CN107960952B - Rotary cleaning device - Google Patents

Rotary cleaning device Download PDF

Info

Publication number
CN107960952B
CN107960952B CN201711298372.7A CN201711298372A CN107960952B CN 107960952 B CN107960952 B CN 107960952B CN 201711298372 A CN201711298372 A CN 201711298372A CN 107960952 B CN107960952 B CN 107960952B
Authority
CN
China
Prior art keywords
cleaning
shaft
long shaft
arms
driven
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.)
Expired - Fee Related
Application number
CN201711298372.7A
Other languages
Chinese (zh)
Other versions
CN107960952A (en
Inventor
张嘉伟
曾亿山
许胜涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN201711298372.7A priority Critical patent/CN107960952B/en
Publication of CN107960952A publication Critical patent/CN107960952A/en
Application granted granted Critical
Publication of CN107960952B publication Critical patent/CN107960952B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools

Landscapes

  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a rotary cleaning device, which comprises a cleaning mechanism and a movement mechanism, wherein the cleaning mechanism comprises a motor and a cleaning connecting shaft; the moving mechanism comprises a long shaft, two groups of link mechanisms are arranged on the long shaft, each group of link mechanisms comprises upper arms, middle arms and lower arms which are sequentially hinged, the lower arms of the two groups of link mechanisms are connected through a connecting plate, the two lower arms are respectively and rotatably connected with the connecting plate, the upper arms of the two groups of link mechanisms are sleeved on the long shaft, first steering engines are respectively arranged on the two upper arms, the two first steering engines respectively drive the corresponding middle arms to rotate relative to the upper arms, so that the upper arms of the left link mechanisms slide along the axial direction of the long shaft, and the whole cleaning mechanism is driven to move in the left-right direction and the vertical direction; the long shaft is driven to rotate through a driving mechanism, so that the two connecting rod mechanisms are driven to swing in the vertical plane, and the whole cleaning mechanism is driven to move in the vertical direction. The invention has the advantages that: realize the full-automatic cleaning with large range and high efficiency.

Description

Rotary cleaning device
Technical Field
The invention relates to a cleaning robot, in particular to a rotary cleaning device.
Background
As a current technological front, the robot technology brings various conveniences to our life and work. Whether the cleaning robot has the functions of self-washing and full automation is a standard with great practical value. Cleaning robots in the current market mostly only have a dust collection function, and are low in automation degree and short in working time. Most cleaning robots need to clean cleaning equipment manually, and have no intelligent and automatic capacity.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rotary cleaning device to realize full-automatic cleaning with large range and high efficiency.
The invention is realized by the following technical scheme:
the rotary cleaning device comprises a cleaning mechanism and a movement mechanism,
the cleaning mechanism comprises a motor and a cleaning connecting shaft, an output shaft of the motor vertically extends downwards, and the cleaning connecting shaft is connected with the output shaft of the motor and is driven to rotate by the motor;
the movement mechanism comprises a long shaft, the long shaft is rotatably arranged on the bracket, two groups of link mechanisms are arranged on the long shaft, the two groups of link mechanisms are respectively a left link mechanism and a right link mechanism, each group of link mechanisms comprises an upper arm, a middle arm and a lower arm which are sequentially hinged, the lower arms of the two groups of link mechanisms are connected through a connecting plate, the two lower arms are respectively connected with the connecting plate in a rotating way, the upper arms of the two groups of link mechanisms are sleeved on the long shaft, the upper arm of the left link mechanism is arranged on the long shaft in a sliding way and does not rotate relative to the long shaft, the upper arm of the right link mechanism is fixed on one end of the long shaft, the two upper arms are respectively provided with a first steering engine, the two first steering engines respectively drive the corresponding middle arms to rotate relative to the upper arms, so that the upper arms of the left connecting rod mechanisms slide along the axial direction of the long shaft, and the whole cleaning mechanism is driven to move in the left-right direction and the vertical direction;
the motor is fixed on the connecting plate; the long shaft is driven to rotate through a driving mechanism, so that the two connecting rod mechanisms are driven to swing in a vertical plane, and the whole cleaning mechanism is driven to move in the vertical direction.
Furthermore, the driving mechanism comprises a second steering engine, a reduction gearbox and a gear pair, an output shaft of the second steering engine is connected with an input end of the reduction gearbox, the gear pair comprises a driving gear and a driven gear which are meshed with each other, the driving gear is fixedly installed at an output end of the reduction gearbox, and the driven gear is fixedly installed on the long shaft.
Further, the cleaning connecting shaft comprises a sleeve and a spring output shaft which are connected up and down, the upper end of the sleeve is connected with an output shaft of the motor, a spring is arranged in a cavity of the sleeve, the upper portion of the spring output shaft extends into the cavity of the sleeve and abuts against the lower end of the spring, the spring output shaft can move up and down relative to the sleeve, and a limiting step for limiting the lower limit position of the spring output shaft is arranged on the side wall of the upper portion of the spring output shaft.
Compared with the prior art, the invention has the following advantages:
1. according to the cleaning device provided by the invention, under the matching of the steering engine and the gear transmission, the cleaning tool can have a larger working area on the ground by controlling the swinging of the connecting rod mechanism in space, the contraction function of the device in non-working time can be realized, and the space is saved.
2. According to the cleaning device provided by the invention, the mutual matching of the high-power second steering engine and the reduction gearbox is utilized, the swinging of the whole device with heavy weight can be realized, and the degree of freedom in the vertical direction is increased.
3. According to the cleaning device provided by the invention, the spring is used for pressurizing at the position of the spring output shaft, so that the contact pressure and the contact area between the cleaning tool and the ground are increased, and a better cleaning effect is achieved.
Drawings
Fig. 1 is a structural diagram of the left link mechanism of the present invention in a state of being at the left end of the long axis.
Fig. 2 is a structural schematic diagram of the left link mechanism of the present invention in a state of being in the middle of the long axis.
Fig. 3 is a schematic view of the present invention in a stowed state.
Fig. 4 is a schematic structural view of a sweeping connecting shaft of the present invention.
Reference numbers in the figures: the device comprises a long shaft 1, a support 2, an upper arm 3, a middle arm 4, a lower arm 5, a first steering engine 6, a motor 7, a second steering engine 8, a reduction gearbox 9, a driving gear 10, a driven gear 11, a sleeve 12, a spring output shaft 13, a sanitary appliance connecting base 14, a coupler 15, a baffle 16, a connecting plate 17, a bearing support 18, a spring 19, a flat key 20, a bearing groove 21 and a short shaft 22.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 4, the present embodiment discloses a rotary sweeping device, which is characterized in that: the cleaning device comprises a cleaning mechanism and a movement mechanism, wherein the cleaning mechanism comprises a motor 7 and a cleaning connecting shaft, an output shaft of the motor 7 vertically extends downwards, the cleaning connecting shaft is connected with an output shaft of the motor 7, and the cleaning connecting shaft is driven to rotate by the motor 7;
the movement mechanism comprises a long shaft 1, the long shaft 1 is rotatably arranged on the support 2 and is connected with the support 2 through two groups of bearing supports 18. The long shaft 1 is provided with two groups of link mechanisms, the two groups of link mechanisms are respectively a left link mechanism and a right link mechanism, each group of link mechanisms comprises an upper arm 3, a middle arm 4 and a lower arm 5 which are sequentially hinged, the lower arms 5 of the two groups of link mechanisms are connected through a connecting plate 17, the two lower arms 5 are respectively connected with the connecting plate 17 through short shafts 22 in a rotating mode, bearing grooves 21 are respectively formed in the left side and the right side of the connecting plate 17, the lower arms 5 are respectively positioned on the axial direction of the short shafts 22 with the short shafts 22, and the two groups of short shafts 22 are respectively connected with the two groups of bearing grooves 21 through bearings. The upper arms 3 of the two groups of link mechanisms are sleeved on the long shaft 1, the upper arm 3 of the left link mechanism is arranged on the long shaft 1 in a sliding mode and does not rotate relative to the long shaft 1, the upper arm 3 of the right link mechanism is fixed at one end of the long shaft 1, first steering engines 6 are respectively arranged on the two upper arms 3, the two first steering engines 6 respectively drive the corresponding middle arms 4 to rotate relative to the upper arms 3, the upper arm 3 of the left link mechanism slides along the axial direction of the long shaft 1, and therefore the whole cleaning mechanism is driven to move in the left-right direction and the vertical direction;
the motor 7 is fixed on the connecting plate 17 and drives the lower end output shaft to rotate through the coupling 15; the long shaft 1 is driven to rotate through the second steering engine 8, so that the two connecting rod mechanisms are driven to swing in the vertical plane, and the whole cleaning mechanism is driven to move in the vertical direction.
The driving mechanism comprises a second steering engine 8, a reduction gearbox 9 and a gear pair, an output shaft of the second steering engine 8 is connected with an input end of the reduction gearbox 9, the gear pair comprises a driving gear 10 and a driven gear 11 which are meshed with each other, the driving gear 10 is fixedly installed at an output end of the reduction gearbox 9, and the driven gear 11 is fixedly installed on the long shaft 1.
The cleaning connecting shaft comprises a sleeve 12 and a spring output shaft 13 which are connected up and down, and the upper end of the sleeve 12 is connected with an output shaft of the motor 7. A spring 19 is arranged in a cavity of the sleeve 12, the upper portion of the spring output shaft 13 extends into the cavity of the sleeve 12 and abuts against the lower end of the spring 19, the spring output shaft 13 can move up and down relative to the sleeve 12, a limiting step for limiting the lower limiting position of the spring output shaft 13 is arranged on the side wall of the upper portion of the spring output shaft 13, and the lower end of the sleeve 12 is matched with the limiting step of the spring output shaft 13 through a baffle 16 to achieve limiting. . The lower end of the spring output shaft 13 is provided with a sanitary appliance connecting base 14, and the sanitary appliance connecting base 14 can be connected with a plurality of cleaning tools. The sleeve 12 is connected to the spring output shaft 13 by a flat key 20 to prevent relative rotation.
The working process of the rotary cleaning device provided by the embodiment is as follows:
after the vision robot finds the stain, the vision robot is controlled to move to the front of the stain. The second steering engine 8 drives the long shaft 1 to rotate, and controls the whole cleaning mechanism to be pressed downwards. Meanwhile, the first steering engine 6 controls the connecting rod mechanism to move left and right and swing up and down, and the cleaning mechanism is accurately aligned to the spot to be accurately decontaminated. When the cleaning tool approaches the ground, the motor 7 drives the cleaning mechanism to rotate at a high speed, and the spring 19 outputs pressure so as to increase the contact pressure of the cleaning tool and the ground. In the cleaning process, the first steering engine 6 and the second steering engine 8 are matched with each other to perform large-area cleaning work.
After the stains are cleaned, the first steering engine 6 and the second steering engine 8 are matched with each other to lift the cleaning mechanism, and the motor 7 stops rotating. The linkage mechanism can be retracted by means of a first steering engine 6, as shown in fig. 3. At this point, the next cleaning or self-cleaning operation can be performed.
During the self-cleaning process, the first steering engine 6 and the second steering engine 8 are matched with each other, the cleaning tool extends into the water tank and is driven by the motor 7 to rotate at a constant speed, the cleaning tool is lifted after being cleaned, and the motor 7 rotates at a high speed so as to spin-dry the cleaning tool.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (3)

1. Rotatory cleaning device, including cleaning mechanism and motion, its characterized in that:
the cleaning mechanism comprises a motor and a cleaning connecting shaft, an output shaft of the motor vertically extends downwards, and the cleaning connecting shaft is connected with the output shaft of the motor and is driven to rotate by the motor;
the movement mechanism comprises a long shaft, the long shaft is rotatably arranged on the bracket, two groups of link mechanisms are arranged on the long shaft, the two groups of link mechanisms are respectively a left link mechanism and a right link mechanism, each group of link mechanisms comprises an upper arm, a middle arm and a lower arm which are sequentially hinged, the lower arms of the two groups of link mechanisms are connected through a connecting plate, the two lower arms are respectively connected with the connecting plate in a rotating way, the upper arms of the two groups of link mechanisms are sleeved on the long shaft, the upper arm of the left link mechanism is arranged on the long shaft in a sliding way and does not rotate relative to the long shaft, the upper arm of the right link mechanism is fixed on one end of the long shaft, the two upper arms are respectively provided with a first steering engine, the two first steering engines respectively drive the corresponding middle arms to rotate relative to the upper arms, so that the upper arms of the left connecting rod mechanisms slide along the axial direction of the long shaft, and the whole cleaning mechanism is driven to move in the left-right direction and the vertical direction;
the motor is fixed on the connecting plate; the long shaft is driven to rotate through a driving mechanism, so that the two connecting rod mechanisms are driven to swing in a vertical plane, and the whole cleaning mechanism is driven to move in the vertical direction.
2. The rotary cleaning apparatus as set forth in claim 1, wherein: the driving mechanism comprises a second steering engine, a reduction gearbox and a gear pair, an output shaft of the second steering engine is connected with an input end of the reduction gearbox, the gear pair comprises a driving gear and a driven gear which are meshed with each other, the driving gear is fixedly installed at an output end of the reduction gearbox, and the driven gear is fixedly installed on a long shaft.
3. The rotary cleaning apparatus as set forth in claim 1, wherein: the cleaning connecting shaft comprises a sleeve and a spring output shaft which are connected up and down, the upper end of the sleeve is connected with an output shaft of the motor, a spring is arranged in a cavity of the sleeve, the upper portion of the spring output shaft extends into the cavity of the sleeve and abuts against the lower end of the spring, the spring output shaft can move up and down relative to the sleeve, and a limiting step for limiting the lower limit position of the spring output shaft is arranged on the side wall of the upper portion of the spring output shaft.
CN201711298372.7A 2017-12-08 2017-12-08 Rotary cleaning device Expired - Fee Related CN107960952B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711298372.7A CN107960952B (en) 2017-12-08 2017-12-08 Rotary cleaning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711298372.7A CN107960952B (en) 2017-12-08 2017-12-08 Rotary cleaning device

Publications (2)

Publication Number Publication Date
CN107960952A CN107960952A (en) 2018-04-27
CN107960952B true CN107960952B (en) 2020-04-21

Family

ID=61999605

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711298372.7A Expired - Fee Related CN107960952B (en) 2017-12-08 2017-12-08 Rotary cleaning device

Country Status (1)

Country Link
CN (1) CN107960952B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113208505A (en) * 2021-04-19 2021-08-06 北京石头世纪科技股份有限公司 Self-moving cleaning equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003179119A (en) * 2002-08-20 2003-06-27 Yaskawa Electric Corp Substrate transfer robot
CN101549493A (en) * 2008-06-19 2009-10-07 大连理工大学 Double-arm glass substrate carrying robot
CN104757856A (en) * 2015-04-10 2015-07-08 马张娒 Multifunctional clothes hanger
CN105479443A (en) * 2016-01-25 2016-04-13 浙江瑞丰机械设备有限公司 Claw type manipulator device with stretching, retracting and rotating functions
CN206009338U (en) * 2016-07-29 2017-03-15 苏州高通机械科技有限公司 A kind of ultrasonic automatic cleaning machine tool arm
CN206690133U (en) * 2017-03-22 2017-12-01 河北机电职业技术学院 A kind of manipulator with multi-stage expansion function

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070044268A1 (en) * 2005-08-26 2007-03-01 San Ford Machinery Co., Ltd. Dust-sucking arm of an air cleaning machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003179119A (en) * 2002-08-20 2003-06-27 Yaskawa Electric Corp Substrate transfer robot
CN101549493A (en) * 2008-06-19 2009-10-07 大连理工大学 Double-arm glass substrate carrying robot
CN104757856A (en) * 2015-04-10 2015-07-08 马张娒 Multifunctional clothes hanger
CN105479443A (en) * 2016-01-25 2016-04-13 浙江瑞丰机械设备有限公司 Claw type manipulator device with stretching, retracting and rotating functions
CN206009338U (en) * 2016-07-29 2017-03-15 苏州高通机械科技有限公司 A kind of ultrasonic automatic cleaning machine tool arm
CN206690133U (en) * 2017-03-22 2017-12-01 河北机电职业技术学院 A kind of manipulator with multi-stage expansion function

Also Published As

Publication number Publication date
CN107960952A (en) 2018-04-27

Similar Documents

Publication Publication Date Title
CN110091240B (en) Environment-friendly pipeline outer wall rust cleaning equipment for building
CN203875677U (en) Feeding and discharging manipulator
CN209829655U (en) Motor rotor cleaning device
CN111588313A (en) Robot of sweeping floor keeps away barrier device based on gear drive
CN203875678U (en) Feeding and discharging manipulator
CN108814458A (en) The mopping robot of automatic replacement cleaning pad
CN107960952B (en) Rotary cleaning device
CN201454948U (en) Device for automatically removing attachments on metal tube inner wall
CN114453999A (en) Grinding device is used in processing of carbon element fishing rod
CN113579872A (en) High-precision grinding device for gear shaft machining
CN110507250A (en) A kind of smart home sweeping robot
CN208005662U (en) A kind of Garbage Collector recycling ground large rubbish using manipulator
CN113942027A (en) Retractable fan blade maintains device
CN207858853U (en) The single arm robot of optical mirror slip cleaning equipment
CN201511366U (en) Industrial horizontal multi-joint robot
CN108580357A (en) A kind of photovoltaic generation solar panels cleaning device
CN210358262U (en) Automatic cleaning device of welding gun head of welding robot
CN101041161B (en) Washing device of closed barrel
CN211163817U (en) Automatic workstation of clearance
CN110000122B (en) Electric platform sweeper
CN201023095Y (en) Closed-barrel brushing machine
CN203122278U (en) Multi-angle disk type glass cleaning device
CN113649371A (en) Heating boiler with inner furnace cleaning function
CN108670130B (en) Mill uses ground cleaning device
CN207172089U (en) A kind of domestic multipurpose robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200421