CN109044209B - Auxiliary mopping mechanism for intelligent nurse robot - Google Patents
Auxiliary mopping mechanism for intelligent nurse robot Download PDFInfo
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- CN109044209B CN109044209B CN201811094654.XA CN201811094654A CN109044209B CN 109044209 B CN109044209 B CN 109044209B CN 201811094654 A CN201811094654 A CN 201811094654A CN 109044209 B CN109044209 B CN 109044209B
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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
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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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- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The intelligent auxiliary mopping mechanism for the nurse robot comprises walking and auxiliary mopping mechanisms which are arranged at the left side and the right side of the bottom of the robot, wherein the two walking and auxiliary mopping mechanisms are respectively arranged along the front-back direction and are symmetrically arranged on the machine body of the robot; the walking and auxiliary mopping mechanism comprises a supporting plate, the supporting plate is fixedly connected with a machine body of the robot, a motor is arranged in the middle of the inner side of the supporting plate, a shell of the motor is arranged on the supporting plate, a driving shaft is arranged in the middle of the outer side of the supporting plate, the inner end of the driving shaft is rotatably arranged on the supporting plate, the inner end of the driving shaft is connected with a motor shaft of the motor in a transmission manner, and a rear wheel driving wheel and a motor crank wheel are sequentially sleeved on the driving shaft from inside to outside. The auxiliary mopping mechanism for the intelligent robot has the advantages that the robot can efficiently and quickly finish work, mopping is cleaner, and the mopping effect is very good.
Description
Technical Field
The invention relates to an auxiliary mopping mechanism for an intelligent nurse robot.
Background
The existing robot is unreasonable in the aspect of combination design, so that the existing robot is difficult to compete with the floor mopping work in a room, the floor mopping effect is poor, and the basic requirements of people cannot be met.
Disclosure of Invention
The invention aims to provide an auxiliary mopping mechanism for an intelligent robot, which can enable the robot to efficiently and quickly finish work, clean mopping and good mopping effect.
The invention relates to an auxiliary mopping mechanism for an intelligent nurse robot, which comprises walking and auxiliary mopping mechanisms arranged at the left side and the right side of the bottom of the robot, wherein the two walking and auxiliary mopping mechanisms are respectively arranged along the front-back direction and are symmetrically arranged on the body of the robot;
the walking and auxiliary mopping mechanism comprises a supporting plate, the plate surface of the supporting plate is positioned in the front-rear vertical direction, the supporting plate is fixedly connected with a machine body of the robot, a motor is arranged in the middle of the inner side of the supporting plate, a shell of the motor is arranged on the supporting plate, a driving shaft is arranged in the middle of the outer side of the supporting plate, the axis of the driving shaft is positioned in the left-right horizontal direction, the inner end of the driving shaft is rotatably arranged on the supporting plate, the inner end of the driving shaft is connected with a motor shaft of the motor in a transmission manner, and a rear wheel driving wheel and a motor crank wheel are sequentially sleeved on the driving shaft from inside to outside;
the front part of the inner side of the supporting plate is provided with a walking driving motor, a shell of the walking driving motor is arranged on the supporting plate, the front part of the outer side of the supporting plate is provided with a front wheel shaft, the axis of the front wheel shaft is positioned in the left-right horizontal direction, the inner end of the front wheel shaft is rotatably arranged on the supporting plate, the inner end of the front wheel shaft is in transmission connection with a motor shaft of the walking driving motor, and the front wheel shaft is sleeved with a front driving travelling wheel;
the rear wheel driving wheel is in transmission connection with a rear driven wheel positioned at the rear of the rear wheel driving wheel through belt transmission or chain transmission, the rear driven wheel is sleeved on a rear wheel shaft, the axis of the rear wheel shaft is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft is rotatably arranged on the supporting plate, and a rear crank rotating wheel is sleeved on the rear wheel shaft and positioned at the outer side of the rear driven wheel;
the edge of the rear crank rotating wheel is rotatably provided with a rear crank rotating shaft along the left-right horizontal direction, the rear crank rotating shaft outwards extends out of the outer end face of the rear crank rotating wheel, the outer end of the rear crank rotating shaft is connected with the front end of a backstop connecting rod in an installation mode, the backstop connecting rod is arranged along the front-back vertical face direction, the rear end of the backstop connecting rod is connected with the front end of a backstop sliding rod through a backstop connecting rod hinge pin shaft, the axis of the backstop connecting rod hinge pin shaft is positioned in the left-right horizontal direction, the backstop sliding rod is inserted into a slideway groove on a backstop guide block, the backstop guide block is fixedly connected with a supporting plate, the slideway groove on the backstop guide block is high in the front end and low in the rear end and is obliquely arranged along the front-back vertical face direction, the rear end of the backstop sliding rod is fixedly connected with the backstop block, and the downward end face of the backstop block can be attached to the ground;
the edge of the motor crank wheel is rotatably provided with a motor crank rotating shaft along the left-right horizontal direction, the motor crank rotating shaft outwards extends to penetrate through the outer end face of the motor crank wheel, the outer end of the motor crank rotating shaft is connected with the rear end of the mopping connecting rod in an installation mode, the mopping connecting rod is arranged along the front-back vertical face direction, the front end of the mopping connecting rod is connected with the rear end of the mopping sliding rod through a mopping connecting rod hinge pin shaft, the axis of the mopping connecting rod hinge pin shaft is positioned in the left-right horizontal direction, the mopping sliding rod is inserted into a mopping guiding chute on the mopping guiding block, the mopping guiding block is fixedly connected with the supporting plate, and a slideway groove on the mopping guiding block is arranged along the front-back horizontal direction;
the trigger rod mounting hole extends forwards to the front end face of the floor mopping slide rod, a trigger rod is inserted in the trigger rod mounting hole in a clearance fit manner, a trigger rod push-out pressure spring is arranged at the rear end in the trigger rod mounting hole, the rear end of the trigger rod push-out pressure spring is propped against the bottom in the trigger rod mounting hole, the front end of the trigger rod push-out pressure spring is propped against the rear end of the trigger rod, a trigger head is arranged at the front end of the trigger rod, the trigger head is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head is larger than the aperture of the trigger rod mounting hole, and the front end of the trigger rod is fixedly connected with the rear end of the trigger head;
the front end of the trigger rod is provided with a front end, a rear end of the trigger rod is fixedly connected with the front end of the trigger rod, the front end of the trigger rod is provided with a front end of the trigger rod, and the front end of the trigger rod is provided with a front end of the trigger rod;
the upper clamping jaw comprises an upper claw plate arranged along the front-back horizontal direction, the rear end of the upper claw plate is connected with the front end of an upper deflector rod into a whole, the front end of the upper deflector rod is high, the rear end of the upper deflector rod is low, the front end of the lower part of the upper deflector rod is obliquely arranged along the front-back direction, the front end of the upper deflector rod is attached to the upward surface of the trigger head, the rear end of the upper claw plate is sleeved on an upper claw plate rotating pin shaft in a clearance fit manner, two ends of the upper claw plate rotating pin shaft are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates in an installation manner, an upper claw plate poking spring is arranged above the upper claw plate, the rear end of the upper claw plate poking spring is fixedly connected with the upper ends of the corresponding positioning clamping plates, and the front part of the upper claw plate poking spring acts on the top end of the upper claw plate to enable the front end of the upper claw plate to perform upward overturning movement;
the lower clamping jaw comprises a lower claw plate arranged along the front-rear horizontal direction, the rear end of the lower claw plate is connected with the front end of a lower deflector rod into a whole, the front end of the lower deflector rod is low, the rear end of the lower deflector rod is high and is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod is attached to the downward surface of a trigger head, the rear end of the lower claw plate is sleeved on a lower claw plate rotating pin shaft in a clearance fit manner, two ends of the lower claw plate rotating pin shaft are respectively connected with the lower part of the front end of a corresponding positioning clamping plate in an installation manner, a lower claw plate poking spring is arranged below the lower claw plate, the rear end of the lower claw plate poking spring is fixedly connected with the lower end of the corresponding positioning clamping plate, the front part of the lower claw plate poking spring acts on the bottom end of the lower claw plate, and the lower claw plate poking spring enables the front end of the lower claw plate to perform downward overturning movement;
a rear wheel is rotatably arranged below the rear part of the supporting plate;
the upper portion at the rear part of the mopping slide bar is provided with an electromagnet adsorption device, the electromagnet adsorption device is installed and fixed on the mopping slide bar through a fixed support, the electromagnetic adsorption part of the electromagnet adsorption device is arranged downwards, an armature is arranged below the electromagnet adsorption device and fixed at the top end of a positioning pin shaft, the positioning pin shaft is arranged in the vertical direction, the middle lower part of the positioning pin shaft is inserted on the mopping slide bar by adopting clearance fit, the rear part of the triggering bar is provided with a pin shaft inserting clamping groove, and when the triggering bar is positioned at the position of pressing the triggering bar to push out a pressure spring, the positioning pin shaft downwards penetrates through the side wall of the mopping slide bar and is inserted into the pin shaft inserting clamping groove.
Preferably, the cross sections of the floor mopping slide bar and the retaining connecting rod are rectangular, the included angle between the slide groove on the retaining guide block and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod and the horizontal plane is 35-50 degrees.
Preferably, the rear wheel driving wheel is in transmission connection with a rear driven wheel positioned behind the rear wheel driving wheel through a toothed belt transmission.
Preferably, the retaining block is rectangular.
Preferably, the surface of the backstop block facing downwards is provided with a plurality of anti-slip convex edges along the left-right horizontal direction, and the backstop block is made of wear-resistant rubber.
When the auxiliary mopping mechanism for the intelligent nurse robot is used, two walking driving motors are started respectively, and the steering or rotating speed of the two walking driving motors is regulated and controlled, so that the intelligent nurse robot can do forward, backward, left and right turning, in-situ rotation and other movements; when the rear crank runner rotates, the front end of the retaining connecting rod rotates along with the rear end of the retaining connecting rod, the rear end of the retaining connecting rod pushes the retaining sliding rod to reciprocate forwards and backwards along the slideway slot on the retaining guide block through the hinge pin of the retaining connecting rod, the retaining block moves along with the retaining sliding rod, the lower end face of the retaining block is in a state of propping against the ground in most of the time period in the process of moving the retaining block, at the moment, the rear wheel is overhead, so that the intelligent type nurse robot tilts forwards, a part of weight of the intelligent type nurse robot presses the roller mop towards the front end forwards and downwards, the roller mop generates a force pressing the ground, and meanwhile, in order to offset the backward pushing force generated when the roller mop drags forwards, the robot is prevented from moving backwards due to the action of mopping forwards, the robot can always drag the ground in situ, the mopping effect of the roller is better, the mopping floor is cleaner, and the robot can finish mopping work efficiently and quickly. Therefore, the auxiliary mopping mechanism for the intelligent nurse robot has the characteristics of enabling the robot to efficiently and rapidly finish work, being cleaner in mopping and having very good mopping effect.
The auxiliary mopping mechanism for the intelligent nurse robot is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of an auxiliary mopping mechanism for an intelligent babysitter robot of the present invention;
FIG. 2 is a front view of an auxiliary mopping mechanism for an intelligent babysitter robot of the present invention;
FIG. 3 is a perspective view of a portion of the auxiliary mopping mechanism for an intelligent caregiver robot of the present invention;
FIG. 4 is an enlarged front cross-sectional view of a portion of the mopping slide of the present invention;
FIG. 5 is a rear elevational view of the walking and mopping assistance mechanism of the present invention with the support plate partially removed;
FIG. 6 is a top view of a portion of the walk-assist mopping mechanism of the present invention;
FIG. 7 is an enlarged perspective view of the upper and lower jaw portions of the present invention;
fig. 8 is an enlarged view of the upper and lower jaw portions of fig. 5.
Detailed Description
As shown in fig. 1, 2, 3, 4, 5 and 6, the auxiliary mopping mechanism for an intelligent robot of the invention comprises walking and auxiliary mopping mechanisms arranged at the left and right sides of the bottom of the robot, wherein the two walking and auxiliary mopping mechanisms are respectively arranged along the front-back direction and symmetrically arranged on the machine body of the robot; when the robot is used, the two walking and auxiliary mopping mechanisms work together and are used for enabling the intelligent robot to make various movements such as forward, backward, mopping and the like.
The walking and auxiliary mopping mechanism comprises a supporting plate 40, the plate surface of the supporting plate 40 is positioned in the front-rear vertical direction, the supporting plate 40 is fixedly connected with a machine body of the robot, a motor 41 is arranged in the middle of the inner side of the supporting plate 40, a shell of the motor 41 is arranged on the supporting plate 40, a driving shaft 42 is arranged in the middle of the outer side of the supporting plate 40, the axis of the driving shaft 42 is positioned in the left-right horizontal direction, the inner end of the driving shaft 42 is rotatably arranged on the supporting plate 40, the inner end of the driving shaft 42 is in transmission connection with a motor shaft of the motor 41, and a rear wheel driving wheel 44 and a motor crank wheel 45 are sequentially sleeved on the driving shaft 42 from inside to outside; in use, the motor 41 is activated to rotate the drive shaft 42 and to synchronize rotation of the rear wheel drive sprocket 44 with the motor crank wheel 45.
The "inside" of the inner side of the support plate 40, including the inner end of the driving shaft 42, etc., means: if the support plate 40 is on the left side of the robot bottom, the inside here is the right side of the support plate 40; if the support plate 40 is on the right side of the robot bottom, the inside here is the left side of the support plate 40;
the front part of the inner side of the supporting plate 40 is provided with a traveling driving motor 43, a shell of the traveling driving motor 43 is arranged on the supporting plate 40, the front part of the outer side of the supporting plate 40 is provided with a front wheel shaft 46, the axis of the front wheel shaft 46 is positioned in the left-right horizontal direction, the inner end of the front wheel shaft 46 is rotatably arranged on the supporting plate 40, the inner end of the front wheel shaft 46 is in transmission connection with a motor shaft of the traveling driving motor 43, and a front driving traveling wheel 47 is sleeved on the front wheel shaft 46; when the intelligent nurse robot is used, the two walking driving motors 43 are respectively started, and the steering or rotating speed of the two walking driving motors 43 is regulated and controlled, so that the intelligent nurse robot can do the motions of forward movement, backward movement, left and right turning, on-site rotation and the like.
The rear wheel driving wheel 44 is in transmission connection with a rear driven wheel 48 positioned at the rear of the rear wheel driving wheel 44 through belt transmission or chain transmission, the rear driven wheel 48 is sleeved on a rear wheel shaft 49, the axis of the rear wheel shaft 49 is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft 49 is rotatably arranged on the supporting plate 40, and a rear crank rotating wheel 50 is sleeved on the rear wheel shaft 49 and positioned at the outer side of the rear driven wheel 48; when the rear wheel drives the driving wheel 44 to rotate, the rear driven wheel 48 and the rear crank wheel 50 are driven to rotate by a belt transmission or a chain transmission.
The edge of the rear crank rotating wheel 50 is rotatably provided with a rear crank rotating shaft 51 along the left-right horizontal direction, the rear crank rotating shaft 51 extends outwards to penetrate through the outer end face of the rear crank rotating wheel 50, the outer end of the rear crank rotating shaft 51 is connected with the front end of a stop connecting rod 52 in a mounting manner, the stop connecting rod 52 is arranged along the front-back vertical surface direction, the rear end of the stop connecting rod 52 is connected with the front end of a stop sliding rod 53 through a stop connecting rod hinge pin 74, the axis of the stop connecting rod hinge pin 74 is positioned in the left-right horizontal direction, the stop sliding rod 53 is inserted into a slideway groove on the stop guiding block 54, the stop guiding block 54 is fixedly connected with the supporting plate 40, the slideway groove on the stop guiding block 54 is in a shape that the front end is high, the rear end is low and is obliquely arranged along the front-back vertical surface direction, the rear end of the stop sliding rod 53 is fixedly connected with a stop block 55, and the downward end face of the stop sliding rod 55 can be attached to the ground; when the rear crank wheel 50 rotates, the front end of the retaining link 52 rotates along with the rear end of the retaining link 52, the retaining link hinge pin 74 pushes the retaining slide rod 53 to reciprocate along the slide groove on the retaining guide block 54 in a front-rear inclined manner, the retaining block 55 moves along with the retaining slide rod, the lower end surface of the retaining block 55 is in a state of being propped against the ground in most of the time period in the moving process of the retaining block 55, at the moment, the rear wheel 75 is overhead, so that the intelligent nurse robot tilts forward, a part of the weight of the intelligent nurse robot presses the front roller mop 37 forwards and downwards, the roller mop 37 generates a force pressing the ground, the mopping effect of the roller mop 37 is better, the mopping is cleaner, and the robot can efficiently and quickly finish mopping work.
The edge of the motor crank wheel 45 is rotatably provided with a motor crank rotating shaft 56 along the left-right horizontal direction, the motor crank rotating shaft 56 extends outwards to penetrate through the outer end face of the motor crank wheel 45, the outer end of the motor crank rotating shaft 56 is fixedly connected with the rear end of a mopping connecting rod 57, the mopping connecting rod 57 is arranged along the front-back vertical surface direction, the front end of the mopping connecting rod 57 is connected with the rear end of a mopping sliding rod 58 through a mopping connecting rod hinge pin 73, the axis of the mopping connecting rod hinge pin 73 is positioned in the left-right horizontal direction, the mopping sliding rod 58 is inserted into a mopping guiding chute on the mopping guiding block 59, the mopping guiding block 59 is fixedly connected with the supporting plate 40, and a slideway groove on the mopping guiding block 59 is arranged along the front-back horizontal direction; when the motor crank wheel 45 rotates, the floor mopping slide rod 58 can be pushed to reciprocate back and forth by the floor mopping link 57.
The floor mopping slide rod 58 is internally provided with a trigger rod mounting hole along the axial direction, the trigger rod mounting hole extends forward to the front end face of the floor mopping slide rod 58, a trigger rod 61 is inserted in the trigger rod mounting hole in a clearance fit manner, the rear end in the trigger rod mounting hole is provided with a trigger rod push-out pressure spring 60, the rear end of the trigger rod push-out pressure spring 60 is propped against the bottom in the trigger rod mounting hole, the front end of the trigger rod push-out pressure spring 60 is propped against the rear end of the trigger rod 61, the trigger rod push-out pressure spring 60 is used for pushing the trigger rod 61 forward, the front end of the trigger rod 61 is provided with a trigger head 62, the trigger head 62 is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head 62 is larger than the aperture of the trigger rod mounting hole, and the front end of the trigger rod 61 is fixedly connected with the rear end of the trigger head 62;
as shown in fig. 7 and 8, the inner and outer sides of the front end of the trigger rod 61 are respectively provided with a positioning clamping plate 63, the plate surfaces of the two positioning clamping plates 63 are respectively positioned in the front-rear vertical direction, the rear ends of the two positioning clamping plates 63 are fixedly connected with the front end of the trigger rod 61, the plate surfaces of the two positioning clamping plates 63 are provided with a mopping roller clamping groove 64, the opening of the mopping roller clamping groove 64 is positioned in the middle of the front end of the positioning clamping plate 63, the upper part between the front ends of the two positioning clamping plates 63 is provided with an upper clamping jaw, and the lower part between the front ends of the two positioning clamping plates 63 is provided with a lower clamping jaw;
the upper clamping jaw comprises an upper clamping jaw plate 65 arranged along the front-back horizontal direction, the rear end of the upper clamping jaw plate 65 is connected with the front end of an upper deflector rod 66 into a whole, the front end of the upper deflector rod 66 is high, the rear end of the upper deflector rod 66 is low, the front end of the lower part of the upper deflector rod 66 is obliquely arranged along the front-back direction, the upper surface of the trigger head 62 is attached to the front end of the upper clamping jaw plate, the rear end of the upper clamping jaw plate 65 is sleeved on an upper clamping jaw plate rotating pin shaft 67 in a clearance fit manner, two ends of the upper clamping jaw plate rotating pin shaft 67 are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates 63 in an installation manner, an upper clamping jaw plate deflector spring 68 is arranged above the upper clamping jaw plate 65, the rear end of the upper clamping jaw plate deflector spring 68 is fixedly connected with the upper ends of the corresponding positioning clamping plates 63, and the front part of the upper clamping plate deflector spring 68 acts on the top end of the upper clamping jaw plate 65 to enable the front end of the upper clamping jaw plate 65 to perform upward overturning movement;
the lower clamping jaw comprises a lower jaw plate 69 arranged along the front-rear horizontal direction, the rear end of the lower jaw plate 69 is connected with the front end of a lower deflector rod 70 into a whole, the front end of the lower deflector rod 70 is low, the rear end of the lower deflector rod 70 is high and is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod 70 is attached to the downward surface of the trigger head 62, the rear end of the lower jaw plate 69 is sleeved on a lower jaw plate rotating pin shaft 71 in a clearance fit manner, two ends of the lower jaw plate rotating pin shaft 71 are respectively connected with the lower part of the front end of a corresponding locating clamping plate 63 in an installation manner, a lower jaw plate deflector spring 72 is arranged below the lower jaw plate 69, the rear end of the lower jaw plate deflector spring 72 is fixedly connected with the lower end of the corresponding locating clamping plate 63, the front part of the lower jaw plate deflector spring 72 acts on the bottom end of the lower jaw plate 69, and the lower jaw plate deflector spring 72 enables the front end of the lower jaw plate 69 to perform downward overturning movement;
when the mop is used, two ends of the roller mop 37 are respectively and correspondingly inserted into the two mopping roller clamping grooves 64, two ends of the roller mop 37 respectively push the corresponding two trigger heads 62 backwards, the two trigger rods 61 respectively press each trigger rod backwards to push the pressure spring 60 outwards and move backwards, and simultaneously the two trigger heads 62 respectively touch the corresponding upper deflector rod 66 and the corresponding lower deflector rod 70, so that the two groups of upper claw plates 65 and lower claw plates 69 do overturning motion against the blocking action of the upper claw plate poking springs 68 and the lower claw plate poking springs 72, and further the upper claw plates 65 and the lower claw plates 69 clamp the end parts of the roller mop 37.
As shown in fig. 1 and 2, a rear wheel 75 is rotatably installed under the rear portion of the support plate 40;
as shown in fig. 4, an electromagnet adsorption device 76 is disposed above the rear portion of the floor mopping slide bar 58, the electromagnet adsorption device 76 is mounted and fixed on the floor mopping slide bar 58 through a fixing bracket 78, an electromagnetic adsorption portion of the electromagnet adsorption device 76 is disposed downward, an armature 77 is disposed below the electromagnet adsorption device 76, the armature 77 is fixed at the top end of a positioning pin 79, the positioning pin 79 is disposed along the vertical direction, the middle lower portion of the positioning pin 79 is inserted on the floor mopping slide bar 58 by adopting clearance fit, a pin insertion slot is disposed at the rear portion of the trigger bar 61, and when the trigger bar 61 is positioned at a position for pressing the trigger bar to push out the compression spring 60, the positioning pin 79 penetrates through the side wall of the floor mopping slide bar 58 downward and is inserted into the pin insertion slot. When the trigger rod 61 moves backward and presses the trigger rod pushing compression spring 60, the positioning pin shaft 79 penetrates through the side wall of the mopping slide rod 58 downwards and is inserted into the pin shaft inserting clamping groove, so that the trigger rod 61 is locked, if the electromagnet adsorption device 76 is electrified to suck the armature 77 and the positioning pin shaft 79, the trigger rod pushing compression spring 60 can push the trigger rod 61 to move forward, and the two trigger heads 62 push the two ends of the roller mop 37 out of the corresponding mopping roller clamping grooves 64.
As a further improvement of the invention, the cross sections of the floor mopping slide bar 58 and the retaining connecting rod 52 are rectangular, the included angle between the slideway slot on the retaining guide block 54 and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod 66 and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod 70 and the horizontal plane is 35-50 degrees.
As a further development of the invention, the rear wheel drive wheel 44 is in driving connection with a rear driven wheel 48 located behind it by means of a toothed belt drive.
As a further improvement of the present invention, the stop block 55 is rectangular.
As a further improvement of the present invention, the downward surface of the stop block 55 is provided with a plurality of anti-slip ribs along the horizontal direction, and the stop block 55 is made of wear-resistant rubber.
When the auxiliary mopping mechanism for the intelligent nurse robot is used, the two walking driving motors 43 are respectively started, and the steering or rotating speed of the two walking driving motors 43 is regulated and controlled, so that the intelligent nurse robot can do forward, backward, left and right turning, in-situ rotation and other movements; when the rear crank wheel 50 rotates, the front end of the retaining connecting rod 52 rotates along with the rear end of the retaining connecting rod 52, the retaining connecting rod 53 is pushed to reciprocate along the slideway slot on the retaining guide block 54 in a front-rear inclined manner through the retaining connecting rod hinge pin 74, the retaining block 55 moves along with the retaining connecting rod, the lower end face of the retaining block 55 is in a state of propping against the ground in most of the time period in the moving process of the retaining block 55, at the moment, the rear wheel 75 is overhead, so that the intelligent type nursing robot tilts forward, a part of the weight of the intelligent type nursing robot is forwards and downwards pressed to the rotary shaft 19 of the roller mop 37, a force for pressing the roller mop 37 towards the ground is generated, and simultaneously, in order to offset the backward pushing force generated when the roller mop drags forwards, the robot is prevented from moving backwards due to the action of forwards, the robot can not move forwards in the place, the mopping effect of the roller mop 37 is better, the mopping effect of the roller mop can be achieved, the mopping robot can be more clean, and the robot can drag the mopping operation can be accomplished quickly and efficiently.
When mopping is needed, two ends of the rotary shaft 19 of the roller mop can be respectively inserted into the clamping grooves 64 of the two mopping rollers, two ends of the rotary shaft 19 of the roller mop can respectively push the corresponding two trigger heads 62 backwards, the two trigger rods 61 can respectively press each trigger rod backwards to push the pressure spring 60 outwards and move backwards, and simultaneously the two trigger heads 62 can respectively touch the corresponding upper deflector rod 66 and the corresponding lower deflector rod 70, so that the two groups of upper claw plates 65 and lower claw plates 69 can perform overturning motion against the blocking action of the upper claw plate deflector springs 68 and the lower claw plate deflector springs 72, and further the upper claw plates 65 and the lower claw plates 69 clamp the end parts of the rotary shaft 19 of the roller mop.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (4)
1. Intelligent nurse robot is with supplementary mechanism of mopping floor, its characterized in that: the robot comprises walking and auxiliary mopping mechanisms arranged at the left and right sides of the bottom of the robot, wherein the two walking and auxiliary mopping mechanisms are respectively arranged along the front-back direction and are symmetrically arranged on the robot body;
the walking and auxiliary mopping mechanism comprises a supporting plate (40), the plate surface of the supporting plate (40) is positioned in the front-rear vertical direction, the supporting plate (40) is fixedly connected with a machine body of the robot, a motor (41) is arranged in the middle of the inner side of the supporting plate (40), a shell of the motor (41) is arranged on the supporting plate (40), a driving shaft (42) is arranged in the middle of the outer side of the supporting plate (40), the axis of the driving shaft (42) is positioned in the left-right horizontal direction, the inner end of the driving shaft (42) is rotatably arranged on the supporting plate (40), the inner end of the driving shaft (42) is connected with a motor shaft of the motor (41) in a transmission manner, and a rear wheel driving wheel (44) and a motor crank wheel (45) are sequentially sleeved on the driving shaft (42) from inside to outside;
the front part of the inner side of the supporting plate (40) is provided with a walking driving motor (43), a shell of the walking driving motor (43) is arranged on the supporting plate (40), the front part of the outer side of the supporting plate (40) is provided with a front wheel shaft (46), the axis of the front wheel shaft (46) is positioned in the left-right horizontal direction, the inner end of the front wheel shaft (46) is rotatably arranged on the supporting plate (40), the inner end of the front wheel shaft (46) is in transmission connection with a motor shaft of the walking driving motor (43), and a front driving walking wheel (47) is sleeved on the front wheel shaft (46);
the rear wheel driving wheel (44) is in transmission connection with a rear driven wheel (48) positioned at the rear of the rear wheel driving wheel through belt transmission or chain transmission, the rear driven wheel (48) is sleeved on a rear wheel shaft (49), the axis of the rear wheel shaft (49) is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft (49) is rotatably arranged on the supporting plate (40), and a rear crank runner (50) is sleeved on the rear wheel shaft (49) and positioned at the outer side of the rear driven wheel (48);
the edge of the rear crank rotating wheel (50) is rotatably provided with a rear crank rotating shaft (51) along the left-right horizontal direction, the rear crank rotating shaft (51) outwards extends to penetrate through the outer end face of the rear crank rotating wheel (50), the outer end of the rear crank rotating shaft (51) is connected with the front end of a backstop connecting rod (52), the backstop connecting rod (52) is arranged along the front-back vertical surface direction, the rear end of the backstop connecting rod (52) is connected with the front end of a backstop sliding rod (53) through a backstop connecting rod hinged pin shaft (74), the axis of the backstop connecting rod hinged pin shaft (74) is positioned in the left-right horizontal direction, the backstop sliding rod (53) is inserted into a slideway groove on a backstop guide block (54), the backstop guide block (54) is fixedly connected with a supporting plate (40), the slideway groove on the backstop guide block (54) is high in front end, low in rear end and is obliquely arranged along the front-back vertical surface direction, the rear end of the backstop sliding rod (53) is fixedly connected with a backstop block (55), and the end face of the backstop sliding rod (55) facing downwards can be attached to the ground;
the edge of the motor crank wheel (45) is rotatably provided with a motor crank rotating shaft (56) along the left-right horizontal direction, the motor crank rotating shaft (56) outwards extends to penetrate through the outer end face of the motor crank wheel (45), the outer end of the motor crank rotating shaft (56) is fixedly connected with the rear end of a mopping connecting rod (57), the mopping connecting rod (57) is arranged along the front-back vertical surface direction, the front end of the mopping connecting rod (57) is connected with the rear end of a mopping sliding rod (58) through a mopping connecting rod hinge pin shaft (73), the axis of the mopping connecting rod hinge pin shaft (73) is positioned in the left-right horizontal direction, the mopping sliding rod (58) is inserted into a mopping guide chute on a mopping guide block (59), the mopping guide block (59) is fixedly connected with a supporting plate (40), and a slideway groove on the mopping guide block (59) is arranged along the front-back horizontal direction;
the floor mopping slide bar (58) is internally provided with a trigger bar mounting hole along the axial direction, the trigger bar mounting hole extends forward to the front end face of the floor mopping slide bar (58), a trigger bar (61) is inserted in the trigger bar mounting hole in a clearance fit manner, the rear end in the trigger bar mounting hole is provided with a trigger bar push-out pressure spring (60), the rear end of the trigger bar push-out pressure spring (60) is propped against the bottom in the trigger bar mounting hole, the front end of the trigger bar push-out pressure spring (60) is propped against the rear end of the trigger bar (61), the front end of the trigger bar (61) is provided with a trigger head (62), the trigger head (62) is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head (62) is larger than the aperture of the trigger bar mounting hole, and the front end of the trigger bar (61) is fixedly connected with the rear end of the trigger head (62);
the inner side and the outer side of the front end of the trigger rod (61) are respectively provided with a positioning clamping plate (63), the plate surfaces of the two positioning clamping plates (63) are respectively positioned in the front-back vertical direction, the rear ends of the two positioning clamping plates (63) are fixedly connected with the front end of the trigger rod (61), the plate surfaces of the two positioning clamping plates (63) are provided with a mopping roller clamping groove (64), the opening of the mopping roller clamping groove (64) is positioned in the middle of the front end of the positioning clamping plate (63), the upper part between the front ends of the two positioning clamping plates (63) is provided with an upper clamping jaw, and the lower part between the front ends of the two positioning clamping plates (63) is provided with a lower clamping jaw;
the upper clamping jaw comprises an upper claw plate (65) arranged along the front-back horizontal direction, the rear end of the upper claw plate (65) is connected with the front end of an upper deflector rod (66) into a whole, the front end of the upper deflector rod (66) is high, the rear end of the upper deflector rod (66) is low and is obliquely arranged along the front-back direction, the front end of the lower part of the upper deflector rod (66) is attached to the upward surface of a trigger head (62), the rear end of the upper claw plate (65) is sleeved on an upper claw plate rotating pin shaft (67) in a clearance fit manner, the two ends of the upper claw plate rotating pin shaft (67) are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates (63), an upper claw plate poking spring (68) is arranged above the upper claw plate (65), the rear end of the upper claw plate poking spring (68) is fixedly connected with the upper ends of the corresponding positioning clamping plates (63), and the front part of the upper claw plate poking spring (68) acts on the top end of the upper claw plate (65) to enable the front end of the upper claw plate (65) to perform upward overturning movement;
the lower clamping jaw comprises a lower jaw plate (69) arranged along the front-rear horizontal direction, the rear end of the lower jaw plate (69) is connected with the front end of a lower deflector rod (70) into a whole, the front end of the lower deflector rod (70) is low, the rear end of the lower deflector rod (70) is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod (70) is attached to the downward surface of a trigger head (62), the rear end of the lower jaw plate (69) is sleeved on a lower jaw plate rotating pin shaft (71) in a clearance fit manner, the two ends of the lower jaw plate rotating pin shaft (71) are respectively connected with the lower parts of the front ends of corresponding positioning clamping plates (63), a lower jaw plate poking spring (72) is arranged below the lower jaw plate (69), the rear end of the lower jaw plate poking spring (72) is fixedly connected with the lower end of the corresponding positioning clamping plate (63), the front part of the lower jaw plate poking spring (72) acts on the bottom end of the lower jaw plate (69), and the front end of the lower jaw plate poking spring (69) makes downward overturning movement;
a rear wheel (75) is rotatably mounted below the rear part of the support plate (40);
an electromagnet adsorption device (76) is arranged above the rear part of the mopping slide bar (58), the electromagnet adsorption device (76) is fixedly arranged on the mopping slide bar (58) through a fixed bracket (78), an electromagnetic adsorption part of the electromagnet adsorption device (76) is downwards arranged, an armature (77) is arranged below the electromagnet adsorption device (76), the armature (77) is fixed at the top end of a positioning pin (79), the positioning pin (79) is arranged in the vertical direction, the middle lower part of the positioning pin (79) is inserted on the mopping slide bar (58) in a clearance fit manner, a pin inserting clamping groove is formed in the rear part of the triggering rod (61), and when the triggering rod (61) is positioned at the position of a pressing triggering rod pushing pressure spring (60), the positioning pin (79) downwards penetrates through the side wall of the mopping slide bar (58) and is inserted into the pin inserting clamping groove;
the retaining block (55) is rectangular.
2. The auxiliary mopping mechanism for an intelligent babysitter robot as claimed in claim 1, wherein: the cross sections of the floor mopping slide bar (58) and the retaining connecting rod (52) are rectangular, the included angle between a slide groove on the retaining guide block (54) and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod (66) and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod (70) and the horizontal plane is 35-50 degrees.
3. The auxiliary mopping mechanism for an intelligent babysitter robot as claimed in claim 2, wherein: the rear wheel driving wheel (44) is in transmission connection with the rear driven wheel (48) through a toothed belt transmission.
4. The auxiliary mopping mechanism for an intelligent babysitter robot according to claim 1, 2 or 3, wherein: the surface of the backstop block (55) facing downwards is provided with a plurality of anti-slip convex ridges along the left-right horizontal direction, and the backstop block (55) is made of wear-resistant rubber.
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 |
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| 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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| CN109044209A CN109044209A (en) | 2018-12-21 |
| CN109044209B true CN109044209B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811094654.XA Active CN109044209B (en) | 2018-09-19 | 2018-09-19 | Auxiliary mopping mechanism for intelligent nurse robot |
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| CN109044209A (en) | 2018-12-21 |
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