CN111823247A

CN111823247A - Carriage cleans machine people actuating mechanism

Info

Publication number: CN111823247A
Application number: CN202010521075.XA
Authority: CN
Inventors: 张梅
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-10-27

Abstract

The invention discloses a carriage cleaning robot driving mechanism which comprises a driving mechanism main body, wherein a first horizontal rail is arranged on the inner side of the driving mechanism main body, a mobile host is arranged on the first horizontal rail, a hydraulic cylinder is arranged at the bottom of the mobile host, a cleaning robot main body is arranged at the bottom of the hydraulic cylinder, and a second horizontal rail is arranged at the top of the driving mechanism main body; the mobile host comprises a host shell, a positioning pulley is arranged inside the host shell, a second driving motor is arranged at the top of the inner cavity of the host shell close to the positioning pulley, and the power output end of the second driving motor is connected with a coupler. According to the invention, through the first horizontal rail and the second horizontal rail, the movement of the mobile host machine in the X axis and the Y axis is realized, the movement of the cleaning robot main body in the Z axis is realized through the hydraulic cylinder, the cleaning robot can clean the whole carriage, the positioning wheels and the rail pulleys are clamped, and the driving mechanism main body is ensured to move more stably and safely.

Description

Carriage cleans machine people actuating mechanism

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a carriage cleaning robot driving mechanism.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, expands or extends the activity and capacity range of the human beings, and can be used for finishing carriage cleaning work;

the driving mechanism of the current carriage cleaning robot has poor stability during operation, and the internal structure of the cleaning robot is damaged due to long-time operation.

Disclosure of Invention

The present invention is directed to solve the problems of the background art and to provide a carriage cleaning robot driving mechanism.

The technical scheme adopted by the invention is as follows:

a carriage cleaning robot driving mechanism comprises a driving mechanism main body, wherein a first horizontal rail is arranged on the inner side of the driving mechanism main body, a mobile host is arranged on the first horizontal rail, a hydraulic cylinder is arranged at the bottom of the mobile host, a cleaning robot main body is arranged at the bottom of the hydraulic cylinder, and a second horizontal rail is arranged at the top of the driving mechanism main body;

the mobile host comprises a host shell, a positioning pulley is arranged inside the host shell, a second driving motor is arranged at the top of the inner cavity of the host shell close to the positioning pulley, the power output end of the second driving motor is connected with a coupler, and one side of the coupler far away from the second driving motor is connected with a planetary driving wheel.

Preferably, a gear groove is formed in the position, close to the planetary driving wheel, of the top surface of the first horizontal rail, and the outer wall of the planetary driving wheel is meshed with the gear groove.

Preferably, the driving mechanism main part includes quick-witted case, the top surface bolted connection of machine case has the fixing base, the inner chamber of machine case is equipped with first driving motor, the power take off end meshing of first driving motor has first gear, the top meshing of first gear has change gear, change gear's top meshing second gear, the top meshing of second gear has the pulley gear, the pulley gear is connected with the track pulley through the pivot.

Preferably, the positioning pulleys are disposed on the top and bottom surfaces of the first horizontal rail and are in contact with the first horizontal rail.

Preferably, the cleaning robot main body comprises a robot shell, a connecting seat is arranged on the top surface of the robot shell, a crushing shaft is arranged in the middle of the bottom surface of the robot shell, and a dust suction device is arranged on the outer side of the crushing shaft.

Preferably, a pulley groove is formed in the position, close to the rail pulley, of the inner side of the second horizontal rail, a positioning wheel is installed on the position, close to the pulley groove, of the top surface of the case, and the positioning wheel is in contact with the bottom surface of the second horizontal rail.

Preferably, the number of the hydraulic cylinders is two, and the hydraulic cylinders are connected with the connecting seats.

Preferably, a track cavity is formed in the position, close to the first horizontal track, of the mobile host.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. in the invention, the second driving motor can transmit power to the planetary driving wheel through the coupler, the planetary driving wheel can drive the first horizontal rail to move, the mobile host can be ensured to move freely on the first horizontal rail, the positioning pulley arranged in the host shell can fix the position of the first horizontal rail, and the mobile host can be ensured to move more stably.

2. According to the invention, the driving mechanism main body can freely move on the second horizontal rail through the rail pulley, so that the driving mechanism main body can freely move on the second horizontal rail, the movement of the moving host machine in an X axis and a Y axis is realized, the movement of the cleaning robot main body in a Z axis is realized through the hydraulic cylinder, the cleaning robot can clean the whole carriage, the positioning wheel and the rail pulley are clamped, and the driving mechanism main body is more stable and safer to move.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an internal structural view of a driving mechanism main body according to the present invention;

FIG. 3 is an internal structure diagram of the mobile host of the present invention;

FIG. 4 is a structural view of a second driving motor in the present invention;

fig. 5 is a schematic structural view of a cleaning robot main body according to the present invention.

The labels in the figure are: 1. a drive mechanism main body; 11. a chassis; 12. a fixed seat; 13. a first drive motor; 14. a first gear; 15. a speed change gear; 16. a second gear; 17. a pulley gear; 18. a rail pulley; 2. a first horizontal rail; 3. a mobile host; 31. a host housing; 32. positioning the pulley; 33. a second drive motor; 34. a coupling; 35. a planetary drive wheel; 4. a hydraulic cylinder; 5. cleaning the robot main body; 51. a robot housing; 52. a connecting seat; 53. a dust collection device; 54. a crushing shaft; 6. a second horizontal rail.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1:

referring to fig. 1-5, a carriage cleaning robot driving mechanism comprises a driving mechanism main body 1, wherein a first horizontal rail 2 is arranged on the inner side of the driving mechanism main body 1, a mobile host 3 is arranged on the first horizontal rail 2, a hydraulic cylinder 4 is arranged at the bottom of the mobile host 3, a cleaning robot main body 5 is arranged at the bottom of the hydraulic cylinder 4, and a second horizontal rail 6 is arranged at the top of the driving mechanism main body 1; moving host 3 includes host computer shell 31, the internally mounted of host computer shell 31 has positioning pulley 32, second driving motor 33 is installed near positioning pulley 32's top to host computer shell 31's inner chamber, second driving motor 33's power take off end is connected with shaft coupling 34, one side that second driving motor 33 was kept away from to shaft coupling 34 is connected with planet drive wheel 35, gear groove has been seted up to the position that first horizontal track 2's top surface is close to planet drive wheel 35, planet drive wheel 35's outer wall and gear groove meshing, positioning pulley 32 sets up at first horizontal track 2's top surface and bottom surface, and with first horizontal track 2 contact.

By adopting the technical scheme:

second driving motor 33 can be through shaft coupling 34 with power transmission to planet drive wheel 35, planet drive wheel 35 can drive first horizontal orbit 2 and remove, guarantees that mobile host 3 can freely remove on first horizontal orbit 2, and the inside positioning pulley 32 that sets up of host computer shell 31 can fix first horizontal orbit 2's position, guarantees that mobile host 3 removes more stably.

Example 2:

referring to fig. 1-5, a carriage cleaning robot driving mechanism, a driving mechanism body 1 includes a chassis 11, a top surface of the chassis 11 is bolted with a fixed seat 12, an inner cavity of the chassis 11 is provided with a first driving motor 13, a power output end of the first driving motor 13 is engaged with a first gear 14, a top of the first gear 14 is engaged with a speed change gear 15, a top of the speed change gear 15 is engaged with a second gear 16, a top of the second gear 16 is engaged with a pulley gear 17, the pulley gear 17 is connected with a rail pulley 18 through a rotating shaft, the cleaning robot body 5 includes a robot housing 51, a top surface of the robot housing 51 is provided with a connecting seat 52, a middle position of a bottom surface of the robot housing 51 is provided with a crushing shaft 54, an outer side of the crushing shaft 54 is provided with a dust suction device 53, a pulley groove is provided at a position close to the rail pulley 18 at an inner side of a second horizontal rail 6, the locating wheel contacts with the bottom surface of second horizontal track 6, and the quantity of pneumatic cylinder 4 is two sets ofly, is connected with connecting seat 52, and the track chamber has been seted up to the position that removes host computer 3 and is close to first horizontal track 2.

By adopting the technical scheme:

actuating mechanism main part 1 can freely move on second horizontal track 6 through track pulley 18, guarantee that actuating mechanism main part 1 can freely move on second horizontal track 6, realized moving host computer 3 the removal of X axle and Y axle, pneumatic cylinder 4 has realized cleaning robot main part 5Z axle's removal, guarantee to clean the robot and can clean whole carriage, the centre gripping of locating wheel and track pulley 18 guarantees that actuating mechanism main part 1's removal is more stable, safety.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a carriage cleans machine people actuating mechanism, includes actuating mechanism main part (1), its characterized in that: a first horizontal rail (2) is arranged on the inner side of the driving mechanism main body (1), a mobile host (3) is arranged on the first horizontal rail (2), a hydraulic cylinder (4) is arranged at the bottom of the mobile host (3), a cleaning robot main body (5) is arranged at the bottom of the hydraulic cylinder (4), and a second horizontal rail (6) is arranged at the top of the driving mechanism main body (1);

remove host computer (3) and include host computer shell (31), the internally mounted of host computer shell (31) has positioning pulley (32), second driving motor (33) are installed near the top of positioning pulley (32) to the inner chamber of host computer shell (31), the power take off end of second driving motor (33) is connected with shaft coupling (34), one side that second driving motor (33) were kept away from in shaft coupling (34) is connected with planetary drive wheel (35).

2. A carriage cleaning robot driving mechanism as defined in claim 2, wherein: a gear groove is formed in the position, close to the planetary driving wheel (35), of the top face of the first horizontal rail (2), and the outer wall of the planetary driving wheel (35) is meshed with the gear groove.

3. A carriage cleaning robot driving mechanism as defined in claim 1, wherein: the driving mechanism main body (1) comprises a case (11), a fixed seat (12) is connected to the top surface of the case (11) through bolts, a first driving motor (13) is arranged in an inner cavity of the case (11), a power output end of the first driving motor (13) is meshed with a first gear (14), a speed change gear (15) is meshed with the top of the first gear (14), a second gear (16) is meshed with the top of the speed change gear (15), a pulley gear (17) is meshed with the top of the second gear (16), and the pulley gear (17) is connected with a track pulley (18) through a rotating shaft.

4. A carriage cleaning robot driving mechanism as defined in claim 2, wherein: the positioning pulleys (32) are arranged on the top surface and the bottom surface of the first horizontal rail (2) and are in contact with the first horizontal rail (2).

5. A carriage cleaning robot driving mechanism as defined in claim 1, wherein: cleaning robot main part (5) are including robot shell (51), the top surface of robot shell (51) is equipped with connecting seat (52), the bottom surface intermediate position of robot shell (51) is equipped with crushing axle (54), the outside of crushing axle (54) is equipped with dust extraction (53).

6. A carriage cleaning robot driving mechanism as defined in claim 3, wherein: a pulley groove is formed in the position, close to the rail pulley (18), of the inner side of the second horizontal rail (6), a positioning wheel is installed on the position, close to the pulley groove, of the top face of the case (11), and the positioning wheel is in contact with the bottom face of the second horizontal rail (6).

7. A carriage cleaning robot driving mechanism as defined in claim 5, wherein: the number of the hydraulic cylinders (4) is two, and the hydraulic cylinders are connected with the connecting seats (52).

8. A carriage cleaning robot driving mechanism as defined in claim 1, wherein: a track cavity is formed in the position, close to the first horizontal track (2), of the mobile host (3).