CN109898454A - A kind of robot for municipal works - Google Patents
A kind of robot for municipal works Download PDFInfo
- Publication number
- CN109898454A CN109898454A CN201910213213.5A CN201910213213A CN109898454A CN 109898454 A CN109898454 A CN 109898454A CN 201910213213 A CN201910213213 A CN 201910213213A CN 109898454 A CN109898454 A CN 109898454A
- Authority
- CN
- China
- Prior art keywords
- shaft
- support plate
- support
- plate
- dust
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
The invention belongs to municipal sweeping robot technical fields, more particularly to a kind of robot for municipal works, it includes walking mechanism, dust collection mechanism, Ca Shi mechanism, smooth out mechanism, traveling wheel, wherein sweeping robot has automatically walk, automatic dust absorption, automatic humidification and automatic shovel fall four big functions of bump, the design concept covered by annulus, by automatically walk, automatic dust absorption, the mechanisms such as automatic humidification are circularized and are nested together, and in annular mechanism medium design floating mechanism, it smoothes out mechanism and is all output to the power of engine by differential mechanism automatic control and adjustment and accelerate on flywheel, and floating shaft is made to run out of steam, i.e. robot will not invert, only accelerate flywheel in rotation, in addition the damage for smoothing out motor is prevented.Entire inventive structure is compact vdiverse in function, has fabulous using effect.
Description
Technical field
The invention belongs to municipal sweeping robot technical field more particularly to a kind of robots for municipal works.
Background technique
Cleaning road equipment in municipal administration field at present, road surface is cleaned frequently with manned road sweeper, use is general
Steaming chassis and increase sweep the floor mechanical equipment to realize floor sweeping function, when for having the rubbish being difficult to clean up on road surface, need
By artificially clearing up to the rubbish cleaning of hardly possible cleaning, and then by road sweeper, working efficiency is very low, affects speed of sweeping the floor.
And for the current equipment swept the floor automatically, it is realized merely by cleaning and sprinkling water, for the rubbish being difficult to clean up, certainly
Dynamic sweeping robot can not be accomplished, or needs and its complicated equipment are just able to achieve.
The present invention design a kind of robot for municipal works solve the problems, such as it is as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of robot for municipal works, it is to adopt
It is realized with following technical scheme.
A kind of robot for municipal works, it is characterised in that: it include walking mechanism, dust collection mechanism, Ca Shi mechanism,
Mechanism, traveling wheel are smoothed out, wherein walking mechanism, dust collection mechanism and Ca Shi mechanism are annulus post shapes, smooth out mechanism and are mounted on
In Ca Shi mechanism inner ring surface, Ca Shi mechanism is mounted in dust collection mechanism inner ring surface, and dust collection mechanism is mounted on walking mechanism inner ring surface
Interior, three traveling wheels are circumferentially uniformly mounted to walking mechanism bottom surface.
There is driving motor, servo motor, electric-control system and battery inside above-mentioned walking mechanism.
Above-mentioned dust collection mechanism include sweep-up pipe, suction box, dust bin, suction box bottom tube, dust sucting motor, dust suction pump, pump into
Outlet, annular storage dirt channel, annular suction inlet, dust suction inclined-plane, wherein suction box is annular hollow structure and outer ring surface is mounted on
On the upside of walking mechanism inner ring surface, suction box bottom tube is mounted on the downside of suction box and is located at the circular hole of bottom surface, and dust bin is mounted on
The downside of walking mechanism inner ring surface is provided with annular storage dirt channel in dust bin, and annular storage is provided with annular suction inlet on the downside of dirt channel,
Annular suction inlet both sides of edges all has dust suction inclined-plane, and dust suction pump two sides are provided with a pump inlet and outlet, and dust suction pump is mounted on suction
On the upside of dirt ring, dust sucting motor is mounted on dust suction pump upside, and three sweep-up pipes are circumferentially uniformly mounted on the upside of dust bin, and are passed through
Hose synthesizes a channel and communicates with one in two pump inlet and outlet, and suction box bottom tube is passed in and out by hose and another pump
Mouth communicates.
Above-mentioned Ca Shi mechanism includes water tank, diversion lead ring, wipes wet ring, water hole, water-supply-pipe, expands water ring face, wherein storing up
Water tank is annular hollow mechanism and its outer ring surface is mounted on suction box inner ring surface, wipes wet ring and is mounted on the downside of diversion lead ring, draws
The outer ring surface of water lead ring is mounted on dust bin inner ring surface；Six water-supply-pipe one end are circumferentially uniformly mounted on six on diversion lead ring
On a water hole, the other end is mounted on the downside of water tank；Each water hole and the wet ring contact jaw of wiping, which have, expands water ring face.
Above-mentioned floating mechanism includes smoothing out hack lever, triggering block, accelerating flywheel, is flywheel rotating shaft support, flywheel shaft, second poor
Fast device, rotation support, the first differential mechanism, smoothes out shaft, smoothes out motor, triggering arc plate, fixed bottom plate, first controllable clutch
Fagging, the second right axle, limits axis, restriction article, the second support plate, first rotating shaft, third support plate, conducting bar, the 4th at the second left axle
Support plate, the 5th support plate, smoothes out electric baseboard, smoothes out motor support, the 6th support plate, the second shaft, the 7th scroll spring
Support plate, third shaft, the 8th support plate, floating machine shaft, the first main shaft, lead ring slot, rotation lead ring, floating shaft are led
Slot, trigger ramp smooth out shaft lead ring, limited block, limit triggering block, limit sliding sleeve, limit hole, smooth out blade, the 4th shaft,
It wherein fixes bottom plate to be mounted on diversion lead ring inner edge surface, has in circular hole among fixed bottom plate and smooth out shaft guide groove, fixed bottom
Lead ring slot is provided on the upside of plate on end face, there is trigger ramp in arc triggering block and is mounted on the upside of fixed bottom plate and close to fixed
Bottom plate outer edge surface；It smoothes out to be equipped in shaft and smoothes out shaft lead ring, smooth out shaft and led by smoothing out shaft lead ring with shaft is smoothed out
Slot is fitted in fixed bottom plate, is smoothed out shaft bottom end and is symmetrically installed with two floating hack levers, each floating hack lever top
Floating blade is installed, hack lever is smoothed out close to the frame body for smoothing out shaft junction and is greater than floating blade and ground apart from ground level
Distance；Rotation support is Circular Plate, and downside is equipped with rotation lead ring, and rotation support is matched by rotation lead ring and lead ring slot
Conjunction is mounted on fixed bottom plate；Electric baseboard is smoothed out to be mounted on rotation support outer edge surface；Scroll spring is mounted on rotation support
In inner ring, and scroll spring outer end is mounted on rotatably supported inner ring surface, and inner end is mounted on fixed bottom plate；It is logical to smooth out motor
Floating motor support is crossed to be mounted on floating electric baseboard；7th support plate is mounted on rotation support upside and close to floating motor
Support, the 6th support plate one end are fixed on the 7th support plate side and vertical with the 7th support plate, and the 8th support plate one end is fixed
On the 7th support plate top and vertical with the 7th support plate, the 6th support plate and the ipsilateral one end of the 8th support plate are equipped with jointly
5th support plate and the 5th support plate is parallel with the 7th support plate, third support plate be mounted on rotation support it is upper and with the 7th support
Plate is symmetrical；4th support plate one end is mounted on the 5th support plate side, and the other end is mounted on third support plate side；First
Support plate bottom end is mounted in the 4th support plate and vertical with the 4th support plate, and second support plate one end is fixed on third support plate
Top, the other end are mounted on the first support plate side；First main shaft is mounted on the downside of the 5th support plate, and the 4th shaft is mounted on the
In four support plates, the first main shaft is connect by the first differential mechanism with floating shaft and the 4th shaft, smoothes out shaft and the 4th shaft
For two differential shafts of the first differential mechanism；Second shaft is mounted in the 6th support plate, and the second shaft passes through with the first main shaft
Bore tooth cooperation transmission；It smoothes out machine shaft to be mounted in the 7th support plate, third shaft is mounted in the 8th support plate, smoothes out electricity
Machine shaft is engaged by cone tooth cooperation with the second shaft and third shaft；Second left axle is mounted on the upside of the 5th support plate, third
Shaft is connect by controllable clutch with the second left axle；Second right axle is mounted on the upside of the first support plate；The installation of flywheel rotating shaft support
On water tank inner ring side, flywheel shaft is mounted on flywheel rotating shaft support, and flywheel is accelerated to be mounted on flywheel shaft upper end；Flywheel
Shaft is connect by the second differential mechanism with the second right axle and the second left axle, and the second left axle and the second right axle are the two of the second differential mechanism
A differential shaft；It limits axis to be mounted in the second support plate, first rotating shaft is mounted in the first support plate, limits axis one end and second
Right axle limits the axis other end and first rotating shaft and passes through cone tooth cooperation by cone tooth cooperation；First rotating shaft one end passes through with axis is limited
It bores tooth cooperation, the first rotating shaft other end and the 4th shaft and passes through cone tooth cooperation；Limit sliding sleeve is mounted in the first support plate, is limited
Block two sides are symmetrically installed there are two triggering block is limited, and each limit triggering block passes through restriction item and is mounted on triggering arc plate top two
Side limits and is provided with limit hole on axis, and limited block one end slides in limit hole, and the other end slides in limit sliding sleeve；Conducting bar one
End is mounted on triggering arc plate, and the other end passes through the square hole in third support plate；Arc plate lower end and fixed bottom plate are triggered with low
In the gap of triggering block height.
As the further improvement of this technology, above-mentioned floating shaft bottom end is provided with the support foundation card slot of annular, supports bottom
Circular groove is provided on the upside of column, circular groove bottom end is equipped with annular brace foundation lead ring, and support foundation passes through support foundation lead ring and support
The cooperation of foundation card slot and be mounted on smooth out shaft bottom end.
As the further improvement of this technology, above-mentioned floating hack lever lower end two sides are symmetrically installed there are two friction block, and two
A friction block is located between two floating blades.
As the further improvement of this technology, above-mentioned scroll spring inner end is mounted on fixed bottom plate by spring anchor block
On.
As the further improvement of this technology, above-mentioned dust sucting motor and floating motor pass through the confession of the battery in walking mechanism
Electricity.
Relative to traditional municipal sweeping robot technology, the sweeping robot in the present invention has automatically walk, automatic
Dust suction, automatic humidification and automatic shovel fall four big functions of bump, by the design concept of annulus set, by automatically walk, automatically
The mechanisms such as dust suction, automatic humidification are circularized and are nested together, and in annular mechanism medium design floating mechanism, entire hair
It is bright compact-sized vdiverse in function, there is fabulous using effect.
Motor and electric machine control system are mounted on walking mechanism shell using conventional technique by the walking mechanism in the present invention
Internal portion achievees the purpose that the entire sweeping robot of control by the walking and steering of three wheels of SERVO CONTROL.Vacuum cleaner
On walking mechanism inner edge surface, dust collection mechanism provides power by dust sucting motor and is drawn into the dust absorbed for structure design
In suction box.Dust sucting motor is by generating negative pressure to annular storage dirt channel, so that dust passes through dust suction inclined-plane and annular suction inlet
It entering in annular storage dirt channel, dust is flowed in annular storage dirt channel and is entered in suction box by three sweep-up pipes,
The purpose of design on dust suction inclined-plane is on the one hand to the wider air-breathing area of offer and sucks dust, is on the other hand to pass through extension
Channel is weakened to dirt soil suction, is reduced air flowing and is blown afloat to the secondary of dust.There is water tank, water storage on the upside of desiccant body
Water in case is wiped water in wet ring from being flowed into water storage tank by the gravity of water by six roots of sensation water-supply-pipe, on the downside of water hole
With water ring face is expanded, the purpose for expanding water toroidal design, which is to be diffused into the water in water-supply-pipe with biggish outlet, wipes wet ring
In；Can allow wipe wet ring most fast speed water is wiped with suitable flow it is wet on ground；On the one hand the design for smoothing out mechanism rises
To protective effect when being stuck when smoothing out blade cutting protrusion to motor is smoothed out, on the other hand pass through the rotation of acceleration flywheel
Acceleration plays the role of increasing the cutting torque for smoothing out blade, and the blade that smoothes out smoothed out on hack lever carries out the protrusion on ground
Cutting removal；These protrusions include soil block, the chewing gum thrown out without care etc. after wet soil dries.In the case where power of motor allows,
The peak torque for smoothing out blade cutting protrusion is decided by the stiction on sweeping robot and ground, and robot is used and
Speech wishes that the lighter robot the better, more lighter easier carrying and use；But when the lighter in weight of sweeping robot, with ground
The frictional force in face can reduce, this is largely reducing the cutting power for smoothing out blade, when protrusion is difficult to be cleaned, machine of sweeping the floor
People can cut torque and reaction force is acted on by protrusion and being inverted because can not provide, and robot is caused to touch the furniture generation on periphery
It crashes through bad, so devise acceleration flywheel in invention, increases robot most using the acceleration that the acceleration rotation of flywheel provides
Large torque.It is removed protrusion.After the resistance that convex block is removed is greater than power input to a machine, entirely sweep
When can not all provide the torque that can remove protrusion under the frictional force of floor-washing robot and the acceleration collective effect of flywheel, robot
It is certain to ceaselessly invert, the power of engine is all output to by acceleration flywheel by differential mechanism automatic control and adjustment in invention
On, and floating shaft is made to run out of steam, i.e. robot will not invert, and only accelerate flywheel in rotation, in addition prevent floating electricity
The damage of machine.
It smoothes out the first main shaft in mechanism in the present invention to connect by the first differential mechanism with the 4th shaft and floating shaft, first
Differential mechanism can guarantee the power of the first main shaft transmitting according to the Drag distribution power of the 4th shaft and floating shaft, and resistance is opposite
Smaller, assigned power is bigger, i.e., after wherein any one is stuck for the 4th shaft and floating shaft, the first main shaft is moved
Power can be only delivered in the shaft not being stuck；Second left axle and the second right axle are connected by the second differential mechanism and flywheel shaft
Connect, the second differential mechanism designed for, the power of the second left axle and the second right axle can for delivery in flywheel shaft, and
And after any one in the second left axle and the second right axle is stuck, the shaft not being stuck can transfer power to flywheel
In shaft；Third shaft is connect by controllable clutch with the second left axle, and the design of controllable clutch is that this smoothes out mechanism and meets
Third shaft and the second left axle can just connect transmitting when certain condition；Triggering arc plate is radially slided in third support plate by conducting bar
Dynamic, triggering arc plate can be contacted with rotatably supported rotation with the trigger ramp in triggering block, under trigger ramp guiding role
Triggering arc plate is moved to third support plate direction.Limited block is controlled in sliding can slide in limit sliding sleeve and limit hole, limit
The sliding of position block can be limited to axis is limited；After limited block is inserted into limit hole, limiting axis will be rotated by limitation；
Trigger arc plate by positive stop strip and limit triggering block transmission control limited block movement, and then control limit axis limitation with
It is no.Smoothing out two sides on the floating hack lever of mechanism also has a friction block, friction block in smoothing out hack lever rotary course with ground friction
Contact guarantees that smoothing out blade and ground keeps certain small―gap suture, prevents from scratching ground when smoothing out blade rotation.Smooth out hack lever peace
Mounted in smoothing out in shaft, smoothing out on the downside of shaft has support foundation, and support foundation passes through support foundation lead ring and support foundation card
The cooperation of slot can be around shaft rotation be smoothed out, and the purpose of rotation is on the one hand to smooth out in hack lever rotary course, and rotation is smeared
On the other hand flat turn axis and static ground play guarantee with friction block jointly and smooth out blade and ground by support foundation transition
Keep the effect of certain small―gap suture.
The embodiment for smoothing out the cutting protrusion of mechanism is as follows: rotation support can rotate on fixed bottom plate, in rotation
Scroll spring is compressed, while driving to smooth out motor, various shafts and support and rotate together.When protrusion is easier to be removed
When, triggering arc plate is in far from rotation support outer edge surface position, and limited block is entrapped in limit hole at this time, is limited axis and is limited
Rotation limits the rotation of the second right axle and first rotating shaft by the cone tooth engagement between shaft by the restriction axis of limitation rotation
Turn；Controllable clutch maintains the separation of the second left axle and third shaft, smoothes out motor and is only capable of through the second shaft and the first main shaft
It transfers power to and smoothes out in shaft.When being smoothed out motor-driven floating blade and protrusion making contact, protrusion is to floating knife
Piece has reaction force, and reaction force is transmitted on floating motor by smoothing out shaft, drives rotation support rotation later, compresses
Scroll spring, is easier to the reaction force very little for the protrusion removed, and scroll spring can be greater than after being compressed lesser angle
Reaction, and the frictional ground force of robot is much larger than scroll spring restoring force at this time, so smoothing out blade can successfully cut
Except protrusion.When protrusion is more difficult to be removed, smoothing out blade will receive biggish reaction force, and scroll spring is compressed very big at this time
Angle, when the maximal friction that compressed scroll spring restoring force can be provided close to robot, robot be in faces
Boundary's inverted status, in this case rotation support rotate to certain setting angle, can excite controllable clutch to the at this angle
The engagement of three shafts and the second left axle, the second left axle is connected by the second differential mechanism smoothes out motor drive flywheel rotation, works as flywheel
After the counterforce counteraction that rotation generates smoothes out the reaction force of blade, smooth out blade flywheel accelerate reaction and robot with
Protrusion is purged under the frictional force collective effect on ground.When protrusion is difficult to be removed and wheel action power can not be offset and smear
After the reaction force of flat cutter piece, scroll spring can be compressed bigger angle, and triggering block can trigger triggering arc plate movement, so that limit
Position block is exited from limit hole, is limited axis and is restored rotation, and floating shaft is limited by protrusion and rotated at this time, is smoothed out motor and is passed through first
The power for smoothing out blade is transmitted on flywheel by differential mechanism by first rotating shaft, restriction axis and the second left axle, and flywheel is on second left side
High speed rotation under the transmission of both axis and the second right axle, and robot stops in situ and does not have Reversion, protects floating
Motor prevents robot from inverting the beneficial effect for causing secondary destruction again.
Detailed description of the invention
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is global facility top view.
Fig. 3 is global facility cross-sectional view.
Fig. 4 is global facility internal structure side view.
Fig. 5 is walking mechanism structural schematic diagram.
Fig. 6 is dust collection mechanism structural schematic diagram.
Fig. 7 is to wipe wet mechanism structure schematic diagram.
Fig. 8 is to smooth out mechanism structural schematic diagram.
Fig. 9 is to smooth out mechanism structural side view.
Figure 10 is rotation support scheme of installation.
Figure 11 is triggering block scheme of installation.
Figure 12 is to smooth out hack lever dependency structure schematic diagram.
Figure 13 is limited block mounting structure schematic diagram.
Figure 14 is support construction of sill pillar schematic diagram.
Figure 15 is limit shaft structural schematic diagram.
Figure 16 is that triggering arc plate and triggering block cooperate schematic diagram.
Figure 17 is suction box and water tank operation schematic diagram.
Figure label title: 1, walking mechanism, 2, dust collection mechanism, 3, Ca Shi mechanism, 4, floating mechanism, 5, floating hack lever,
6, traveling wheel, 7, water hole, 8, sweep-up pipe, 9, triggering block, 10, suction box, 11, water tank, 12, acceleration flywheel, 13, flywheel turn
Axis support, 14, flywheel shaft, the 15, second differential mechanism, 16, controllable clutch, 17, dust bin, 18, diversion lead ring, 19, the wet ring of wiping,
20, rotation support, the 21, first differential mechanism, 22, smooth out shaft, 23, smooth out motor, 24, water-supply-pipe, 25, triggering arc plate, 26, solid
Determine bottom plate, 27, suction box bottom tube, 28, dust sucting motor, 29, dust suction pump, 30, pump inlet and outlet, 31, storage dirt channel, 32, suction inlet,
33, dust suction inclined-plane, 34, expansion water ring face, the 36, first support plate, the 37, second left axle, the 38, second right axle, 39, restriction axis, 40, limit
Determine item, the 41, second support plate, 42, first rotating shaft, 43, third support plate, 44, conducting bar, the 45, the 4th support plate, 46, scrollwork bullet
Spring, the 47, the 5th support plate, 48, floating electric baseboard, 49, floating motor support, the 50, the 6th support plate, the 51, second shaft,
52, the 7th support plate, 53, third shaft, the 54, the 8th support plate, 55, floating machine shaft, 56, support foundation, 57, first is main
Axis, 58, lead ring slot, 59, rotation lead ring, 60, spring anchor block, 61, floating shaft guide groove, 62, trigger ramp, 63, floating turn
Spindle guide ring, 64, support foundation card slot, 65, friction block, 66, floating blade, 67, limited block, 68, limit triggering block, 69, limit
Sliding sleeve, 70, support foundation lead ring, 71, limit hole, the 72, the 4th shaft.
Specific embodiment
As shown in Fig. 1,3,4, it includes walking mechanism 1, dust collection mechanism 2, Ca Shi mechanism 3, smoothes out mechanism 4, traveling wheel 6,
Wherein walking mechanism 1, dust collection mechanism 2 and Ca Shi mechanism 3 are annulus post shapes, smooth out mechanism 4 and are mounted on 3 inner ring of Ca Shi mechanism
In face, Ca Shi mechanism 3 is mounted in 2 inner ring surface of dust collection mechanism, and dust collection mechanism 2 is mounted in 1 inner ring surface of walking mechanism, three rows
It walks wheel 6 and is circumferentially uniformly mounted to 1 bottom surface of walking mechanism.
As shown in figure 5, having driving motor, servo motor, electric-control system and battery inside above-mentioned walking mechanism 1.
As shown in Fig. 6,2, above-mentioned dust collection mechanism 2 include sweep-up pipe 8, suction box 10, dust bin 17, suction box bottom tube 27,
Dust sucting motor 28, dust suction pump 29, pump inlet and outlet 30, annular storage dirt channel 31, annular suction inlet 32, dust suction inclined-plane 33, wherein inhaling
Dirt case 10 is annular hollow structure and outer ring surface is mounted on the upside of 1 inner ring surface of walking mechanism, and suction box bottom tube 27 is mounted on dust suction
On the downside of case 10 and it is located at the circular hole of bottom surface, dust bin 17 is mounted on the downside of 1 inner ring surface of walking mechanism, is provided in dust bin 17
Annular storage dirt channel 31, annular storage are provided with annular suction inlet 32 on the downside of dirt channel 31, and annular 32 both sides of edges of suction inlet all has
Dust suction inclined-plane 33, dust suction pump 29 two sides and are provided with a pump inlet and outlet 30, and dust suction pump 29 is mounted on 17 upside of dust bin, dust suction electricity
Machine 28 is mounted on 29 upside of dust suction pump, and three sweep-up pipes 8 are circumferential to be uniformly mounted to 17 upside of dust bin, and is synthesized by hose
One channel is simultaneously communicated with one in two pump inlet and outlet 30, and suction box bottom tube 27 passes through hose and another pump inlet and outlet 30
It communicates.
As shown in fig. 7, above-mentioned Ca Shi mechanism 3 includes water tank 11, diversion lead ring 18, wipes wet ring 19, water hole 7, water delivery
Pipe 24 expands water ring face 34, and wherein water tank 11 is annular hollow mechanism and its outer ring surface is mounted on 10 inner ring surface of suction box, wipes
Wet ring 19 is mounted on 18 downside of diversion lead ring, and the outer ring surface of diversion lead ring 18 is mounted on 17 inner ring surface of dust bin；Six water deliverys
24 one end of pipe is circumferentially uniformly mounted on six water holes 7 on diversion lead ring 18, and the other end is mounted on 11 downside of water tank；Often
A water hole 7 has expansion water ring face 34 with wet 19 contact jaw of ring is wiped.
As shown in Figure 8,9, above-mentioned floating mechanism 4 includes smoothing out hack lever 5, triggering block 9, accelerating flywheel 12, flywheel shaft branch
Support 13, the second differential mechanism 15, controllable clutch 16, the 20, first differential mechanism 21 of rotation support, smoothes out shaft 22, smears flywheel shaft 14
Flat telegram machine 23, fixed bottom plate 26, the first support plate 36, the second left axle 37, the second right axle 38, limits axis 39, limit at triggering arc plate 25
Determine article 40, second support plate 41, first rotating shaft 42, third support plate 43, conducting bar 44, the 4th support plate 45, scroll spring 46,
Five support plates 47 smooth out electric baseboard 48, smooth out motor support 49, the 6th support plate 50, the second shaft 51, the 7th support plate
52, third shaft 53, the 8th support plate 54, floating machine shaft 55, the first main shaft 57, lead ring slot 58, rotation lead ring 59, floating
Shaft guide groove 61, trigger ramp 62 smooth out shaft lead ring 63, limited block 67, limit triggering block 68, limit sliding sleeve 69, limit hole
71, blade 66, the 4th shaft 72 are smoothed out, wherein as shown in figure 3, fixed bottom plate 26 is mounted on 18 inner edge surface of diversion lead ring, such as
Shown in Figure 11, have in the fixed intermediate circular hole of bottom plate 26 and smooth out shaft guide groove 61, is provided with lead ring on fixed 26 upside end face of bottom plate
Slot 58 has trigger ramp 62 in arc triggering block 9 and is mounted on fixed 26 upside of bottom plate and close to fixed 26 outer edge surface of bottom plate；
As shown in figure 12, it smoothes out to be equipped in shaft 22 and smoothes out shaft lead ring 63, smooth out shaft 22 by smoothing out shaft lead ring 63 and smearing
Flat turn axle guide 61 is fitted in fixed bottom plate 26, is smoothed out 22 bottom end of shaft and is symmetrically installed there are two hack lever 5 is smoothed out, often
A 5 top of floating hack lever, which is equipped with, smoothes out blade 66, smoothes out hack lever 5 close to the frame body of floating 22 junction of shaft apart from ground height
Degree, which is greater than, smoothes out blade 66 at a distance from ground；As shown in Figure 10, rotation support 20 is Circular Plate, and downside is equipped with rotation and leads
Ring 59, rotation support 20 are fitted on fixed bottom plate 26 by rotation lead ring 59 and lead ring slot 58；As shown in Figure 8,9,
Electric baseboard 48 is smoothed out to be mounted on rotation 20 outer edge surfaces of support；As shown in Fig. 8,10, scroll spring 46 is mounted on rotation support
In 20 inner ring, and 46 outer end of scroll spring is mounted on the inner ring surface of rotation support 20, and inner end is mounted on fixed bottom plate 26；Such as
Fig. 8, it shown in 9, smoothes out motor 23 and is mounted on by smoothing out motor support 49 and smooth out on electric baseboard 48；The installation of 7th support plate 52
Rotation support 20 upside and close to smooth out motor support 49,50 one end of the 6th support plate be fixed on 52 side of the 7th support plate and
Vertical with the 7th support plate 52,54 one end of the 8th support plate is fixed on 52 top of the 7th support plate and hangs down with the 7th support plate 52
Directly, the 6th support plate 50 and the ipsilateral one end of the 8th support plate 54 the 5th support plate 47 is installed jointly and the 5th support plate 47 with
7th support plate 52 is parallel, and third support plate 43 is mounted in rotation support 20 and symmetrical with the 7th support plate 52；4th
45 one end of support plate is mounted on 47 side of the 5th support plate, and the other end is mounted on 43 side of third support plate；First support plate 36
Bottom end is mounted in the 4th support plate 45 and vertical with the 4th support plate 45, and 41 one end of the second support plate is fixed on third support plate
43 tops, the other end are mounted on 36 side of the first support plate；First main shaft 57 is mounted on 47 downside of the 5th support plate, the 4th shaft
72 are mounted in the 4th support plate 45, and the first main shaft 57 is connected by the first differential mechanism 21 with floating shaft 22 and the 4th shaft 72
It connects, smoothes out shaft 22 and the 4th shaft 72 is two differential shafts of the first differential mechanism 21；Second shaft 51 is mounted on the 6th support
On plate 50, and the second shaft 51 and the first main shaft 57 are driven by cone tooth cooperation；It smoothes out machine shaft 55 and is mounted on the 7th support
On plate 52, third shaft 53 is mounted in the 8th support plate 54, is smoothed out machine shaft 55 and is passed through the cooperation of cone tooth and the second shaft 51
It is engaged with third shaft 53；Second left axle 37 is mounted on the upside of the 5th support plate 47, third shaft 53 by controllable clutch 16 with
The connection of second left axle 37；Second right axle 38 is mounted on 36 upside of the first support plate；Flywheel rotating shaft support 13 is mounted on water tank 11
On inner ring side, flywheel shaft 14 is mounted on flywheel rotating shaft support 13, and flywheel 12 is accelerated to be mounted on 14 upper end of flywheel shaft；Flywheel
Shaft 14 is connect by the second differential mechanism 15 with the second right axle 38 and the second left axle 37, and the second left axle 37 and the second right axle 38 are the
Two differential shafts of two differential mechanisms 15；It limits axis 39 to be mounted in the second support plate 41, first rotating shaft 42 is mounted on the first support
On plate 36,39 one end of axis and the second right axle 38 are limited by cone tooth cooperation, 39 other end of axis is limited and first rotating shaft 42 passes through cone
Tooth cooperation；By cone tooth cooperation, 42 other end of first rotating shaft and the 4th shaft 72 pass through cone for 42 one end of first rotating shaft and restriction axis
Tooth cooperation；As shown in Fig. 8,13, limit sliding sleeve 69 is mounted in the first support plate 36, there are two 67 two sides of limited block are symmetrically installed
Triggering block 68 is limited, each limit triggering block 68 is mounted on triggering 25 top two sides of arc plate by limiting item 40, such as Figure 15 institute
Show, limiting and being provided with limit hole 71 on axis 39,67 one end of limited block slides in limit hole 71, and the other end slides on limit sliding sleeve 69
In；44 one end of conducting bar is mounted on triggering arc plate 25, and the other end passes through the square hole in third support plate 43；Trigger 25 lower end of arc plate
There is the gap lower than 9 height of triggering block with fixed bottom plate 26.
As shown in figure 14, above-mentioned 22 bottom end of floating shaft is provided with the support foundation card slot 64 of annular, 56 upside of support foundation
It is provided with circular groove, circular groove bottom end is equipped with annular brace foundation lead ring 70, and support foundation 56 passes through support foundation lead ring 70 and support
The cooperation of foundation card slot 64 and be mounted on smooth out 22 bottom end of shaft.
As shown in figure 12, above-mentioned 5 lower end two sides of floating hack lever are symmetrically installed there are two friction block 65, and two friction blocks 65
Between two floating blades 66.
As shown in Figure 10, above-mentioned 46 inner end of scroll spring is mounted on fixed bottom plate 26 by spring anchor block 60.
Above-mentioned dust sucting motor 28 and floating motor 23 pass through the battery power supply in walking mechanism 1.
In conclusion as shown in Fig. 3,17, the sweeping robot in the present invention has automatically walk, automatic dust absorption, automatic
Humidification and automatic shovel fall four big functions of bump, the design concept covered by annulus, by automatically walk, automatic dust absorption, automatic
The mechanisms such as humidification are circularized and are nested together, and tight in annular mechanism medium design floating mechanism 4, entire inventive structure
Gather it is vdiverse in function, have fabulous using effect.
Motor and electric machine control system are mounted on walking mechanism 1 using conventional technique by the walking mechanism 1 in the present invention
Enclosure interior achievees the purpose that the entire sweeping robot of control by the walking and steering of three wheels of SERVO CONTROL.Dust suction
For the design of mechanism 2 on 1 inner edge surface of walking mechanism, dust collection mechanism 2 provides the dirt that power will be absorbed by dust sucting motor 28
Soil is drawn into suction box 10.Dust sucting motor 28 is by generating negative pressure to annular storage dirt channel 31, so that dust is oblique by dust suction
Face 33 and annular suction inlet 32 enter in annular storage dirt channel 31, and dust flows in annular storage dirt channel 31 and passes through three
Sweep-up pipe 8 enters in suction box 10, and the purpose of design on dust suction inclined-plane 33 is on the one hand to provide wider air-breathing area for dirt
On the other hand soil sucking is to reduce air flowing to be weakened by extended channel to dirt soil suction and blow afloat to the secondary of dust.
There is on the upside of desiccant body water tank 11, the water in water tank 11 by six roots of sensation water-supply-pipe 24 by water gravity by water from
It is flowed into and is wiped in wet ring 19 in water storage tank, have on the downside of water hole 7 and expand water ring face 34, expand the purpose that water ring face 34 is designed and be energy
Enough be diffused into the water in water-supply-pipe 24 with biggish outlet is wiped in wet ring 19；Can allow wipe the most fast speed of wet ring 19 by water with
Suitable flow is wiped wet on ground；On the one hand the design for smoothing out mechanism 4 is played is stuck when smoothing out blade 66 and cutting protrusion
When to smooth out motor 23 protective effect, on the other hand by accelerate flywheel 12 rotary acceleration play increase floating blade 66
Cutting torque effect, smooth out hack lever 5 on floating blade 66 cutting removal is carried out to the protrusion on ground；These protrusion packets
Include the soil block after wet soil dries, the chewing gum thrown out without care etc..In the case where power of motor allows, smoothes out blade 66 and cut protrusion
Peak torque is decided by the stiction on sweeping robot and ground, and wish for robot use robot it is more light more
It is good, more lighter easier carrying and use；But when the lighter in weight of sweeping robot, it can reduce with the frictional force on ground,
This is largely reducing the cutting power for smoothing out blade 66, and when protrusion is difficult to be cleaned, sweeping robot can be because can not mention
For cutting torque, reaction force is acted on by protrusion and being inverted, and robot is caused to generate impact wreckage to the furniture on periphery, so hair
It is devised in bright and accelerates flywheel 12, increase the peak torque of robot using the acceleration that the acceleration rotation of flywheel provides.Big
It is removed protrusion.After the resistance that convex block is removed is greater than power input to a machine, entire sweeping robot
When can not all provide the torque that can remove protrusion under frictional force and the acceleration collective effect of flywheel, robot is certain to not stop
Reversion, the power of engine is all output to by differential mechanism automatic control and adjustment in invention and is accelerated on flywheel 12, and make
It smoothes out shaft 22 to run out of steam, i.e., robot will not invert, and only accelerate flywheel 12 in rotation, in addition prevent and smooth out motor 23
Damage.
The first main shaft 57 in mechanism 4 is smoothed out in the present invention passes through the first differential mechanism 21 and the 4th shaft 72 and floating shaft 22
Connection, the first differential mechanism 21 can guarantee the power of the first main shaft 57 transmitting according to the resistance of the 4th shaft 72 and floating shaft 22
Distribute power, resistance is relatively smaller, and assigned power is bigger, i.e., when the 4th shaft 72 and smooth out shaft 22 wherein any one
After being stuck, the power of the first main shaft 57 can be only delivered in the shaft not being stuck；Second left axle 37 and the second right axle
38 are connect by the second differential mechanism 15 with flywheel shaft 14, the second differential mechanism 15 designed for, the second left axle 37 and the
The power of two right axles 38 can be for delivery in flywheel shaft 14, and when any one in the second left axle 37 and the second right axle 38
After being stuck, the shaft not being stuck can be transferred power in flywheel shaft 14；Third shaft 53 passes through controllable clutch
16 connect with the second left axle 37, and the design of controllable clutch 16 is that this smoothes out third shaft 53 when mechanism 4 is met certain condition
Transmitting can be just connected with the second left axle 37；Triggering arc plate 25 is radially slided in third support plate 43 by conducting bar 44, such as Figure 16
Shown, triggering arc plate 25 can be contacted with the rotation of rotation support 20 with the trigger ramp 62 in triggering block 9, in trigger ramp 62
Arc plate 25 is triggered under guiding role to move to 43 direction of third support plate.Limited block 67 is controlled in sliding can be in limit sliding sleeve 69
It is slided in limit hole 71, the sliding of limited block 67 can be limited to axis is limited；When limited block 67 is inserted into limit hole 71
In after, limit axis will by limitation rotate；It triggers arc plate 25 and limited block is controlled by the transmission of positive stop strip and limit triggering block 68
67 movement, and then whether the limitation of control restriction axis.Smoothing out two sides on the floating hack lever 5 of mechanism 4 also has friction block 65, rubs
Cleaning block 65 contacts in smoothing out 5 rotary course of hack lever with ground friction, between guaranteeing that floating blade 66 and ground keep centainly small
Gap prevents from scratching ground when smoothing out the rotation of blade 66.It smoothes out hack lever 5 to be mounted in floating shaft 22, smoothes out and have on the downside of shaft 22
There is support foundation 56, support foundation 56 is by support foundation lead ring 70 and supports the cooperation of foundation card slot 64 that can turn around smoothing out
Axis 22 rotates, and the purpose of rotation is on the one hand to smooth out in 5 rotary course of hack lever, the floating shaft 22 of rotation and static ground
By supporting 56 transition of foundation, is on the other hand played jointly with friction block 65 and guarantee that floating blade 66 keeps centainly small with ground
The effect in gap.
The embodiment for smoothing out the cutting protrusion of mechanism 4 is as follows: rotation support 20 can rotate on fixed bottom plate 26, revolve
Scroll spring 46 is compressed in turning, while driving to smooth out motor 23, various shafts and support and rotate together.When protrusion is relatively held
When easily being removed, triggering arc plate 25 is in far from 20 outer edge surface positions of rotation support, and limited block 67 is entrapped in limit hole at this time
It in 71, limits axis and is rotated by limitation, second right side is limited by the cone tooth engagement between shaft by the restriction axis of limitation rotation
The rotation of axis 38 and first rotating shaft 42；Controllable clutch 16 maintains the separation of the second left axle 37 and third shaft 53, smoothes out motor
23 are only capable of transferring power to by the second shaft 51 and the first main shaft 57 in floating shaft 22.It is smeared by what floating motor 23 drove
When flat cutter piece 66 and protrusion making contact, protrusion has reaction force to blade 66 is smoothed out, and reaction force is by smoothing out shaft 22
It is transmitted to and smoothes out on motor 23, drive 20 rotation of rotation support later, compress scroll spring 46, be easier to the anti-of the protrusion removed
Active force very little, scroll spring 46 can be greater than reaction after being compressed lesser angle, and the ground of robot is rubbed at this time
It wipes power and is much larger than 46 restoring force of scroll spring, so protrusion can successfully be cut off by smoothing out blade 66.It is removed when protrusion is more difficult
When, smoothing out blade 66 will receive biggish reaction force, and scroll spring 46 is compressed very big angle at this time, when compressed whirlpool
When the maximal friction that 46 restoring force of coil spring can be provided close to robot, robot is in critical inverted status, in this shape
Rotation support 20 rotates to certain setting angle under state, controllable clutch 16 can be excited to third shaft 53 and second at this angle
The engagement of left axle 37, the second left axle 37 is connected by the second differential mechanism 15 smoothes out the drive flywheel rotation of motor 23, when flywheel rotates
After the counterforce counteraction of generation smoothes out the reaction force of blade 66, smooth out blade 66 flywheel accelerate reaction and robot with
Protrusion is purged under the frictional force collective effect on ground.When protrusion is difficult to be removed and wheel action power can not be offset and smear
After the reaction force of flat cutter piece 66, scroll spring 46 can be compressed bigger angle, and triggering block 9 can trigger triggering arc plate 25 and transport
It is dynamic, so that limited block 67 is exited from limit hole 71, limits axis and restore rotation, floating shaft 22 is limited by protrusion and is rotated at this time,
The power of blade 66 will be smoothed out by first rotating shaft 42, restriction axis and the second left axle 37 by the first differential mechanism 21 by smoothing out motor 23
It is transmitted on flywheel, flywheel high speed rotation under the transmission of 38 the two of the second left axle 37 and the second right axle, and robot rests on
Original place and no Reversion protect and smooth out the beneficial effect that motor 23 prevents robot reversion from causing secondary destruction again.
Claims (3)
1. a kind of robot for municipal works, it is characterised in that: it includes walking mechanism, dust collection mechanism, Ca Shi mechanism, smears
Flattening mechanism, traveling wheel, wherein walking mechanism, dust collection mechanism and Ca Shi mechanism are annulus post shapes, smooth out mechanism and are mounted on wiping
In wet mechanism inner ring surface, Ca Shi mechanism is mounted in dust collection mechanism inner ring surface, and dust collection mechanism is mounted in walking mechanism inner ring surface,
Three traveling wheels are circumferentially uniformly mounted to walking mechanism bottom surface；
There is driving motor, servo motor, electric-control system and battery inside above-mentioned walking mechanism；
Above-mentioned dust collection mechanism include sweep-up pipe, suction box, dust bin, suction box bottom tube, dust sucting motor, dust suction pump, pump inlet and outlet,
Annular storage dirt channel, annular suction inlet, dust suction inclined-plane, wherein suction box is annular hollow structure and outer ring surface is mounted on vehicle with walking machine
On the upside of structure inner ring surface, suction box bottom tube is mounted on the downside of suction box and is located at the circular hole of bottom surface, and dust bin is mounted on vehicle with walking machine
The downside of structure inner ring surface is provided with annular storage dirt channel in dust bin, and annular storage is provided with annular suction inlet on the downside of dirt channel, and annular is inhaled
Dirt mouth both sides of edges all has dust suction inclined-plane, and dust suction pump two sides are provided with a pump inlet and outlet, and dust suction pump is mounted in dust bin
Side, dust sucting motor are mounted on dust suction pump upside, and three sweep-up pipes are circumferentially uniformly mounted on the upside of dust bin, and are closed by hose
It is communicated at a channel and with one in two pump inlet and outlet, suction box bottom tube pumps inlet and outlet phase with another by hose
It is logical；
Above-mentioned Ca Shi mechanism includes water tank, diversion lead ring, wipes wet ring, water hole, water-supply-pipe, expands water ring face, wherein water tank
For annular hollow mechanism and its outer ring surface is mounted on suction box inner ring surface, is wiped wet ring and is mounted on the downside of diversion lead ring, diversion is led
The outer ring surface of ring is mounted on dust bin inner ring surface；Circumferential six be uniformly mounted on diversion lead ring in six water-supply-pipe one end are defeated
On water hole, the other end is mounted on the downside of water tank；Each water hole and the wet ring contact jaw of wiping, which have, expands water ring face；
Above-mentioned floating mechanism includes smoothing out hack lever, triggering block, accelerating flywheel, flywheel rotating shaft support, flywheel shaft, the second differential
Device, rotation support, the first differential mechanism, smoothes out shaft, smoothes out motor, triggering arc plate, fixed bottom plate, the first support controllable clutch
Plate, the second right axle, limits axis, restriction article, the second support plate, first rotating shaft, third support plate, conducting bar, the 4th at the second left axle
Fagging, the 5th support plate, smoothes out electric baseboard, smoothes out motor support, the 6th support plate, the second shaft, the 7th scroll spring
Fagging, third shaft, the 8th support plate, smooth out machine shaft, the first main shaft, lead ring slot, rotation lead ring, smooth out shaft guide groove,
Trigger ramp smoothes out shaft lead ring, limited block, limit triggering block, limit sliding sleeve, limit hole, smoothes out blade, the 4th shaft,
Middle fixed bottom plate is mounted on diversion lead ring inner edge surface, is had in circular hole among fixed bottom plate and is smoothed out shaft guide groove, fixed bottom plate
It is provided with lead ring slot on the end face of upside, there is trigger ramp in arc triggering block and is mounted on fixed bottom plate upside and close fixed bottom
Plate outer edge surface；It smoothes out to be equipped in shaft and smoothes out shaft lead ring, smooth out shaft by smoothing out shaft lead ring and smoothing out shaft guide groove
Be fitted in fixed bottom plate, smooth out shaft bottom end and be symmetrically installed with two floating hack levers, each floatings hack lever top is pacified
Equipped with blade is smoothed out, smoothes out hack lever and be greater than close to the frame body for smoothing out shaft junction apart from ground level and smooth out blade and ground
Distance；Rotation support is Circular Plate, and downside is equipped with rotation lead ring, the cooperation that rotation support passes through rotation lead ring and lead ring slot
It is mounted on fixed bottom plate；Electric baseboard is smoothed out to be mounted on rotation support outer edge surface；Scroll spring is mounted in rotation support
In ring, and scroll spring outer end is mounted on rotatably supported inner ring surface, and inner end is mounted on fixed bottom plate；Motor is smoothed out to pass through
Motor support is smoothed out to be mounted on floating electric baseboard；7th support plate is mounted on rotation support upside and close to floating motor branch
Support, the 6th support plate one end are fixed on the 7th support plate side and vertical with the 7th support plate, and the 8th support plate one end is fixed on
7th support plate top and vertical with the 7th support plate, the 6th support plate and the ipsilateral one end of the 8th support plate are equipped with jointly
Five support plates and the 5th support plate is parallel with the 7th support plate, third support plate be mounted on rotation support it is upper and with the 7th support plate
It is symmetrical；4th support plate one end is mounted on the 5th support plate side, and the other end is mounted on third support plate side；First
Fagging bottom end is mounted in the 4th support plate and vertical with the 4th support plate, and second support plate one end is fixed on third support plate top
End, the other end are mounted on the first support plate side；First main shaft is mounted on the downside of the 5th support plate, and the 4th shaft is mounted on the 4th
In support plate, the first main shaft is connect by the first differential mechanism with floating shaft and the 4th shaft, smoothes out shaft and the 4th shaft is
Two differential shafts of the first differential mechanism；Second shaft is mounted in the 6th support plate, and the second shaft and the first main shaft pass through cone
Tooth cooperation transmission；It smoothes out machine shaft to be mounted in the 7th support plate, third shaft is mounted in the 8th support plate, smoothes out motor
Shaft is engaged by cone tooth cooperation with the second shaft and third shaft；Second left axle is mounted on the upside of the 5th support plate, and third turns
Axis is connect by controllable clutch with the second left axle；Second right axle is mounted on the upside of the first support plate；Flywheel rotating shaft support is mounted on
On water tank inner ring side, flywheel shaft is mounted on flywheel rotating shaft support, and flywheel is accelerated to be mounted on flywheel shaft upper end；Flywheel turns
Axis is connect by the second differential mechanism with the second right axle and the second left axle, and the second left axle and the second right axle are two of the second differential mechanism
Differential shaft；It limits axis to be mounted in the second support plate, first rotating shaft is mounted in the first support plate, limits axis one end and second right side
Axis limits the axis other end and first rotating shaft and passes through cone tooth cooperation by cone tooth cooperation；First rotating shaft one end and restriction axis pass through cone
Tooth cooperation, the first rotating shaft other end and the 4th shaft pass through cone tooth cooperation；Limit sliding sleeve is mounted in the first support plate, limited block
Two sides are symmetrically installed there are two triggering block is limited, and each limit triggering block passes through restriction item and is mounted on triggering arc plate top two
Side limits and is provided with limit hole on axis, and limited block one end slides in limit hole, and the other end slides in limit sliding sleeve；Conducting bar one
End is mounted on triggering arc plate, and the other end passes through the square hole in third support plate；Arc plate lower end and fixed bottom plate are triggered with low
In the gap of triggering block height；
Above-mentioned floating shaft bottom end is provided with the support foundation card slot of annular, and circular groove, the installation of circular groove bottom end are provided on the upside of support foundation
There is annular brace foundation lead ring, support foundation is mounted on floating by the cooperation of support foundation lead ring and support foundation card slot and turns
Axis bottom end；
Above-mentioned floating hack lever lower end two sides are symmetrically installed there are two friction block, and two friction blocks be located at two floating blades it
Between.
2. a kind of robot for municipal works according to claim 1, it is characterised in that: above-mentioned scroll spring inner end
It is mounted on fixed bottom plate by spring anchor block.
3. a kind of robot for municipal works according to claim 1, it is characterised in that: above-mentioned dust sucting motor and smear
Flat telegram machine passes through the power supply of the battery in walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910213213.5A CN109898454B (en) | 2017-03-06 | 2017-03-06 | A robot for municipal works |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910213213.5A CN109898454B (en) | 2017-03-06 | 2017-03-06 | A robot for municipal works |
| CN201710129512.1A CN106821136B (en) | 2017-03-06 | 2017-03-06 | A kind of Multifunctional floor-sweeping machine people for municipal works |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710129512.1A Division CN106821136B (en) | 2017-03-06 | 2017-03-06 | A kind of Multifunctional floor-sweeping machine people for municipal works |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109898454A true CN109898454A (en) | 2019-06-18 |
| CN109898454B CN109898454B (en) | 2020-11-06 |
Family
ID=59138069
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910213213.5A Active CN109898454B (en) | 2017-03-06 | 2017-03-06 | A robot for municipal works |
| CN201710129512.1A Active CN106821136B (en) | 2017-03-06 | 2017-03-06 | A kind of Multifunctional floor-sweeping machine people for municipal works |
| CN201910213198.4A Active CN109778757B (en) | 2017-03-06 | 2017-03-06 | A robot of sweeping floor for municipal works |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710129512.1A Active CN106821136B (en) | 2017-03-06 | 2017-03-06 | A kind of Multifunctional floor-sweeping machine people for municipal works |
| CN201910213198.4A Active CN109778757B (en) | 2017-03-06 | 2017-03-06 | A robot of sweeping floor for municipal works |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN109898454B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714041A (en) * | 2020-07-07 | 2020-09-29 | 付国海 | Artificial intelligence is with single duct boosting dust catcher equipment |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923757B (en) * | 2017-04-27 | 2019-11-05 | 江苏锡沂高新区科技发展有限公司 | A kind of convenient humanoid robot cleaned based on dining room |
| CN108113566B (en) * | 2017-12-25 | 2020-06-05 | 瑞安市新瑞建筑设备租赁有限公司 | Ground cleaning device for decoration |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2142092Y (en) * | 1992-12-05 | 1993-09-15 | 姜兆君 | Transport vehicle for farmland working |
| CN1248422A (en) * | 1998-09-18 | 2000-03-29 | 三菱电机株式会社 | Nozzle for electric suction cleaner |
| CN2383882Y (en) * | 1998-08-31 | 2000-06-21 | 马影毅 | Street cleaning truck |
| KR20110008224U (en) * | 2010-02-16 | 2011-08-24 | 조성태 | Water rag robot cleaner |
| CN205181228U (en) * | 2015-11-16 | 2016-04-27 | 安徽省伟业净化设备有限公司 | Medical disinfection dust catcher |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2727736B1 (en) * | 1994-12-02 | 1997-01-24 | Eaton Sa Monaco | VALVE CONTROLLED BY A FLUID |
| US20080092324A1 (en) * | 2006-10-18 | 2008-04-24 | Guten Electronics Industrial Co., Ltd. | Dust-collecting auxiliary device for vacuum cleaner |
| CN201149051Y (en) * | 2007-12-24 | 2008-11-12 | 深圳市银星智能电器有限公司 | Plastering cleaner robot advance and retreat automatic clutch drive wheel mechanism |
| US7934571B2 (en) * | 2009-09-04 | 2011-05-03 | Jane-Ferng Chiu | Moving base for robotic vacuum cleaner |
| JP2011092485A (en) * | 2009-10-30 | 2011-05-12 | Sanyo Electric Co Ltd | Vacuum cleaner |
| CN102230527B (en) * | 2011-07-04 | 2014-07-02 | 肖博 | Mechanical antiskid differential |
| KR101907161B1 (en) * | 2011-10-06 | 2018-10-15 | 삼성전자주식회사 | Robot cleaner |
| CN103622640B (en) * | 2012-08-24 | 2016-06-08 | 科沃斯机器人有限公司 | Running gear, intelligent robot and detection obstacle and foreign steamer kinestate method |
| US9706892B2 (en) * | 2012-10-10 | 2017-07-18 | Tomio KANAI | Adhesive roller-type cleaning tool |
| CN204105899U (en) * | 2014-09-05 | 2015-01-21 | 深圳市智意科技有限公司 | Automatic ground washing machine |
| US9757004B2 (en) * | 2015-02-12 | 2017-09-12 | Irobot Corporation | Liquid management for floor-traversing robots |
| CN205031163U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean mechanism of clean robot |
| CN105212842A (en) * | 2015-09-23 | 2016-01-06 | 武玉妹 | A kind of sweeping robot |
| CN205162985U (en) * | 2015-09-25 | 2016-04-20 | 安徽三联学院 | Domestic clean robot |
| CN205866693U (en) * | 2016-05-11 | 2017-01-11 | 湖南财经工业职业技术学院 | High performance cleaning machines people |
| CN205885375U (en) * | 2016-05-11 | 2017-01-18 | 湖南财经工业职业技术学院 | Robot with clean function |
| CN106166050A (en) * | 2016-07-26 | 2016-11-30 | 广东宝乐机器人股份有限公司 | A kind of mopping robot |
-
2017
- 2017-03-06 CN CN201910213213.5A patent/CN109898454B/en active Active
- 2017-03-06 CN CN201710129512.1A patent/CN106821136B/en active Active
- 2017-03-06 CN CN201910213198.4A patent/CN109778757B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2142092Y (en) * | 1992-12-05 | 1993-09-15 | 姜兆君 | Transport vehicle for farmland working |
| CN2383882Y (en) * | 1998-08-31 | 2000-06-21 | 马影毅 | Street cleaning truck |
| CN1248422A (en) * | 1998-09-18 | 2000-03-29 | 三菱电机株式会社 | Nozzle for electric suction cleaner |
| KR20110008224U (en) * | 2010-02-16 | 2011-08-24 | 조성태 | Water rag robot cleaner |
| CN205181228U (en) * | 2015-11-16 | 2016-04-27 | 安徽省伟业净化设备有限公司 | Medical disinfection dust catcher |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714041A (en) * | 2020-07-07 | 2020-09-29 | 付国海 | Artificial intelligence is with single duct boosting dust catcher equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109898454B (en) | 2020-11-06 |
| CN106821136B (en) | 2019-05-14 |
| CN109778757B (en) | 2020-11-06 |
| CN109778757A (en) | 2019-05-21 |
| CN106821136A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106821136B (en) | A kind of Multifunctional floor-sweeping machine people for municipal works | |
| CN2892954Y (en) | Blowing and suction disc for street cleaning vehilce | |
| CN206586900U (en) | A kind of automatic ground washing vehicle | |
| CN104887150B (en) | A kind of floor brush of dust collector having from walking function | |
| CN102653940A (en) | Three-wheel road sweeper | |
| CN110051283A (en) | A kind of intelligent garbage collecting robot people towards sweeping robot | |
| CN102578973A (en) | Indoor floor cleaning equipment | |
| CN105714722A (en) | Efficient cyclone high-speed air circulation road sweeper | |
| CN107296565A (en) | The cleaning attachment of vacuum cleaner | |
| CN104343099A (en) | Cyclone dust cleaning collector | |
| CN109744932A (en) | High-altitude glass outer wall clean robot | |
| CN107374520A (en) | A kind of floor-cleaning machine with rapid-curing cutback mechanism | |
| CN106963293A (en) | Floor brush of dust collector and dust catcher | |
| CN113565047A (en) | Road cleaning device for municipal garden | |
| CN205576811U (en) | High -speed air cycle road sweeper of high -efficient whirlwind | |
| CN107550393A (en) | The scrubbing brush of dust catcher and there is its dust catcher | |
| CN208808393U (en) | A kind of water suction cleaning machine | |
| CN213963226U (en) | Sweeping and mopping robot system | |
| CN111714041B (en) | Artificial intelligence is with single duct boosting dust catcher equipment | |
| CN111115049A (en) | Intelligence can garbage bin of sweeping floor | |
| CN104719005B (en) | Electric lawn garbage collection car | |
| CN208501600U (en) | From recovery type high pressure water cleaning device | |
| CN210315351U (en) | Dust removal that can drive cleans equipment | |
| CN202572164U (en) | Movable road surface shot blasting machine | |
| CN208243520U (en) | A kind of floor-cleaning machine with rapid-curing cutback mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201010 Address after: 311404 Songxi Village Xinyan, Xindeng Town, Fuyang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Fuyang Xinyan Paper Products Co.,Ltd. Address before: 311400 Fuyang Cheng Cheng Construction Engineering Co., Ltd., 656 Guihua Road, Fuyang District, Zhejiang, Hangzhou Applicant before: Li Wenxin |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |