CN110897566A

CN110897566A - Working head lifting mechanism of working machine

Info

Publication number: CN110897566A
Application number: CN201911244401.0A
Authority: CN
Inventors: 李良清; 王晓冰
Original assignee: Zhaoqing Hengyi Industrial Co ltd
Current assignee: Zhaoqing Hengyi Industrial Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-03-24

Abstract

The working head lifting mechanism of the working machine comprises an electromagnetic coil and a retainer. The solenoid coil has a longitudinal hole formed therein for mounting on the work machine body. The holder is used for holding the working head and has a core rod capable of reciprocating in a longitudinal hole of the electromagnetic coil. The working machine provided by the invention not only adopts the lifting mechanism with simple structure and low cost, but also can realize reliable and convenient working head lifting operation with low energy consumption.

Description

Working head lifting mechanism of working machine

Technical Field

The present invention generally relates to a lifting mechanism.

Background

The working head of the existing mobile or mobile automatic working machine often needs to be lifted to adapt to different ground or working environments. For example, the cleaning machines disclosed in CN109157165A, CN107485341A and CN107242837A and the like are provided with lifting mechanisms for cleaning working elements or working heads such as cleaning heads and/or mops and the like, but these lifting mechanisms are to be further improved in structural design, energy consumption, operation, cost and the like.

Disclosure of Invention

It is an object of the present invention to provide an improved work head lifting mechanism for a work machine or machine.

According to one aspect of the present invention, there is provided a work head lifting mechanism of a working machine/machine, comprising:

an electromagnetic coil having a longitudinal hole formed therein, for mounting on the work machine body; and

a holder for holding a working head has a core rod capable of reciprocating within a longitudinal bore of an electromagnetic coil.

The work head lifting mechanism of the present invention may be applied, but is not limited to, mobile or mobile robotic cleaning machines for lifting, for example, its cleaning head or mop.

The elevating mechanism of the present invention may further comprise a core cylinder having an inner longitudinal hole, and the electromagnetic coil is disposed around the outer peripheral wall of the core cylinder and mounted or fixed to the work machine body through the core cylinder, wherein the longitudinal hole of the core cylinder forms the longitudinal hole of the electromagnetic coil.

The internal longitudinal bore of the cartridge preferably forms a sliding fit with (in relation to) the core rod of the cage.

The lift mechanism of the present invention may further comprise a magnetic field reinforcing iron core at least partially inserted into the longitudinal hole of the electromagnetic coil or the inner longitudinal hole of the core barrel. The magnetic field reinforcing iron core can be positioned at one end of the longitudinal hole of the electromagnetic coil, which is far away from the iron core rod.

According to a preferred embodiment of the lifting mechanism according to the present invention, the magnetic field reinforcing core forms a cartridge cap shape having a base, a peripheral wall projecting downward around the base, and a stem projecting downward from substantially the center of the base, wherein the base, the peripheral wall and the stem together form or define an annular recess for accommodating the electromagnetic coil (or a cartridge thereof); and a core rod also correspondingly formed into a cylindrical shape and having a base, an outer peripheral wall projecting upwardly around the base, a stem projecting upwardly at a location generally centrally of the base, and an annular recess formed or defined by the same for receiving the electromagnetic coil (or its core barrel), wherein the outer peripheral wall of the core rod is substantially aligned with the outer peripheral wall of the field-strengthening core and the stem of the core rod is substantially aligned with the stem of the field-strengthening core.

According to a further preferred embodiment of the lifting mechanism of the present invention, the outer peripheral wall of the core bar substantially coincides with the cross-sectional shape of the outer peripheral wall of the magnetic field reinforcing core and the core column of the core bar substantially coincides with the cross-sectional shape of the core column of the magnetic field reinforcing core.

An alternative embodiment of the lifting mechanism according to the invention, wherein

The longitudinal section of the magnetic field strengthening iron core is E-shaped, and the magnetic field strengthening iron core is provided with a base part, two arms extending downwards at two opposite sides of the base part, and a core column extending downwards from the center of the base part approximately, wherein the core column is inserted into a longitudinal hole of the electromagnetic coil; and

the core rod is also E-shaped in longitudinal cross-section and has a base portion, two arms extending upwardly on opposite sides of the base portion, and a stem located approximately in the center of the base portion and extending upwardly for insertion into the longitudinal bore of the electromagnetic coil, wherein the two arms of the core rod are respectively substantially aligned with the two arms of the magnetic field reinforcing core and the stem of the core rod is substantially aligned with the stem of the magnetic field reinforcing core.

In the above-described alternative embodiment, it is preferable that both arms of the core bar substantially conform to the cross-sectional shapes of both arms of the magnetic-field-reinforcing core, respectively, and that the core column of the core bar substantially conform to the cross-sectional shape of the core column of the magnetic-field-reinforcing core.

According to an important embodiment of the present invention, the lifting mechanism preferably comprises at least two electromagnetic coils, the magnetic field reinforcing core having at least two legs connected by a base, said at least two legs being inserted into respective longitudinal holes of said at least two electromagnetic coils, respectively; the cage also has at least two core bars connected by a ferrous base. In the case where both the solenoid coil and the iron core rod are provided, it is more preferable that the direction of the current in one of the solenoid coils is opposite to the direction of the current in the other solenoid coil during the lifting or elevating of the cage, for example, one is clockwise and the other is counterclockwise.

According to another aspect of the invention, a cleaning work machine is provided, comprising the above-mentioned lifting mechanism, wherein the holder of the lifting mechanism holds a mop cloth, which in the working state is located below the electromagnetic coil.

In the present invention, the magnetic field reinforcing core, the core bar or the ferrous material all refer to materials capable of generating magnetic attraction force with the electromagnet or the permanent magnet.

The working machine of the invention not only adopts the lifting mechanism with simple structure and low cost, but also can realize reliable and convenient lifting operation of the working head (such as a cleaning element) with low energy consumption.

Drawings

Fig. 1 to 5 are partial sectional structure views of a cleaning robot according to various embodiments of the present invention.

Detailed Description

The present invention is further described with reference to the following examples and figures, which are to be understood by those skilled in the art as being illustrative only and not limiting in any way.

The present invention will be described in detail below by taking a cleaning robot as an example. Referring to fig. 1 to 5, the cleaning robot 1 of the present invention has a body 10. The body 10 is mounted with a cleaning member elevating mechanism which will be described in detail below. The cleaning element may be a cleaning head, mop or swab or the like.

Fig. 1 is a sectional view partially showing a lifting mechanism of a first embodiment of the present invention. The lifting mechanism includes a solenoid 20 and a cage. The electromagnetic coil 20 is held on the cartridge 21 and is mounted or fixed on the body 10 of the cleaning robot 1 through the cartridge 21. The cartridge 21 has an inner longitudinal bore 22, and the electromagnetic coil 20 is disposed around the outer peripheral wall of the cartridge 21. Of course, it is also possible to omit the cartridge 21 and mount or fix the electromagnetic coil 20 on the body 10 of the cleaning robot 1 in other suitable manners; in this case, the solenoid coil 20 will still have or form an internal longitudinal bore 22.

As shown in fig. 1, the cage is composed of a longitudinal core bar 30 and a transverse fixing plate 31 perpendicular to the core bar 30. A cleaning element 32, such as a mop cloth, is fixed to the fixing plate 31. The illustrated core rod 30 is cylindrically configured to slidably engage the longitudinal bore 22 of the similarly cylindrically configured core barrel 21. When the electromagnetic coil 21 is energized and electromagnetic attraction force is generated on the iron core rod 30, the iron core rod 30 moves upwards along the longitudinal hole 22 of the core cylinder 21 to an upper limit position or a lifting position, at this time, the fixing plate 31 of the retainer is lifted to a high position or a retracting position (a position which is attached to the outer contour of the body 10 of the cleaning robot 1 is shown in the drawing) together with the cleaning element 32; after the solenoid 21 is de-energized, the cage together with the cleaning elements 32 will move by their own weight down the longitudinal bore 22 along the cartridge 21 to a lower limit position or working position to perform the corresponding cleaning function. Although not specifically shown, a latch mechanism may be further provided between the plunger rod 30 and the longitudinal hole 22 of the core barrel 21 to prevent the plunger rod 30 from being separated from the longitudinal hole 22 of the core barrel 21.

The embodiment shown in fig. 2 is similar to the embodiment shown in fig. 1, except that the elevating mechanism further includes a magnetic field reinforcing core 23 inserted into the longitudinal hole 22 of the core barrel 21 at an end of the longitudinal hole 22 remote from the core bar 30. The magnetic field reinforcing core 23 reinforces the electromagnetic attractive force generated by the electromagnetic coil 20 when it is energized, and also serves to abut against the core bar 30 to define the upper limit position thereof. Further, although not shown, a cushion pad may be provided between the magnetic field reinforcing iron-core 23 and the iron-core rod 30 or a damping device may be provided in the longitudinal hole 22 to reduce noise or the like.

The embodiment of fig. 3 is similar to the embodiment of fig. 2, except that the magnetic field-reinforcing core and the core rod are modified. As shown in fig. 3, the magnetic field reinforcing core is formed in a cap shape having a base 230, an outer peripheral wall 231 surrounding the base 230 and projecting downward (toward the core rod), and a stem 232 projecting downward from substantially the center of the base 230. The base 230, the peripheral wall 231 and the stem 232 together form an annular recess for receiving the cartridge 21 containing the electromagnetic coil 20. The core rod is also correspondingly formed in a cylindrical shape having a base 300, an outer peripheral wall 301 extending upwardly around the base 300, and a stem 302 extending upwardly at a generally central location on the base 300, which also collectively form an annular recess for receiving or receiving the core barrel 21 containing the electromagnetic coil 20. The peripheral wall 301 of the iron core bar is aligned with the peripheral wall 231 of the magnetic field reinforcing iron core and conforms to the cross-sectional shape thereof; the core leg 302 of the core rod is aligned with and conforms to the cross-sectional shape of the leg 232 of the magnetic field strength core.

In the embodiment shown in fig. 3, the core rod may also cooperate with the magnetic field reinforcing core to define its upper limit position. It is also very important that when the plunger rod reaches its upper limit position abutting the corresponding portion of the field-enhancing plunger after the solenoid coil 20 is energized, the closed magnetic field loop passing from the interior of the solenoid coil 20 through the

legs

302, 232 and outside thereof through the

peripheral walls

231, 301 is substantially completely formed in the ferrous material, rather than passing through a section of air circuit as in the embodiment of fig. 1 or 2, thereby providing a significant enhancement of the magnetic field, requiring only a small current to maintain the cage and cleaning elements 32 secured thereto in the raised or stowed position. In this way, since the magnetic attraction holder needs to be activated by a strong current in the solenoid coil 20 only in a short time during the ascending process, only a small current needs to be maintained in the solenoid coil 20 once the holder reaches the upper limit or the fully retracted position, thereby achieving the energy-saving and power-saving effects.

Of course, in the embodiment shown in fig. 3, the magnetic field reinforcing core and the core rod may not have a cylindrical shape, and for example, they may have a symmetrical structure of two outer arms + inner core column, each having an E-shaped longitudinal section. The structure can also effectively prevent the lifting mechanism from integrally rotating in the lifting process.

The embodiment shown in fig. 4 is similar to the embodiment shown in fig. 2 except that the lifting mechanism includes two

electromagnetic coils

201 and 202 and has two longitudinal holes 221 and 222, respectively, and the magnetic field reinforcing core has two legs 231 'and 232' inserted into the longitudinal holes 221 and 222, respectively, and a base 230 'connecting the two, wherein the legs 231' and 232 'and the base 230' are made of a ferrous material. The cage also has two corresponding core rods 301 ' and 302 ' and a ferrous base 300 ' connecting the two. In this embodiment, the core rod may also cooperate with the magnetic field reinforcing core to define its upper limit position. In addition, in this structure, since the holder is provided with two core rods inserted into the longitudinal holes, it is also possible to prevent the holder from rotating integrally during the lifting. In addition, the double-electromagnetic-coil structure also enhances the magnetic attraction force and ensures the reliability of the device.

In the embodiment of fig. 4, during the cage lifting process, the current in the two

solenoids

201 and 202 is preferably controlled in opposite directions, for example, one in a clockwise direction and the other in a counterclockwise direction. In this case, as in the embodiment shown in fig. 3, a closed magnetic field loop is formed in the ferrous material, i.e., a large complete magnetic field loop is formed from the electromagnetic coil 201 to the electromagnetic coil 202, so that the energy and power saving effects are achieved when the holder is held in the fully retracted position or the high position.

The embodiment of fig. 5 is similar to the embodiment of fig. 4 in that the lifting mechanism again includes two electromagnetic coils and two corresponding plunger rods, except that the magnetic field enhancing plungers of the electromagnetic coils and the plunger rods adopt the configuration shown in fig. 3. This construction of the lifting mechanism also provides the advantages described above for the embodiment of fig. 3 or 4.

It will be understood by those skilled in the art that the various directional terms described above, including "upper", "lower", etc., are used only in conjunction with the embodiments shown in the drawings and are not intended to limit the invention.

Claims

1. A work head lifting mechanism for a work machine, comprising:

2. The lift mechanism according to claim 1, further comprising a core cylinder having an inner longitudinal hole, the electromagnetic coil being disposed around an outer peripheral wall of the core cylinder and mounted on the work machine body through the core cylinder, wherein the longitudinal hole of the core cylinder forms the longitudinal hole of the electromagnetic coil.

3. The lift mechanism of claim 2, wherein the longitudinal bore of the cartridge is in sliding engagement with the core rod of the cage.

4. The lift mechanism of claim 1 or 2, further comprising a magnetic field-enhancing core at least partially inserted into the longitudinal bore of the electromagnetic coil.

5. The lift mechanism of claim 4, wherein the magnetic field-enhancing core is located at an end of the longitudinal bore of the electromagnetic coil distal from the core bar.

6. The lift mechanism of claim 5, wherein

The magnetic field reinforcing core forms a cylinder cap shape and is provided with a base, a peripheral wall extending downwards around the base and a core column extending downwards from the center of the base, wherein the base, the peripheral wall and the core column form an annular groove for accommodating the electromagnetic coil; and

the core rod is also correspondingly formed into a cylindrical shape and has a base, an outer peripheral wall extending upwardly around the base, an upwardly extending leg located approximately at a central location of the base, and an annular recess formed therewith for receiving the electromagnetic coil, wherein the outer peripheral wall of the core rod is substantially aligned with the outer peripheral wall of the field reinforcing core and the leg of the core rod is substantially aligned with the leg of the field reinforcing core.

7. The elevating mechanism according to claim 6, wherein the outer peripheral wall of the core bar substantially conforms to the cross-sectional shape of the outer peripheral wall of the magnetic field reinforcing core and the core leg of the core bar substantially conforms to the cross-sectional shape of the core leg of the magnetic field reinforcing core.

8. The lift mechanism of claim 5,

9. The lift mechanism of claim 8, wherein the arms of the core rod substantially conform to the cross-sectional shape of the arms of the magnetic field strength core and the legs of the core rod substantially conform to the cross-sectional shape of the legs of the magnetic field strength core.

10. The lift mechanism of claim 5, comprising at least two electromagnetic coils, the magnetic field-enhancing core having at least two legs connected by a base, the at least two legs being inserted into respective longitudinal bores of the at least two electromagnetic coils, respectively; the cage also has at least two core bars connected by a ferrous base.

11. The lift mechanism of claim 10, comprising two solenoids, the field enhancing core having two legs, and the cage also having two core bars, the direction of current flow in one solenoid being opposite to the direction of current flow in the other solenoid during lifting of the cage.

12. A work machine comprising a work head lifting mechanism as claimed in any of claims 1 to 11, wherein the work head is held on a holder of the lifting mechanism and is located, in the operating state, below the electromagnetic coil.