Left frame part is identical with right shelf part-structure.The forward and backward both sides of link 16 are all connected with a plug-in frame 17, often
One, which is fitted with, on the plug-in frame 17 of root drags handkerchief 18.The left frame part of link part and right shelf part are all dragging 18 points of the handkerchief to be
Two rows, often arrange two and drag handkerchief to draw close side by side.Every piece of link 16 is installed above rack 24, Cut-away section in such as Fig. 2.Rack 24
On gear 26 is installed, gear 26 is engaged with rack 24.It is provided with slideway 25, slideway 25 and pacifies on the link on the both sides of rack 24
Equipped with slip case 15.Slip case 15 can horizontally slip on slideway 25.Gear 26 is arranged in slip case on the shell wall on both sides.Outside slip case
One side is provided with the motor 9 of drive gear relative to gear shaft position.Have a rotating shaft in connector 14, rotating shaft by motor or
Rotary oil cylinder controls rotational angle.Connector is prior art.Slip case top is connected with the rotating shaft lower end in connector
Horizontal block be connected and fixed.The preceding arm support 20 of two main booms respectively with left frame part, the slip case top of right shelf part
Connector is hinged together.Connector can be adjusted between the preceding arm support 20 for changing left frame part, right shelf part and main boom
Angle.Motor 9 rotating, one set angle of gear, i.e. band moving gear positive and negative rotation, you can band carry-over bar makes left frame
Partly, right shelf part integrally moves left and right one section of setpoint distance.This distance that moves left and right is general within 30 centimeters, is used for
Used during mopping ladder step.When dragging level land, left frame part, right shelf part are not moved.The following of left and right frame part all installs connection
There is limit for height wheel 19.Limit for height wheel 19 is referring to location right in Fig. 1, and limit for height wheel is to limit left frame part, right shelf part and ground
Height, enable to drag handkerchief to keep appropriate pressure to mop floor.
It is installation diagram of the sideslip frame in service sink in Fig. 3.Sideslip frame 31 is that a section is rectangular hollow tube,
Sideslip frame middle upper part opens up jagged.The sideslip outer frame side four directions of square tubulose is smooth chute surface.Service sink 10 is one
It is seen that length direction in service sink in individual rectangle housing, Fig. 3.Vertical slideway 27 is installed on the inside panel of service sink two.
Vertical sliding block 28 is mounted with the two ends of sideslip frame 31.Vertical sliding block 28 is arranged in vertical slideway 27.In the two ends of sideslip frame 31
Side, which is fixedly connected with support 30, support 30, is connected with one block of rack 24.Motor 9 and gear are installed above service sink termination
26.Gear 26 is engaged with rack 24.The motor-driven gear at service sink two sets the number of turns, band carry-over bar by program forward and backward
Sideslip frame is driven to rise, decline setpoint distance.
It is installation diagram of the interior extension frame on sideslip frame in Fig. 4.Interior extension frame 34 is also that a section is rectangular hollow
Pipe.Interior extension frame is enclosed on the outside of sideslip frame 31.The interior extension middle upper part of frame 34 has also opened up a breach.Interior extension frame is shorter than sideslip frame.
When central indentation is to timing, interior five centimeters shorter than sideslip frame or so of extension frame two.The left side in Fig. 4, the support 30 of sideslip frame left end
On be mounted with a motor 9, the output shaft of motor 9 connect a screw mandrel 33.Interior extension frame left end nut 32 installed above.
Screw mandrel 33 is screwed into nut 32.The motor sets the number of turns by program forward and backward, in the case where feed screw nut acts on, that is, draws, pushes away interior extension frame
Left and right mobile setpoint distance.
It is to drag handkerchief installation site structure chart corresponding with interior extension frame in Fig. 5.Top is interior extension mount structure in Fig. 5, and lower section is
Drag handkerchief structure.Handkerchief is dragged to include frame plate 43, hanging block 42, handkerchief bar 44.It is following that the upper end of handkerchief bar 44 is fixed on frame plate 43.The lower end of hanging block 42 with
The stage casing side of frame plate 43 is connected.Above the hanging block and back side is all provided with two hooks 38.A groove has been opened up in the middle of hanging block
Mouth 41.It is mounted with that one hangs tag 39 in notch 41.Notch both sides have respectively opened up a clamping jaw hook and slot 40.The same position before hanging block
Put and also opened up two clamping jaw hook and slots.One piece of horizontal block is all extended to the left and right above hanging block both sides.The extension horizontal block effect be with
Interior extension frame corresponding site contact above in Fig. 5 is oriented to.
Interior extension frame is also a rectangular hollow pipe.A breach has been opened in top in the middle part of interior extension frame.Breach effect is when folder
When pawl arm mechanism clamps hanging block, clamping jaw can be allowed.The position for corresponding to four hooks 38 on hanging block on interior extension frame is provided with card
Block 36.The thickness of fixture block 36 is suitably less than width between the hook of hook 38.Relative to two extensions on both sides before hanging block on interior extension frame
Hook position, has opened up bayonet socket 35, and bayonet socket width is wider than hook width.Fixture block 36 has been made in the lower section of bayonet socket 35, the fixture block back
Also the extension for having made hook front hooked scarf space.Generally, the hooked scarf thickness in front of the width and hook of hook is all small
In eight millimeters.In the middle part of interior extension frame a bayonet socket 35 has been opened up below breach.The concave surface 37 set on interior extension frame is to be used to install interior
Baffle plate, this is described below.
It is to drag in Fig. 5 handkerchief to be arranged on structure chart on interior extension frame in Fig. 6.Fig. 6 figure is cutd open from interior extension frame breach center
Open, hang tag and 39 do not split picture.The 39 use pivot pins 4 that hang tag are arranged in the notch on hanging block.The lower end that hangs tag is one piece of right angle block.Directly
Rectify before hornblock and hung in injecting in the bayonet socket 35 of frame.It is the briquetting of one piece of straight shape above hanging tag.The left side and hanging block groove above briquetting
Compression spring 45 is mounted between mouth rear wall.Press the briquetting for the top that hangs tag.Hang tag lower end right angle block exit it is interior extension frame under
The bayonet socket 35 of side.The briquetting for the top that hangs tag is unclamped, then briquetting make to hang tag under the promotion of spring 45 right angle block of lower end injects card
In mouth 35.Four hooks 38 on hanging block are hung on interior extension frame on corresponding fixture block.
The hanging block for dragging handkerchief is hung over process on interior extension frame by clamping jaw arm mechanism：1st, clamping jaw opens, dragging shown in Fig. 5
Clamp hanging block in the forward and backward face center of hanging block of handkerchief.Plate folder portion point pressing on clamping jaw hangs tag 39 in place, the right angle block for the lower end that makes to hang tag
Front end is backed to after hanging block within plate face.The crozier of clamping jaw front end is sandwiched in the corresponding clamping jaw hook and slot 40 in the forward and backward face of hanging block.Hang
Hook 38 is all respectively on the both sides of clamping jaw.2nd, clamping jaw arm mechanism lifts hanging block, and into Fig. 5, the interior extension frame 34 of top is moved.Clamping jaw
Just internally hang the breach in the middle of frame, make the preceding hooked scarf lower end of each hook by program higher than the height certain to fixture block 36.
Hanging block inwardly hung with rear clip-claw frame is close, the binding face above the hanging block including the extension horizontal block on both sides abuts in interior extension frame
In respective face.Two hooks 38 of hanging block top are just to the top of fixture block 36.Two hooks below hanging block come into bayonet socket
In 35, the also fixture block 36 just to lower section in bayonet socket 35.Then, hanging block is moved down certain distance by clamping jaw by program, then four hooks
All hang on interior extension frame, as shown in Figure 6.Then, clamping jaw unclamps, and removes, and decontrols the briquetting for 39 tops that hang tag, then hangs tag
The right angle block front end of lower section is to stick into the corresponding bayonet socket 35 of interior extension frame.Around at this moment, hanging block and dragging is hung on frame including handkerchief,
It is all immovable up and down.
Drag handkerchief to be removed from interior extension frame, be reversed by said process.Clamping jaw clamps hanging block from interior extension frame center, clamping jaw
While under the breach of interior extension frame center is inserted, clamping jaw another side presses the briquetting for the top that hangs tag.The right angle block of hanging block lower end is retreated,
Exit bayonet socket 35.Then, hanging block is moved up setting height by clamping jaw, and each hook exits fixture block.Hanging block is to remove, and is with rear clip-claw
Can be dragging handkerchief to remove.
Interior extension frame 34 is hung with the plug-in middle of frame 17 even drags the structure of handkerchief hanging block identical.Frame, the sky of plug-in frame are hung in every piece
Between coordinate position all in the program of automatic control system.Hanging block is removed and hung up to clamping jaw, according to different interior extension frames, plug-in frame
Locus, the forward and backward jig arm angle to be rotated, rear jig arm, the distance to be stretched of preceding jig arm, each hydraulic cylinder piston rod is stretched
The length gone out, the chuck angle to be rotated, all there is respective setting in a program.Clamping jaw can be more accurately positioned.Inside
The company of extension drags the abutment face of handkerchief to install and is not drawn into position sensor, figure on extension frame, plug-in frame, more favorably drags the hanging block of handkerchief to exist
The progress of the company of extension on inside and outside extension frame.
It is the installation site structure chart of extension frame including baffle structure and Internal baffle in Fig. 7.The both sides of Internal baffle 47 are two pieces
Leaking hole is provided with above strip stainless steel metal plate, metallic plate, metallic plate two there are two pieces of stainless steel plates two block length bar shapeds
Metallic plate connects into a rectangle framework.Two pieces of rectangular metallic plate tops are all connected with two leading trucks 46, two blocks of metals
Two pieces of tops of leading truck 46 correspondence on plate links together, the guide body structure of top in such as Fig. 7.In order to mitigate weight, often
Block leading truck 46 all cuts out center section.The leading truck on both sides and the rectangular metallic plate inner face on both sides, outside are all same flat
Face.Internal baffle and leading truck install the outside of interior extension frame 34 of lower section in the figure 7.During relative set contact surface is Fig. 7 on interior extension frame
Concave surface 37.The depth of concave surface 37 is suitably larger than plate thickness.Hung including the both sides of leading truck 46 in the vertical concave surface 37 on frame both sides
It is oriented to and slides.Elongated metal plate is clipped on the concave surface below interior extension frame both sides, is had appropriate gap, can be slided up and down.It is interior to hang
Frame is shorter than elongated metal plate.Elongated metal plate is identical with dragging the frame plate length of handkerchief.During installation, Internal baffle 47 is first installed and led
To frame 46, then the hanging block for dragging handkerchief is installed.It is corresponding on interior extension frame before hanging block to fit when dragging the hanging block on handkerchief to hang on interior extension frame
Face hangs over the height on interior extension frame higher than Internal baffle and leading truck, non-interference.
In Fig. 8, it is that Internal baffle is arranged on situation map on interior extension frame, is also the lowering or hoisting gear figure of Internal baffle.31 liang of sideslip frame
End is arranged on the two of service sink 10.Interior extension frame is arranged on sideslip outer frame face.Internal baffle 47 and leading truck 46 are arranged on interior extension outer frame
Face.Internal baffle, which needs to drop to, to be hung the handkerchief bar lower end for dragging handkerchief and being lifted to and drags the frame plate of handkerchief highly.To enable Internal baffle to rise
Drop, hangs the vertical lateral location on frame close to leading truck and sets one block of rack 24 of installation on a support 30, support 30 inside.
Motor 9 and gear 26 are set in the top shell of leading truck 46.Gear 26 is engaged with rack 24.Two leading truck sides are respectively installed in Fig. 8
One identical gear, rack, motor, support.When two same motors, rotating sets revolution by setup program, just makes two
Motor gear rises, declines setting height simultaneously, Internal baffle is increased, declines setting height.Internal baffle is than interior extension frame in Fig. 8
Long, Internal baffle length is identical with dragging handkerchief frame plate length.
It is to stir cleaning device structure chart in Fig. 9.Stirring cleaning device includes rotating shaft 48, crank 49, stirs and wash thick stick 50.Rotating shaft 48, crank
49th, stir and wash thick stick 50 and linked into an integrated entity by situation in Fig. 9.Rotating shaft 48 and stir and wash thick stick 50 and be parallel to each other, it is all vertical with crank 49.Crank
Tabular is made.It is round bar shape body to stir Xi Gang.One motor is arranged on the outside of service sink coverboard 29 of service sink one end.Motor is exported
Rotating shaft 48 of the axle with stirring cleaning device is connected.It is mounted with that Second Mate stirs cleaning device in service sink.
In Figure 10, it is outer baffle mounting structure and stirs Xi Gang and stir to wash handkerchief bar situation map.It is seen that service sink two in Figure 10
End has taken down the situation of the wallboard of termination.Outer baffle 54 is one block of stainless steel metal plate with holes.Outer baffle lower end is connected to one
On root outer baffle axle 55.The two ends of outer baffle axle 55 are arranged on the wallboard at service sink two ends, and wherein one end does not stretch out service sink shell
Plate, the other end stretches out service sink coverboard.Outer baffle axle 55 is stretched out in the axis hole on that one end of service sink coverboard, service sink coverboard
Water seal circle is installed, is provided with torsionspring, torsionspring Figure 10 and does not draw between the stretching shaft end and service sink coverboard outside
Go out.Under torsionspring effect, outer baffle is rotated to the wallboard direction on service sink both sides all the time.In service sink both sides wallboard
Support 52 is mounted between outer baffle 54, the lower end of support 52 is connected with a support axle 53.The two ends of support axle 53 are arranged on clear
On the wallboard at wash pool two ends, wherein wallboard is not stretched out in one end, and the other end reaches the outer output shaft with a motor of wallboard
Connection, is provided with water seal circle between the support axle and corresponding axle sleeve that stretch out wallboard, is not drawn into motor Figure 10.The upper end of support 52
It is connected with a roller 51.Roller 51 is leaned against outside outer baffle all the time.Described with the support on the left side in Figure 10, when motor presses journey
Sequence setting is rotated forward, even if support 52 turns right, roller 51 pushes away outer baffle and turns right into plumbness；Motor reversal, then support
Frame drives roller to be turned out leaning against on service sink coverboard.Outer baffle is also turned out under the action of the spring, and cleaning is leaned against all the time
On the coverboard of pond.Similarly, in Figure 10 the right support in program setting motor forward and backward, support also accordingly rotate and draw close or
Away from service sink coverboard, make corresponding outer baffle to the right or turn left.
Stir to wash thick stick and stirring in Figure 10 and wash the handkerchief bar for dragging handkerchief.Two are stirred and wash thick stick following length direction of handkerchief or so is dragged at two
Stir and wash.Stir and wash after end, stir Xi Gang and be turned out the dotted line position in service sink coverboard, such as Figure 10, concede in service sink and drag
Handkerchief superjacent air space, is hung on interior extension frame with facilitating the gripping of clamping jaw arm mechanism to drag handkerchief to take out service sink or be put into service sink.Clearly
On the coverboard of wash pool both sides, in outer baffle and roller by touching position, corresponding coverboard position is arranged to outwardly convex shape, to expand
Big outer baffle opens space.Service sink is provided with stripper plate 56 below.Stripper plate 56 is two block length bar shaped perforated plates, uses stainless steel
Or plastics are made.The support width that stripper plate includes both sides is slightly smaller than the frame plate width for dragging handkerchief.Stripper plate is into the shape that raises up.
In Figure 10 it is seen that stripper plate termination.There are appropriate intervals between stripper plate and service sink bottom plate 58, spacer region is catchment.Two
Between block stripper plate, i.e. middle lower section is discharge outlet 57 in Figure 10.
It is to drag handkerchief extrusion dehydration situation map in Figure 11.When dragging the handkerchief to be dehydrated, stir and wash thick stick beat on the coverboard of service sink both sides.
Sideslip frame is declined by program, and is driven interior extension frame 34, dragged handkerchief and Internal baffle 47 to decline simultaneously.At this moment, Internal baffle also declines in place,
Internal baffle lower end is slightly below handkerchief bar lower end.When dragging handkerchief to decline in place by program, the handkerchief bar of handkerchief is dragged just to be placed on above stripper plate.This
When, support shaft extension goes out the motor that service sink coverboard termination connected and rotated by program, even if support is from Figure 10 positions to dragging handkerchief side
To rotation.Roller push outer baffle to drag handkerchief direction rotate.The upper end of outer baffle 54 leans against the edge of frame plate 43 for dragging handkerchief.Outer baffle is
Block the handkerchief bar below this one side of frame plate.At this moment, support has been pivoted into vertical with outer baffle, and roller is against on outer baffle, with
Outer baffle is set to bear related lateral pressure when the dehydration of handkerchief bar is squeezed.Support spindle motor is to stop operating and lock.Then, it is interior
Hang frame by program to decline, handkerchief bar is slightly squeezed.Then it is interior to hang the propulsion plant that frame one end is installed（As shown in Figure 4）Press
Program makes interior extension frame be moved to service sink one end, the associated parts such as the frame plate for dragging handkerchief is drawn close the coverboard of service sink respective end.At this moment,
Drag during the following handkerchief bar of handkerchief longitudinally drags on stripper plate, handkerchief bar direction is all along the bending of direction.Sideslip frame and associated part
Declined by program with setting speed, handkerchief bar is squeezed press-dehydrating on stripper plate.At this moment, the extruding of handkerchief bar is handkerchief bar all along one
The overlapping extruding in individual direction, rather than the extruding at random of handkerchief bar.Two pieces of Internal baffles 47 in frame plate and associated part, including Figure 11 are with present
During drop, the connecting plate between two pieces of Internal baffles and two pieces of Internal baffle terminations is dropped down between the two pieces of stripper plates hit exactly in Figure 11
Notch in.Then, drag handkerchief and related fittings to rise to setting height by program, drag handkerchief handkerchief bar still by appropriate extruding.It is interior
Hanging the propulsion plant of one end on frame moves backward interior extension frame, i.e., support service sink round about dragging the handkerchief bar lower section of handkerchief to drag
Other end head capsule plate.Frame plate and associated part push setting height by said process, make to drag handkerchief to be dehydrated again.So, handkerchief two ends are dragged
In the case of no baffle plate, make baffle plate using service sink coverboard, be completed dehydration.
According to the water suction situation and dry situation on floor when mopping floor, the height that the associated part such as frame plate declines during dehydration,
Operating personnel can interim button adjustment as needed.
Drag after handkerchief stirs in service sink and wash, be dehydrated, clamping jaw arm mechanism will drag handkerchief to be removed from interior extension frame, take out cleaning
Pond, hangs in front of car body on corresponding plug-in frame.Then, clamping jaw arm mechanism can be gripped from plug-in frame bedraggle drag handkerchief,
Put into service sink, hang over and on the interior extension frame of setting stir washing, being dehydrated.Said process is repeated, that is, realizes and drags the clear in turn of handkerchief
Wash, mop floor in turn.
It is mop robot mopping ladder step situation map in Figure 12.Mop robot car body is provided with device upstairs below.On
Building device is to use extensive prior art, has various structures mode, is only illustrated here in Figure 12 with three castor structures.
The structure of three horn ring 59 is capable of the upper and lower ladder step 64 of the ladder of a ladder one.The width termination that two rows drag handkerchief is can only see in Figure 12.
Mop robot upstairs direction step by step mop ladder step 64.Operating personnel drag handkerchief being just placed in one-level ladder step at front row, heel row
Drag handkerchief hanging.By the button of the mop ladder step of next setting, then automatic control system at once drives the gear installed in slip case
The rack installed on dynamic link moves left and right certain distance by program, even if dragging handkerchief in the length direction of ladder step or so mop one
Segment distance, moves left and right general 30 centimeters or so, just completes the mop of this one-level ladder step.Then, operating personnel are again
Operation relevant control key makes car body upper level ladder step, makes front row drag handkerchief to be placed in upper level ladder step, is dragged by said process
Wash terraced step.Limit for height wheel extends from telescoping tube, is placed on the following ladder step step of institute's mopping ladder step.Limit for height wheel walking side
It is consistent with ladder step length direction to having turned to, you can be walked with left and right, the height that handkerchief handkerchief bar is pushed is dragged in limitation.In Figure 12,
Front Cut-away section is just to the left side of service sink 10 on car body.Two have just been mounted side by side respectively to service sink top and bottom position
Hydraulic cylinder 8.The front end of piston rod 60 in hydraulic cylinder is connected with one section of support slipper 62.The top and bottom difference on the service sink left side
The front end of support slipper 62 is connected to hinge 63.Supporting skid rail 61, support slipper peace are mounted with the following car body of support slipper
In supporting skid rail.In Figure 12, housing is tilted to the left in front of car body.Service sink lower end, the piston rod 60 of two hydraulic cylinders
Hinge 63 on the support slipper 62 of termination connection is motionless against housing in front of car body, and the piston rod of two hydraulic cylinders in top presses journey
Sequence is stretched out, and the right-hand member of support slipper 62 pushes away to the right service sink left top, service sink is remained horizontality.Support slipper 62
It is oriented to still on supporting skid rail 61.Mop robot from the ladder of direction mop downstairs walk when, if 1, downward using the car body in Fig. 1
Mop ladder step is retreated, then is also that front row drags handkerchief to be placed on the upper mop of ladder step every time, heel row drags handkerchief hanging.If the 2, car body 3 is not
Reversing mode is descending, but the front of car body 3 is under, and at this moment rear is then that heel row drags handkerchief to be placed on ladder step step, front row is dragged upper
Handkerchief is hanging.During mop robot mop ladder step, when dragging the cleaning process in turn of handkerchief with mop level land as.
It is that the link part in front of mop robot draws situation map in Figure 13.Link part is divided into left frame part
With right shelf part.There is a rotary shaft in the middle of connector 14, rotary shaft lower end is fixed with one piece of horizontal block, and horizontal block is connected with slip case 15
Integrally.Two preceding front ends of arm support 20 are hinged at the both sides of connector 14 on the slip case 15 of left frame part and right shelf part respectively.
Rotary shaft in connector 14 is driven by a rotary oil cylinder, and connector is prior art, and rotary oil cylinder is not drawn into.In order to avoid
Barrier, when left frame part and right shelf part are drawn in, automatic control system makes two preceding arm supports forward extend out respective setting
Length is motionless, and the gear in slip case drives corresponding rack to direction initialization movement setting length.Immediately, the rotation on connector
Slip case on 90 degree of slip case counterclockwise on the left frame part of hydraulic oil cylinder driving, driving right shelf part rotates clockwise 90
Degree, stops.Such as Figure 13 positions, i.e., mop robot left frame part in fig. 2 and right shelf parts transversely position receipts are changed into vertical
To position, vehicle front width is greatly reduced.
It is another gathering method figure of mop robot in Figure 14.A piece preceding arm support 20 is under automatic control system control
Setpoint distance is forward extended out, left frame part and right shelf component arrangement position in a row is mutually staggered.Then, on left frame part
Slip case in gear make the link of left frame part and drag handkerchief to move to the right in the slip case on setpoint distance, right shelf part
Gear makes the link of right shelf part and drags handkerchief to move setpoint distance to the left, that is, becomes the gathering feelings mutually staggered in Figure 14
Condition.
Mop robot is applied to subway station, tunnel, the cleaning mop of ladder step and railway station subterranean tunnel, ladder step, stood
The mop of platform, Waiting Lounge, and for large area floor and the mop of multistage long ladder step.
Foul water tank, secondary foul water tank, light foul water tank, filtered water tank are provided with car body.When handkerchief is dragged in cleaning, control system is first with secondary
For the first time, the sewage after cleaning is discharged into foul water tank for water cleaning in foul water tank；Cleaned again with the water in light foul water tank for the second time, clearly
Sewage after washing is discharged into foul water tank；Then third time is cleaned with the water in filtered water tank, the water after cleaning is discharged into time foul water tank；Finally
Cleaned with the water in filtered water tank the 4th time, the water after cleaning is discharged into light foul water tank.Control panel, operating personnel are installed on car body
The degree of fouling sets itself wash number in mop place can be cleaned as needed, and reasonable use of water, water-saving result is obvious, to water shortage
Area effect is big.
Battery is installed on car body.Drag and frame and removing and installing on plug-in frame are hung including handkerchief, the shifting of handkerchief is dragged, interior hangs
The rotation of frame and locking, handkerchief cleaning and dehydration are dragged, be all to control related execution unit to complete by automatic control system.
Claims (8)
1. tunnel and Ti Bu mops robot, it is characterised in that：
（1）, tunnel and Ti Bu mops robot, including service sink, sideslip frame, interior extension frame, Internal baffle, outer baffle, stripper plate, stir
Wash thick stick, clamping jaw arm mechanism, main boom, link, plug-in frame, drag handkerchief, motor, hydraulic cylinder, car body；
（2）, sideslip frame be arranged on service sink in；
（3）, between sideslip frame two ends and service sink coverboard lowering or hoisting gear is installed；
（4）, service sink be arranged on car body in front of；
（5）, it is interior extension frame be arranged on sideslip frame on；
（6）, it is interior hang frame one end and sideslip frame termination connection vertical sliding block between propulsion plant is installed；
（7）, it is interior extension frame on be provided with fixture block and bayonet socket；
（8）, drag handkerchief include hanging block, frame plate, handkerchief bar；
（9）, hanging block lower end be connected with frame plate, handkerchief bar is fixed on frame plate；
（10）, be provided with hook on hanging block and hang tag；
（11）, when dragging the handkerchief to clean, drag the hanging block of handkerchief to hang on interior extension frame, hang on fixture block；
（12）, Internal baffle be arranged on it is interior extension frame on；
（13）, between the leading truck and interior extension frame that connect on Internal baffle lowering or hoisting gear is installed；
（14）, outer baffle be arranged on service sink both sides；
（15）, be provided with service sink and stir Xi Gang；
（16）, clamping jaw arm mechanism include rear jig arm, preceding jig arm, chuck, clamping jaw, hydraulic cylinder；
（17）, clamping jaw arm mechanism rear jig arm rear end be hinged on the rotating disk above the service sink in front of car body；
（18）, the device that can make clamping jaw integral-rotation, make clamping jaw open and close up is installed on chuck；
（19）, main boom include preceding arm support, rear arm support, hydraulic cylinder；
（20）, main boom set Second Mate, Second Mate's main boom rear end be arranged on service sink below car body on；
（21）, drag handkerchief to be provided with front row to drag handkerchief and heel row to drag handkerchief, forward and backward row drags handkerchief to clean in turn, mopped floor in turn；
（22）, mount on plug-in frame and drag the structure of handkerchief identical with interior extension frame；
（23）, cleaning is when dragging handkerchief, clamping jaw arm mechanism is transferred in service sink, hung over dragging handkerchief clamping to remove on plug-in frame
On interior extension frame；Water filling drags handkerchief to drop to the stripper plate set below service sink after stirring Xi Gang and stirring and wash setting time in service sink
On, Internal baffle is moved down, and outer baffle clamps Tuo Pa foreign sides, and interior extension frame is moved down, and handkerchief bar is squeezed dehydration；Drag handkerchief cleaning setting number of times
Afterwards, clamping jaw arm mechanism is transferred on the vacant plug-in frame of correspondence and hung up dragging handkerchief to be removed from interior extension frame in service sink, then
Sequentially remove and drag handkerchief on plug-in frame, be put into service sink, circulate said process, clean, mop floor in turn in turn；
（24）, one piece of link former and later two plug-in frames are linked together, drag handkerchief to hang over one link of composition on plug-in frame
Part, a mop robot is provided with two link parts；
（25）, be provided with rack in the middle of link, link both sides, which are provided with slideway, slideway, is provided with slip case, pacifies in slip case
Load is connected on gear, wheel and rack engagement, slip case and installs cogged motor；
（26）, slip case top be mounted with connector, Second Mate's main boom front end is hinged with the connector on a slip case respectively
Together；
（27）, mop robot mop ladder step when, exclusive hang the row dragged in handkerchief that is connected on frames forward and backward two and drag handkerchief to be placed on
In ladder step, the gear on slip case on each link part drives lower band carry-over bar to be that drive drags handkerchief along terraced step-length degree in motor
Direction moves left and right the mop process that one section of setpoint distance, i.e. mop complete one-level ladder step.
2. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：In service sink on the inwall on both sides
Vertical slideway is installed, sideslip frame two ends are fixedly connected with vertical sliding block, founds sliding block and be arranged in vertical slideway.
3. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Two link parts can be to
Interior to draw in, tucked way has two link parts are forward and backward staggeredly to draw in and two link partial turns gatherings, two kinds of implementations
Mode.
4. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Stripper plate is arranged in service sink
Below.
5. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Link is provided with limit for height below
Wheel.
6. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Mop robot energy mopping tunnel
With ladder step.
7. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Time sewage is provided with car body
Case, light foul water tank, foul water tank, filtered water tank.
8. tunnel according to claim 1 and Ti Bu mops robot, it is characterised in that：Mop robot have drive type and
Two kinds of embodiments of hand-held.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714515.1A CN107320021B (en) | 2017-08-18 | 2017-08-18 | Tunnel and ladder step mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710714515.1A CN107320021B (en) | 2017-08-18 | 2017-08-18 | Tunnel and ladder step mopping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107320021A true CN107320021A (en) | 2017-11-07 |
| CN107320021B CN107320021B (en) | 2020-02-18 |
Family
ID=60224341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710714515.1A Active CN107320021B (en) | 2017-08-18 | 2017-08-18 | Tunnel and ladder step mopping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107320021B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742371A (en) * | 2018-07-02 | 2018-11-06 | 遂宁市长丰机械科技有限公司 | Reel automatic cleaning type ladder walks swaging machine |
| CN108842700A (en) * | 2018-07-02 | 2018-11-20 | 邹家福 | Reel forward type sweeping washing machine |
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| EP0404437A1 (en) * | 1989-06-21 | 1990-12-27 | Tennant Company | Speed and steering control for scrubbers and the like |
| DE20204485U1 (en) * | 2002-03-21 | 2002-08-29 | Schwarzwaelder Service Ind Und | Mobile floor cleaning machine |
| CN203564183U (en) * | 2013-10-09 | 2014-04-30 | 郁双辉 | Multifunctional cleaning trolley with timing function |
| CN103815832A (en) * | 2014-01-22 | 2014-05-28 | 洛阳理工学院 | Multifunctional small electric sanitation vehicle |
| CN203802397U (en) * | 2014-03-12 | 2014-09-03 | 张芳华 | Cleaning machine with mop and dryer |
| CN106420196A (en) * | 2015-08-06 | 2017-02-22 | 四川省星达机器人有限公司(中国) | Split type automatic transfer chair |
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2017
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0404437A1 (en) * | 1989-06-21 | 1990-12-27 | Tennant Company | Speed and steering control for scrubbers and the like |
| DE20204485U1 (en) * | 2002-03-21 | 2002-08-29 | Schwarzwaelder Service Ind Und | Mobile floor cleaning machine |
| CN203564183U (en) * | 2013-10-09 | 2014-04-30 | 郁双辉 | Multifunctional cleaning trolley with timing function |
| CN103815832A (en) * | 2014-01-22 | 2014-05-28 | 洛阳理工学院 | Multifunctional small electric sanitation vehicle |
| CN203802397U (en) * | 2014-03-12 | 2014-09-03 | 张芳华 | Cleaning machine with mop and dryer |
| CN106420196A (en) * | 2015-08-06 | 2017-02-22 | 四川省星达机器人有限公司(中国) | Split type automatic transfer chair |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742371A (en) * | 2018-07-02 | 2018-11-06 | 遂宁市长丰机械科技有限公司 | Reel automatic cleaning type ladder walks swaging machine |
| CN108842700A (en) * | 2018-07-02 | 2018-11-20 | 邹家福 | Reel forward type sweeping washing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107320021B (en) | 2020-02-18 |
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