CN109044209A - Intelligent nursing robot auxiliary mopping ground - Google Patents
Intelligent nursing robot auxiliary mopping ground Download PDFInfo
- Publication number
- CN109044209A CN109044209A CN201811094654.XA CN201811094654A CN109044209A CN 109044209 A CN109044209 A CN 109044209A CN 201811094654 A CN201811094654 A CN 201811094654A CN 109044209 A CN109044209 A CN 109044209A
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- plate
- claw
- frizzen
- support plate
- rear end
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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
- A47L11/28—Floor-scrubbing 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
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- Handcart (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
Intelligent nursing robot auxiliary mopping ground, walking and auxiliary mopping ground including left and right two side in robot bottom is arranged in, two walkings and auxiliary mopping ground are arranged along the longitudinal direction respectively, are symmetrically mounted on the body of robot；Walking and auxiliary mopping ground include support plate, the body of support plate and robot is fixedly linked, the middle part of support plate inboard is equipped with motor, the shell installation of motor is on the supporting plate, middle part on the outside of support plate is equipped with drive shaft, the inner end of drive shaft is installed in rotation in support plate, and the inner end of drive shaft is connected with the electric machine shaft driving of motor, is successively set with rear wheel drive driving wheel and motor crank wheel outward from inner in drive shaft.Its purpose is to provide one kind can allow robot efficiently, quickly complete work, mop floor cleaner, the extraordinary intelligent nursing robot auxiliary mopping ground of the effect to mop floor.
Description
Technical field
The present invention relates to a kind of intelligent nursing robot auxiliary mopping grounds.
Background technique
Existing robot causes existing robot to be difficult to be competent in room due to combining design aspect unreasonable
The work inside to mop floor, the effect to mop floor is poor, is unable to satisfy the basic demand of people.
Summary of the invention
The purpose of the present invention is to provide one kind can allow robot efficiently, quickly complete work, mop floor cleaner, mop floor
Effect extraordinary intelligent nursing robot auxiliary mopping ground.
Intelligent nursing robot of the invention auxiliary mopping ground, including be arranged in left and right two side in robot bottom
Walking and auxiliary mopping ground, two walking and auxiliary mopping grounds respectively along the longitudinal direction arrange, symmetrically install
On the body of robot；
The walking and auxiliary mopping ground include support plate, and the plate face of support plate is located at front and back vertical direction, support plate
It being fixedly linked with the body of robot, the middle part of support plate inboard is equipped with motor, and the shell of motor is installed on the supporting plate,
Middle part on the outside of support plate is equipped with drive shaft, and the axis of drive shaft is located at left and right horizontal direction, and the inner end of drive shaft is rotationally
On the supporting plate, the inner end of drive shaft is connected with the electric machine shaft driving of motor, is successively set with outward in drive shaft from inner for installation
There are rear wheel drive driving wheel and motor crank wheel；
The front of the support plate inboard is equipped with travel driving motor, and the shell of travel driving motor is mounted on support plate
On, the front on the outside of support plate is equipped with front axle, and the axis of front axle is located at left and right horizontal direction, and the inner end of front axle can be rotated
Ground is installed on the supporting plate, and the inner end of front axle is connected with the electric machine shaft driving of travel driving motor, before being set on front axle
Positive transport wheel；
The rear wheel drive driving wheel is connected by V belt translation or chain conveyer with the back front driven wheel transmission for being located at its rear, after
Driven wheel is sleeved on hind axle, and the axis of hind axle is located at left and right horizontal direction, and the inner end of hind axle is installed in rotation on
In support plate, rear crank runner is housed positioned at the outer sheath of back front driven wheel on hind axle；
The edge of the rear crank runner is rotatably mounted with rear crank shaft, rear crank shaft along left and right horizontal direction
Extend outwardly and be pierced by the outer end face of rear crank runner, the outer end of rear crank shaft is connected with the installation of the front end of retaining connecting rod, retaining
Connecting rod is arranged along front and back vertical plane direction, and the rear end of retaining connecting rod passes through retaining connecting rod hinging pin shaft phase with the front end of retaining slide bar
Even, the axis of retaining connecting rod hinging pin shaft is located at left and right horizontal direction, and retaining slide bar is inserted into the slide groove on retaining guide pad
Interior, retaining guide pad is fixedly linked with support plate, and the slide groove on retaining guide pad is high in front end, rear end is low, vertical along front and back
Face direction is obliquely installed, and rear end and the retreat stop block of retaining slide bar are fixedly linked, and retreat stop block end face directed downwardly can be affixed with ground；
The edge of the motor crank wheel is rotatably mounted with motor crank shaft, motor crank along left and right horizontal direction
Shaft, which extends outwardly, is pierced by the outer end face of motor crank wheel, and phase is installed in the outer end of motor crank shaft and the rear end for the connecting rod that mops floor
Even, the connecting rod that mops floor is arranged along front and back vertical plane direction, and the front end for the connecting rod that mops floor and the rear end for the slide bar that mops floor pass through the connecting rod hinge that mops floor
Outbound axis is connected, and the axis for the connecting rod hinging pin shaft that mops floor is located at left and right horizontal direction, and the slide bar that mops floor, which is inserted into, to mop floor on guide pad
Mop floor in guide chute, the guide pad that mops floor is fixedly linked with support plate, and the slide groove to mop floor on guide pad is along anterior-posterior horizontal side
To setting；
Along frizzen mounting hole is axially arranged in the slide bar that mops floor, frizzen mounting hole extends forwardly to the slide bar that mops floor
Front end face is gap-matched in frizzen mounting hole and is fitted with frizzen, and the rear end in frizzen mounting hole is equipped with frizzen
Extrapolation pressure spring, the rear end of frizzen extrapolation pressure spring withstand on the bottom in frizzen mounting hole, the front end top of frizzen extrapolation pressure spring
In the rear end of frizzen, the front end of frizzen is equipped with trigger head, and trigger head is the truncated cone-shaped that point diameter is big, rear end diameter is small,
The point diameter of trigger head is greater than the aperture of frizzen mounting hole, and the front end of frizzen and the rear end of trigger head are fixedly linked；
Two side of innner and outer of the frizzen front end is respectively equipped with positioning splint, and the plate face of two positioning splints is located at
Front and back vertical direction, the rear end of two positioning splints and the front end of frizzen are fixedly linked, and set in the plate face of two positioning splints
Wiping roller clamps groove, and Wiping roller clamps the opening of groove before the middle part of positioning splint front end, two positioning splints
Top between end is equipped with upper gripper jaw, and the lower part between two positioning splint front ends is equipped with lower clamping jaw；
The upper gripper jaw includes the upper claw-plate along the setting of anterior-posterior horizontal direction, the front end phase of the rear end of upper claw-plate and upper driving lever
It is linked together, upper driving lever front end is high, rear end is low is obliquely installed along the longitudinal direction, and the front end of upper driving lever lower part and triggering are head-up
Surface is affixed, and the rear end of upper claw-plate, which is gap-matched, to be sleeved on claw-plate and ship and resell on another market on axis, and upper claw-plate is shipped and resell on another market the two ends difference of axis
It is connected with the installation of the top of corresponding positioning splint front end, the top of upper claw-plate is equipped with upper claw-plate dialing spring, after upper claw-plate dialing spring
End is fixedly linked with the upper end of corresponding positioning splint, and the front of upper claw-plate dialing spring acts on the top of claw-plate, claw-plate in order
Front end do upward flip-flop movement；
The lower clamping jaw includes the lower claw-plate along the setting of anterior-posterior horizontal direction, the front end phase of the rear end of lower claw-plate and lower driving lever
It is linked together, lower driving lever front end is low, rear end is high is obliquely installed along the longitudinal direction, and the front end on lower driving lever top and triggering are head-down
Surface is affixed, and the rear end of lower claw-plate, which is gap-matched, to be sleeved on lower claw-plate and ship and resell on another market on axis, and lower claw-plate is shipped and resell on another market the two ends difference of axis
It is connected with the installation of the lower part of corresponding positioning splint front end, the lower section of lower claw-plate is equipped with lower claw-plate dialing spring, after lower claw-plate dialing spring
End is fixedly linked with the lower end of corresponding positioning splint, and the front of lower claw-plate dialing spring acts on the bottom end of lower claw-plate, and lower claw-plate is dialled
Spring enables the front end of lower claw-plate do downward flip-flop movement；
Rear-wheel is rotatably mounted with below the support postlaminar part；
The top at the slide bar rear portion that mops floor is equipped with electromagnet adsorbent equipment, and electromagnet adsorbent equipment passes through fixed bracket peace
Dress, which is fixed on, to mop floor on slide bar, and the electromagnetic adsorption portion of electromagnet adsorbent equipment is arranged downward, sets below electromagnet adsorbent equipment
There is armature, armature is fixed on the top of alignment pin, and alignment pin is arranged along the vertical direction, between the middle and lower part of alignment pin uses
Gap cooperation, which is inserted into, to mop floor on slide bar, and frizzen rear portion is equipped with pin shaft and is inserted into card slot, compresses frizzen extrapolation when frizzen is in
When pressure spring position, alignment pin penetrates downwards the side wall for the slide bar that mops floor and is inserted into pin shaft insertion card slot.
Preferably, the cross section of mop floor slide bar and the retaining connecting rod is rectangle, the slide groove on the retaining guide pad
Angle between horizontal plane is 20 ° -40 °, and the angle between upper driving lever and horizontal plane is 35 ° -50 °, lower driving lever and level
Angle between face is 35 ° -50 °.
Preferably, the rear wheel drive driving wheel is driven phase with the back front driven wheel for being located at its rear by tooth form V belt translation
Even.
Preferably, the retreat stop block is cuboid.
Preferably, retreat stop block surface directed downwardly is equipped with multiple anti-skidding convex stupefied along left and right horizontal direction, and retreat stop block uses
Abrasive rubber is made.
With auxiliary mopping ground when in use, two hoofing part electricity are respectively started in intelligent nursing robot of the invention
Machine, and regulate and control the steering or revolving speed of two travel driving motors, intelligent nursing robot work can be allowed to advance, retreat, left and right
Turning, the on the spot movement such as rotation；And when the rotation of rear crank runner, the front end of retaining connecting rod can rotate with it, and retaining connecting rod
Rear end then can by retaining connecting rod hinging pin shaft push retaining slide bar along on retaining guide pad slide groove make front and back it is oblique
Reciprocating motion, and retreat stop block is allowed to move therewith, during retreat stop block movement, the lower end surface of retreat stop block is when most
Between section be at and withstand in the state of ground, rear-wheel can be maked somebody a mere figurehead at this time, and intelligent nursing robot is thus allowed to lean forward, and allow intelligence
A part of weight of energy type nursing robot is facing forward, is forced downward the mop of roller of front end, allows mop of roller to generate one and presses to
The power on ground, while in order to offset the motive force backward generated when mop of roller mops floor forward, avoid robot because dragging forward
The movement on ground and rearward displacement, cause robot to mop floor in situ always and can not advance, and can allow the dragging of mop of roller in this way
Ground effect is more preferable, mops floor cleaner, allow robot can efficiently, quickly complete the work to mop floor.Therefore, intelligence of the invention
Type nursing robot auxiliary mopping ground have can allow robot efficiently, quickly complete work, mop floor cleaner, mop floor
The extraordinary feature of effect.
The intelligent nursing robot of the present invention is described further with auxiliary mopping ground with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the perspective view that intelligent nursing robot of the invention assists mopping ground；
Fig. 2 is the main view that intelligent nursing robot of the invention assists mopping ground；
Fig. 3 is walking and the auxiliary mopping ground part that intelligent nursing robot of the invention assists mopping ground
Perspective view；
Fig. 4 is the main view sectional view of the post portion amplification that mops floor of the invention；
Fig. 5 is the rearview that walking and auxiliary mopping ground part of the invention eliminate support plate；
Fig. 6 is the top view of walking and auxiliary mopping ground part of the invention；
Fig. 7 is the perspective view that upper gripper jaw of the present invention and lower gripping portions amplify；
Fig. 8 is the enlarged view of upper gripper jaw and lower gripping portions in Fig. 5.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, intelligent nursing robot of the invention auxiliary floor cleaning machine
Structure, walking and auxiliary mopping ground including left and right two side in robot bottom is arranged in, two walkings and auxiliary mopping ground point
It does not arrange, be symmetrically mounted on the body of robot along the longitudinal direction；When in use, two walkings and auxiliary floor cleaning machine
Structure works together, for allow realize intelligent nursing robot make advance, retrogressing, wiping etc. multi-motions.
The walking and auxiliary mopping ground include support plate 40, and the plate face of support plate 40 is located at front and back vertical direction, branch
Fagging 40 and the body of robot are fixedly linked, and the inboard middle part of support plate 40 is equipped with motor 41, and the shell of motor 41 is pacified
In support plate 40, the middle part in 40 outside of support plate is equipped with drive shaft 42, and the axis of drive shaft 42 is located at left and right horizontal direction,
The inner end of drive shaft 42 is installed in rotation in support plate 40, the inner end of drive shaft 42 and the electric machine shaft driving phase of motor 41
Even, it is successively set with rear wheel drive driving wheel 44 and motor crank wheel 45 outward from inner in drive shaft 42；When in use, starting electricity
Motivation 41 can allow drive shaft 42 to rotate, and rear wheel drive driving wheel 44 and motor crank wheel 45 is allowed to rotate synchronously.
Above-mentioned support plate 40 is inboard, also " inner " of inner end including drive shaft 42 etc. refers to: if support plate 40 is
In the left side of robot bottom, inboard here is the right of support plate 40；If support plate 40 is on the right side of robot bottom
Side, inboard here are the left sides of support plate 40；
The inboard front of the support plate 40 is equipped with travel driving motor 43, and the shell of travel driving motor 43 is mounted on branch
On fagging 40, the front in 40 outside of support plate is equipped with front axle 46, and the axis of front axle 46 is located at left and right horizontal direction, front axle
46 inner end is installed in rotation in support plate 40, the inner end of front axle 46 and the electric machine shaft driving phase of travel driving motor 43
Even, positive transport wheel 47 before being set on front axle 46；When in use, two travel driving motors 43 are respectively started, and regulate and control
The steering of two travel driving motors 43 or revolving speed can allow intelligent nursing robot work advance, retreat, left and right turning, just
The movements such as ground rotation.
The rear wheel drive driving wheel 44 is driven phase with the back front driven wheel 48 for being located at its rear by V belt translation or chain conveyer
Even, back front driven wheel 48 is sleeved on hind axle 49, and the axis of hind axle 49 is located at left and right horizontal direction, and the inner end of hind axle 49 can
It is rotatably mounted in support plate 40, rear crank runner 50 is housed positioned at the outer sheath of back front driven wheel 48 on hind axle 49；When after
When wheel drive driving wheel 44 rotates, it can be rotated by V belt translation or chain conveyer with back front driven wheel 48, rear crank runner 50.
The edge of the rear crank runner 50 is rotatably mounted with rear crank shaft 51, rear crank along left and right horizontal direction
Shaft 51, which extends outwardly, is pierced by the outer end face of rear crank runner 50, and the outer end of rear crank shaft 51 and the front end of retaining connecting rod 52 are pacified
Pretend company, retaining connecting rod 52 is arranged along front and back vertical plane direction, and the rear end of retaining connecting rod 52 and the front end of retaining slide bar 53 pass through
Retaining connecting rod hinging pin shaft 74 is connected, and the axis of retaining connecting rod hinging pin shaft 74 is located at left and right horizontal direction, and retaining slide bar 53 is inserted
In the slide groove on retaining guide pad 54, retaining guide pad 54 is fixedly linked with support plate 40, on retaining guide pad 54
Slide groove is high in front end, rear end is low, is obliquely installed along front and back vertical plane direction, and the rear end of retaining slide bar 53 and retreat stop block 55 are fixed
It is connected, the end face directed downwardly of retreat stop block 55 can be affixed with ground；When rear crank runner 50 rotates, the front end of retaining connecting rod 52 can be with
Rotation, and the rear end of retaining connecting rod 52 then can by retaining connecting rod hinging pin shaft 74 push retaining slide bar 53 be oriented to along retaining
Slide groove on block 54 makees the slanting reciprocating motion in front and back, and retreat stop block 55 is allowed to move therewith, in the process that retreat stop block 55 moves
In, the lower end surface of retreat stop block 55 is in the state that most of the time section is at and withstands on ground, at this point, rear-wheel 75 can be by frame
Thus sky allows intelligent nursing robot to lean forward, allow intelligent nursing robot a part of weight forward, be forced downward front end
Mop of roller 37, allow mop of roller 37 to generate the power for pressing to ground, can allow the effect that mops floor of mop of roller 37 in this way
More preferably, mop floor cleaner, allow robot can efficiently, quickly complete the work to mop floor.
The edge of the motor crank wheel 45 is rotatably mounted with motor crank shaft 56, motor along left and right horizontal direction
Crankshaft 56, which extends outwardly, is pierced by the outer end face of motor crank wheel 45, the outer end of motor crank shaft 56 and the connecting rod 57 that mops floor
Rear end installation is connected, and the connecting rod 57 that mops floor is arranged along front and back vertical plane direction, behind the front end for the connecting rod 57 that mops floor and the slide bar 58 that mops floor
End is connected by the connecting rod hinging pin shaft 73 that mops floor, and the axis for the connecting rod hinging pin shaft 73 that mops floor is located at left and right horizontal direction, and mop floor cunning
Bar 58 is inserted into the mopping floor in guide chute on guide pad 59 that mop floor, and the guide pad 59 that mops floor is fixedly linked with support plate 40, mops floor
Slide groove on guide pad 59 is arranged along anterior-posterior horizontal direction；When motor crank wheel 45 rotates, the connecting rod 57 that mops floor can be passed through
The promotion slide bar 58 that mops floor makees front-rear reciprocation movement.
Along frizzen mounting hole is axially arranged in the slide bar 58 that mops floor, frizzen mounting hole extends forwardly to the slide bar that mops floor
58 front end face is gap-matched in frizzen mounting hole and is fitted with frizzen 61, and the rear end in frizzen mounting hole is equipped with
Frizzen extrapolation pressure spring 60, the rear end of frizzen extrapolation pressure spring 60 withstand on the bottom in frizzen mounting hole, push outside frizzen
The front end of spring 60 withstands on the rear end of frizzen 61, and frizzen extrapolation pressure spring 60 is used to push frizzen 61 forward, frizzen 61
Front end is equipped with trigger head 62, and trigger head 62 is the truncated cone-shaped that point diameter is big, rear end diameter is small, and the point diameter of trigger head 62 is big
In the aperture of frizzen mounting hole, the front end of frizzen 61 and the rear end of trigger head 62 are fixedly linked；
As shown in Figure 7 and Figure 8, two side of innner and outer of 61 front end of frizzen is respectively equipped with positioning splint 63, two positioning
The plate face of clamping plate 63 is located at front and back vertical direction, the rear end of two positioning splints 63 and the front end stationary phase of frizzen 61
Even, Wiping roller is set in the plate face of two positioning splints 63 and clamps groove 64, and it is fixed that the opening that Wiping roller clamps groove 64 is located at
The middle part of position clamping plate 63 front end, the top between two 63 front ends of positioning splint are equipped with upper gripper jaw, two 63 front ends of positioning splint
Between lower part be equipped with lower clamping jaw；
The upper gripper jaw includes the upper claw-plate 65 along the setting of anterior-posterior horizontal direction, the rear end of upper claw-plate 65 and upper driving lever 66
Front end is connected as one, and upper 66 front end of driving lever is high, rear end is low is obliquely installed along the longitudinal direction, the front end of upper 66 lower part of driving lever and touching
Hair head 62 surface upward is affixed, and the rear end of upper claw-plate 65, which is gap-matched, to be sleeved on claw-plate and ship and resell on another market on axis 67, upper claw-plate
Ship and resell on another market two ends of axis 67 are connected with the installation of the top of corresponding 63 front end of positioning splint respectively, and the top of upper claw-plate 65 is equipped with dewclaw
Plate dialing spring 68, the rear end of upper claw-plate dialing spring 68 are fixedly linked with the upper end of corresponding positioning splint 63, before upper claw-plate dialing spring 68
Portion acts on the top of claw-plate 65, and upward flip-flop movement is done in the front end of claw-plate 65 in order；
The lower clamping jaw includes the lower claw-plate 69 along the setting of anterior-posterior horizontal direction, the rear end of lower claw-plate 69 and lower driving lever 70
Front end is connected as one, and lower 70 front end of driving lever is low, rear end is high is obliquely installed along the longitudinal direction, the front end on lower 70 top of driving lever and touching
The hair surface directed downwardly of head 62 is affixed, and the rear end of lower claw-plate 69, which is gap-matched, to be sleeved on lower claw-plate and ship and resell on another market on axis 71, lower claw-plate
Ship and resell on another market two ends of axis 71 are connected with the installation of the lower part of corresponding 63 front end of positioning splint respectively, and the lower section of lower claw-plate 69 is equipped with lower claw
The rear end of plate dialing spring 72, lower claw-plate dialing spring 72 is fixedly linked with the lower end of corresponding positioning splint 63, before lower claw-plate dialing spring 72
Portion acts on the bottom end of lower claw-plate 69, and lower claw-plate dialing spring 72 enables the front end of lower claw-plate 69 do downward flip-flop movement；
When in use, corresponding two Wiping rollers of insertion in two ends of mop of roller 37 are clamped in groove 64, rolling
Two ends of cylinder mop 37 can push corresponding two trigger heads 62 respectively backward, and two frizzens 61 can compress each respectively backward
Frizzen extrapolation pressure spring 60, and move backward, while two trigger heads 62 can touch corresponding upper driving lever 66 and lower driving lever respectively
70, allow claw-plate 65 on two groups, lower claw-plate 69 that the barrier effect of upper claw-plate dialing spring 68, lower claw-plate dialing spring 72 is overcome to make flip-flop movement,
And then upper claw-plate 65, lower claw-plate 69 is enabled to block the end for embracing mop of roller 37.
As depicted in figs. 1 and 2, rear-wheel 75 is rotatably mounted with below 40 rear portion of support plate；
As shown in figure 4, the top at 58 rear portion of slide bar that mops floor is equipped with electromagnet adsorbent equipment 76, electromagnet adsorbent equipment
76 are fixed on by fixed bracket 78 and mop floor on slide bar 58, and the electromagnetic adsorption portion of electromagnet adsorbent equipment 76 is arranged downward,
The lower section of electromagnet adsorbent equipment 76 is equipped with armature 77, and armature 77 is fixed on the top of alignment pin 79, and alignment pin 79 is along perpendicular
To setting, the middle and lower part of alignment pin 79 is gap-matched to be inserted into and mop floor on slide bar 58 histogram, and 61 rear portion of frizzen is equipped with
Pin shaft is inserted into card slot, and when frizzen 61, which is in, compresses frizzen extrapolation 60 position of pressure spring, alignment pin 79 penetrates mop floor downwards
The side wall of slide bar 58 is simultaneously inserted into pin shaft insertion card slot.When in use, when frizzen 61 moves backward and compresses frizzen extrapolation
After pressure spring 60, alignment pin 79 can penetrate downwards the side wall for the slide bar 58 that mops floor and be inserted into pin shaft insertion card slot, allow frizzen 61
It is lockable, if electromagnet adsorbent equipment 76 is allowed electric must to suck up armature 77 and alignment pin 79, frizzen extrapolates pressure spring 60 just
Frizzen 61 can be pushed to travel forward, and two ends of mop of roller 37 can then be released corresponding Wiping roller by two trigger heads 62
Clamp groove 64.
As a further improvement of the present invention, the cross section of above-mentioned mop floor slide bar 58 and retaining connecting rod 52 is rectangle, described
The angle between slide groove and horizontal plane on retaining guide pad 54 is 20 ° -40 °, the angle between upper driving lever 66 and horizontal plane
It is 35 ° -50 °, the angle between lower driving lever 70 and horizontal plane is 35 ° -50 °.
As a further improvement of the present invention, above-mentioned rear wheel drive driving wheel 44 by tooth form V belt translation and is located at its rear
Back front driven wheel 48 transmission be connected.
As a further improvement of the present invention, above-mentioned retreat stop block 55 is cuboid.
As a further improvement of the present invention, above-mentioned retreat stop block 55 surface directed downwardly is equipped with multiple anti-along left and right horizontal direction
Cunning is convex stupefied, and retreat stop block 55 is made of abrasive rubber.
With auxiliary mopping ground when in use, two hoofing part electricity are respectively started in intelligent nursing robot of the invention
Machine 43, and regulate and control the steering or revolving speed of two travel driving motors 43, intelligent nursing robot work can be allowed to advance, retreat,
Left and right turning, the on the spot movement such as rotation；And when rear crank runner 50 rotates, the front end of retaining connecting rod 52 can rotate with it, and
The rear end of retaining connecting rod 52 then can push retaining slide bar 53 along on retaining guide pad 54 by retaining connecting rod hinging pin shaft 74
Slide groove makees the slanting reciprocating motion in front and back, and retreat stop block 55 is allowed to move therewith, during retreat stop block 55 moves, retreat stop block
55 lower end surface, at this point, rear-wheel 75 can be maked somebody a mere figurehead, thus allows in the state that most of the time section is at and withstands on ground
Intelligent nursing robot leans forward, and allows a part of weight of intelligent nursing robot is facing forward, is forced downward front end suit to fix
There is the mop of roller shaft 19 of mop of roller 37, allows mop of roller 37 to generate the power for pressing to ground, while in order to offset rolling
The motive force backward that cylinder mop generates when mopping floor forward, avoids robot rearward displacement due to the movement to mop floor forward, causes
Robot mops floor in situ always and can not advance, and can allow the effect that mops floor of mop of roller 37 more preferable in this way, mops floor cleaner,
Allow robot can efficiently, quickly complete the work to mop floor.
When needing to mop floor, corresponding two Wiping rollers of insertion in two ends of mop of roller shaft 19 can be clamped recessed
In slot 64, two ends of mop of roller shaft 19 can push corresponding two trigger heads 62 respectively backward, and two frizzens 61 can divide
It does not compress each frizzen extrapolation pressure spring 60 backward, and moves backward, while two trigger heads 62 can touch on corresponding respectively
Driving lever 66 and lower driving lever 70, the blocking for allowing claw-plate 65 on two groups, lower claw-plate 69 to overcome upper claw-plate dialing spring 68, lower claw-plate dialing spring 72 are made
As flip-flop movement, and then upper claw-plate 65, lower claw-plate 69 is enabled to block the end for embracing mop of roller shaft 19.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, this field ordinary engineering and technical personnel is to the technology of the present invention side
The various changes and improvements that case is made, should fall within the scope of protection determined by the claims of the present invention.
Claims (5)
1. intelligent nursing robot auxiliary mopping ground, it is characterised in that: including being arranged in left and right two side in robot bottom
Walking and auxiliary mopping ground, two walking and auxiliary mopping grounds respectively along the longitudinal direction arrange, symmetrically install
On the body of robot；
The walking and auxiliary mopping ground include support plate (40), and the plate face of support plate (40) is located at front and back vertical direction, branch
Fagging (40) and the body of robot are fixedly linked, and the middle part of support plate (40) inboard is equipped with motor (41), motor (41)
Shell be mounted on support plate (40), the middle part on the outside of support plate (40) be equipped with drive shaft (42), the axis of drive shaft (42)
Positioned at left and right horizontal direction, the inner end of drive shaft (42) is installed in rotation on support plate (40), the inner end of drive shaft (42)
It is connected with the electric machine shaft driving of motor (41), is successively set with rear wheel drive driving wheel (44) outward from inner in drive shaft (42)
With motor crank wheel (45)；
The front of support plate (40) inboard is equipped with travel driving motor (43), and the shell of travel driving motor (43) is mounted on
In support plate (40), the front on the outside of support plate (40) is equipped with front axle (46), and the axis of front axle (46) is located at left and right horizontal
Direction, the inner end of front axle (46) are installed in rotation on support plate (40), the inner end of front axle (46) and hoofing part electricity
The electric machine shaft driving of machine (43) is connected, and preceding positive transport wheel (47) are set on front axle (46)；
The rear wheel drive driving wheel (44) is driven phase with the back front driven wheel (48) for being located at its rear by V belt translation or chain conveyer
Even, back front driven wheel (48) is sleeved on hind axle (49), and the axis of hind axle (49) is located at left and right horizontal direction, hind axle (49)
Inner end be installed in rotation on support plate (40), the outer sheath on hind axle (49) positioned at back front driven wheel (48) is equipped with rear bent
Handle runner (50)；
The edge of the rear crank runner (50) is rotatably mounted with rear crank shaft (51), rear crank along left and right horizontal direction
Shaft (51), which extends outwardly, is pierced by the outer end face of rear crank runner (50), the outer end and retaining connecting rod (52) of rear crank shaft (51)
Front end installation be connected, retaining connecting rod (52) is arranged along front and back vertical plane direction, the rear end of retaining connecting rod (52) and retaining slide bar
(53) front end is connected by retaining connecting rod hinging pin shaft (74), and the axis of retaining connecting rod hinging pin shaft (74) is located at left and right horizontal
Direction, retaining slide bar (53) are inserted into the slide groove on retaining guide pad (54), retaining guide pad (54) and support plate (40)
It is fixedly linked, the slide groove on retaining guide pad (54) is high in front end, rear end is low, is obliquely installed along front and back vertical plane direction, only
The rear end of back skating bar (53) is fixedly linked with retreat stop block (55), and retreat stop block (55) end face directed downwardly can be affixed with ground；
The edge of the motor crank wheel (45) is rotatably mounted with motor crank shaft (56), motor along left and right horizontal direction
Crankshaft (56), which extends outwardly, is pierced by the outer end face of motor crank wheel (45), the outer end of motor crank shaft (56) and the company of mopping floor
Bar (57) rear end installation be connected, the connecting rod that mops floor (57) along front and back vertical plane direction be arranged, the front end of the connecting rod that mops floor (57) with drag
By mopping floor, connecting rod hinging pin shaft (73) are connected, and the axis for the connecting rod hinging pin shaft (73) that mops floor is located at a left side for the rear end of ground slide bar (58)
Right horizontal direction, the slide bar that mops floor (58) are inserted into mopping floor in guide chute on the guide pad that mops floor (59), the guide pad that mops floor (59)
It is fixedly linked with support plate (40), the slide groove on the guide pad that mops floor (59) is arranged along anterior-posterior horizontal direction；
Along frizzen mounting hole is axially arranged in the slide bar that mops floor (58), frizzen mounting hole extends forwardly to the slide bar that mops floor
(58) front end face is gap-matched in frizzen mounting hole and is fitted with frizzen (61), the rear end in frizzen mounting hole
It extrapolates pressure spring (60) equipped with frizzen, the rear end of frizzen extrapolation pressure spring (60) withstands on the bottom in frizzen mounting hole, triggers
The front end of bar extrapolation pressure spring (60) withstands on the rear end of frizzen (61), and the front end of frizzen (61) is equipped with trigger head (62), triggering
Head (62) is the truncated cone-shaped that point diameter is big, rear end diameter is small, and the point diameter of trigger head (62) is greater than frizzen mounting hole
Aperture, the front end of frizzen (61) and the rear end of trigger head (62) are fixedly linked；
Two side of innner and outer of frizzen (61) front end is respectively equipped with positioning splint (63), the plate face of two positioning splints (63)
It is located at front and back vertical direction, the rear end of two positioning splints (63) and the front end of frizzen (61) are fixedly linked, and two fixed
Wiping roller is set in the plate face of position clamping plate (63) and clamps groove (64), and the opening that Wiping roller clamps groove (64) is located at locating clip
The middle part of plate (63) front end, the top between two positioning splint (63) front ends are equipped with upper gripper jaw, before two positioning splints (63)
Lower part between end is equipped with lower clamping jaw；
The upper gripper jaw includes the upper claw-plate (65) along the setting of anterior-posterior horizontal direction, the rear end and upper driving lever (66) of upper claw-plate (65)
Front end be connected as one, upper driving lever (66) front end is high, rear end is low is obliquely installed along the longitudinal direction, before upper driving lever (66) lower part
End is affixed with the surface of trigger head (62) upward, and the rear end of upper claw-plate (65), which is gap-matched, to be sleeved on claw-plate and ship and resell on another market axis
(67) on, upper claw-plate ship and resell on another market axis (67) two ends respectively with the top of corresponding positioning splint (63) front end installation be connected, dewclaw
The top of plate (65) is equipped with upper claw-plate dialing spring (68), the rear end of upper claw-plate dialing spring (68) and the upper end of corresponding positioning splint (63)
It is fixedly linked, the front of upper claw-plate dialing spring (68) acts on the top of claw-plate (65), and the front end of claw-plate (65) is done upwards in order
Flip-flop movement；
The lower clamping jaw includes the lower claw-plate (69) along the setting of anterior-posterior horizontal direction, the rear end of lower claw-plate (69) and lower driving lever (70)
Front end be connected as one, lower driving lever (70) front end is low, rear end is high is obliquely installed along the longitudinal direction, before lower driving lever (70) top
End is affixed with trigger head (62) surface directed downwardly, and the rear end of lower claw-plate (69), which is gap-matched, to be sleeved on lower claw-plate and ship and resell on another market axis
(71) on, lower claw-plate ship and resell on another market axis (71) two ends respectively with the lower part of corresponding positioning splint (63) front end installation be connected, lower claw
The lower section of plate (69) is equipped with lower claw-plate dialing spring (72), the rear end of lower claw-plate dialing spring (72) and the lower end of corresponding positioning splint (63)
It is fixedly linked, the front of lower claw-plate dialing spring (72) acts on the bottom end of lower claw-plate (69), and lower claw-plate dialing spring (72) enables lower claw-plate
(69) downward flip-flop movement is done in front end；
Rear-wheel (75) are rotatably mounted with below support plate (40) rear portion；
The top at the slide bar that mops floor (58) rear portion is equipped with electromagnet adsorbent equipment (76), and electromagnet adsorbent equipment (76) passes through solid
Fixed rack (78) is fixed on the slide bar that mops floor (58), and the electromagnetic adsorption portion of electromagnet adsorbent equipment (76) is arranged downward, electricity
The lower section of magnetic iron absorption device (76) is equipped with armature (77), and armature (77) is fixed on the top of alignment pin (79), alignment pin
(79) it is arranged along the vertical direction, the middle and lower part of alignment pin (79), which is gap-matched, to be inserted on the slide bar that mops floor (58), triggering
Bar (61) rear portion is equipped with pin shaft and is inserted into card slot, when frizzen (61), which are in, compresses frizzen extrapolation pressure spring (60) position, positioning
Pin shaft (79) penetrates the side wall of the slide bar that mops floor (58) downwards and is inserted into pin shaft insertion card slot.
2. intelligent nursing robot according to claim 1 auxiliary mopping ground, it is characterised in that: the cunning that mops floor
The cross section of bar (58) and retaining connecting rod (52) is rectangle, between the slide groove and horizontal plane on the retaining guide pad (54)
Angle is 20 ° -40 °, and the angle between upper driving lever (66) and horizontal plane is 35 ° -50 °, between lower driving lever (70) and horizontal plane
Angle be 35 ° -50 °.
3. intelligent nursing robot according to claim 2 auxiliary mopping ground, it is characterised in that: the rear-wheel drives
Dynamic driving wheel (44) are connected by tooth form V belt translation with back front driven wheel (48) transmission.
4. intelligent nursing robot according to claim 3 auxiliary mopping ground, it is characterised in that: the retreat stop block
It (55) is cuboid.
5. according to claim 1 to the auxiliary mopping ground of intelligent nursing robot described in any one of 4, feature exists
It is equipped in: the retreat stop block (55) surface directed downwardly along left and right horizontal direction multiple anti-skidding convex stupefied, retreat stop block (55) is using wear-resisting
Rubber is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811094654.XA CN109044209B (en) | 2018-09-19 | 2018-09-19 | Auxiliary mopping mechanism for intelligent nurse robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811094654.XA CN109044209B (en) | 2018-09-19 | 2018-09-19 | Auxiliary mopping mechanism for intelligent nurse robot |
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| Publication Number | Publication Date |
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| CN109044209A true CN109044209A (en) | 2018-12-21 |
| CN109044209B CN109044209B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811094654.XA Active CN109044209B (en) | 2018-09-19 | 2018-09-19 | Auxiliary mopping mechanism for intelligent nurse robot |
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| DE102005026250A1 (en) * | 2005-06-08 | 2006-12-14 | Schopf, Walter, Dipl.-Ing. | Mower for lawns with highly-curved contours and obstructions has pair of back wheels and single front wheel mounted on vertical shaft, allowing it to be steered by Bowden cable connecting it to mower handle |
| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
| CN101496706A (en) * | 2009-03-04 | 2009-08-05 | 泰怡凯电器(苏州)有限公司 | Automatically moving floor-treating device |
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| CN109044209B (en) | 2023-08-25 |
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