CN114109063A

CN114109063A - Robot end device for cleaning wall surface

Info

Publication number: CN114109063A
Application number: CN202111556822.4A
Authority: CN
Inventors: 陆书建; 董治麟; 钱莉莉; 李娟�; 王刚; 王璐
Original assignee: Maanshan Nanma Intelligent Manufacturing Research Institute Co ltd
Current assignee: Maanshan Nanma Intelligent Manufacturing Research Institute Co ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-01
Anticipated expiration: 2041-12-17
Also published as: CN114109063B

Abstract

The invention relates to the technical field of robots, in particular to a robot tail end device for cleaning a wall surface, which comprises a shell, wherein a plurality of thread sleeves are fixedly penetrated through one side surface of the shell, threaded rods are arranged in the thread sleeves in a threaded manner, a U-shaped rod is fixedly arranged at one end of each threaded rod, a movable plate is movably arranged in the shell, a plurality of blocking blocks are fixedly arranged on the other side surface of the movable plate, arc-shaped grooves are formed in the middle parts of the blocking blocks, a first motor is fixedly arranged on one side of the shell, a second cam is fixedly sleeved in the middle part of a rotating shaft and positioned in a third rectangular frame, and a top cover is fixedly arranged on one side, far away from the thread sleeves, of the shell. The invention can realize that the U-shaped rod rotates in a reciprocating way by the axis of the threaded rod, can also reciprocate in the direction vertical to the wall surface, can also reciprocate in the direction parallel to the wall surface, and can also reciprocate by the axis of the fixed shaft, thereby realizing the high-efficiency cleaning of the wall surface.

Description

Robot end device for cleaning wall surface

Technical Field

The invention relates to the technical field of robots, in particular to a robot end device for cleaning a wall surface.

Background

At present, when a building is decorated, especially when a second-hand building is decorated, the original wall surface coatings and the like are required to be removed, and therefore new installation and repair construction can be conveniently carried out after the coatings are removed.

But now when clearing up the wall, all be the manual work and hold the instrument and carry out the clearance of wall, this kind of clearance mode work efficiency is low, and is relatively poor to the clearance effect of wall in addition, need take very big power just can the clean up, and staff's intensity of labour is higher, can produce more dust at the in-process of clearance simultaneously, is absorbed by the staff easily, causes a great deal of injury to staff's physical and mental health.

Along with the development progress of science and technology, the robot has appeared and has replaced the manual work to clear up the wall, has saved the people from the work and has come out, in order to solve above-mentioned clearance unclean, the lower problem of efficiency, we provide a robot end equipment for wall clearance.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a robot end device for cleaning a wall surface.

In order to achieve the purpose, the invention adopts the following technical scheme:

the design is a robot end device for cleaning the wall surface, which comprises a shell, wherein a plurality of thread sleeves are fixedly penetrated through one side surface of the shell, a threaded rod is installed in each thread sleeve, a U-shaped rod is fixedly installed at one end of the threaded rod, a limiting block is fixedly installed at the other end of the threaded rod, a movable plate is movably installed in the shell, a third rectangular frame is fixedly installed in the middle of one side surface of the movable plate, a plurality of blocking blocks are fixedly installed on the other side surface of the movable plate, an arc-shaped groove is formed in the middle of each blocking block, the limiting block is located in the arc-shaped groove, each threaded rod penetrates through each blocking block, a first motor is fixedly installed on one side of the shell, a rotating shaft which is rotatably connected with the shell is fixedly installed at the output end of the first motor, a second cam is fixedly sleeved at the middle of the rotating shaft, and is located in the third rectangular frame, and a top cover is fixedly arranged on one side of the shell far away from the thread bush.

Preferably, the middle part fixed mounting of top cap has the fixed axle, one side movable mounting of top cap has first rectangle frame, one side symmetry fixed mounting of first rectangle frame has the guide rail, the outside slidable mounting of guide rail has the slider, two the common fixed mounting in one side of slider has the horizontal pole, the middle part and the fixed axle rotation of horizontal pole are connected, one side lower part fixed mounting of first rectangle frame has the second motor, the output fixed mounting of second motor has first cam, one side middle part fixed mounting of horizontal pole has the connecting rod, the one end fixed mounting of connecting rod has second rectangle frame, first cam is located the inside of second rectangle frame.

Preferably, two groups of connecting pieces are symmetrically installed on one side of the first rectangular frame, and one ends of the two groups of connecting pieces are connected and fixed with the robot together.

Preferably, one end of the limiting block is of a plane structure, the plane structure abuts against the moving plate, the other side of the limiting block is of an arc-shaped structure, and the arc-shaped structure is matched with the arc-shaped groove.

Preferably, both ends of the U-shaped rod are in a conical structure.

Preferably, the gear is fixedly sleeved on the outer side of the fixed shaft, a rack is fixedly mounted on one side of the inside of the first rectangular frame, and the rack is meshed with the gear.

The robot end device for cleaning the wall surface has the advantages that:

1. the wall cleaning machine is provided with a first motor for driving a rotating shaft to rotate, the rotating shaft for driving a second cam to rotate, the second cam for driving a moving plate to reciprocate through a third rectangular frame, a threaded rod can linearly reciprocate and can rotate simultaneously under the action of a threaded sleeve, the U-shaped rod can also vertically reciprocate and rotate on the wall surface linearly, so that the wall surface can be cleaned, the impact force can be generated on the wall surface when the U-shaped rod vertically reciprocates linearly along the wall surface, the wall surface can be crushed, and the crushed wall surface can be removed when the U-shaped rod rotates.

2. The second motor that is equipped with drives first cam and rotates, and first cam drives connecting rod reciprocating motion through second rectangle frame, and the connecting rod passes through the horizontal pole and drives fixed axle reciprocating motion, and the fixed axle drives the top cap, realizes reciprocating motion from also can driving U type pole, and reciprocating motion is gone up to the parallel direction of wall in the relative U type pole for the clearance to the wall.

3. When the fixed shaft is arranged to do linear reciprocating motion, the fixed shaft drives the gear to do linear motion, the gear can rotate under the action of the rack, and the gear can drive the top cover to rotate through the fixed shaft, so that the U-shaped rod can rotate by the axis of the fixed shaft, and the cleaning of the wall surface is accelerated.

4. The U type pole both ends that are equipped with contact with the wall, have improved area of contact greatly to accelerate the clearance to the wall, the shell is the annular design, can reduce the area occupied of this device, and is rational in infrastructure simultaneously, and the overall arrangement is symmetrical, reinforcing stability in use.

Drawings

Fig. 1 is a first perspective view structural schematic diagram of a perspective view of a robot end device for cleaning a wall surface according to the present invention;

fig. 2 is a second perspective view structural schematic diagram of a perspective view of a robot end device for cleaning a wall surface according to the present invention;

FIG. 3 is a schematic cross-sectional view of a robot end device for cleaning a wall according to the present invention;

FIG. 4 is a schematic view of a third enlarged structure of a robot end device for cleaning a wall according to the present invention;

fig. 5 is a schematic side view of the end device of a robot for cleaning a wall surface shown in fig. 1 according to the present invention;

FIG. 6 is a schematic top view of a robot end device for cleaning a wall surface according to the present invention, FIG. 1

Fig. 7 is a schematic structural view of a front view of a robot end device for cleaning a wall surface according to the present invention shown in fig. 2.

In the figure: the device comprises a shell 1, a sliding block 2, a top cover 3, a guide rail 4, a first rectangular frame 5, a rack 6, a gear 7, a fixed shaft 8, a cross bar 9, a first motor 10, a connecting piece 11, a second rectangular frame 12, a first cam 13, a second motor 14, a threaded sleeve 15, a threaded rod 16, a U-shaped rod 17, a moving plate 18, a third rectangular frame 19, a second cam 20, a rotating shaft 21, a limiting block 22, a blocking block 23, an arc-shaped groove 24 and a connecting rod 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-7, a robot end device for wall cleaning includes a housing 1, a plurality of thread sleeves 15 are fixedly penetrated through one side surface of the housing 1, threaded rods 16 are threadedly mounted in the thread sleeves 15, a U-shaped rod 17 is fixedly mounted at one end of each threaded rod 16, a limiting block 22 is fixedly mounted at the other end of each threaded rod 16, a movable plate 18 is movably mounted in the housing 1, a third rectangular frame 19 is fixedly mounted in the middle of one side surface of the movable plate 18, a plurality of blocking blocks 23 are fixedly mounted on the other side surface of the movable plate 18, an arc-shaped groove 24 is formed in the middle of each blocking block 23, the limiting block 22 is located in the arc-shaped groove 24, the threaded rods 16 penetrate the blocking blocks 23, a first motor 10 is fixedly mounted on one side of the housing 1, a rotating shaft 21 rotatably connected with the housing 1 is fixedly mounted at the output end of the first motor 10, a second cam 20 is fixedly sleeved in the middle of the rotating shaft 21, the second cam 20 is located inside the third rectangular frame 19, and the top cover 3 is fixedly mounted on one side of the outer shell 1 away from the threaded sleeve 15.

The middle part fixed mounting of top cap 3 has fixed axle 8, and one side movable mounting of top cap 3 has first rectangle frame 5, and two sets of connecting pieces 11 are installed to one side symmetry of first rectangle frame 5, and the one end of two sets of connecting pieces 11 is connected fixedly with the robot jointly, and convenient to use is swift, and stability is good, improves life greatly.

One side symmetry fixed mounting of first rectangle frame 5 has guide rail 4, there is slider 2 in the outside slidable mounting of guide rail 4, the common fixed mounting in one side of two sliders 2 has horizontal pole 9, the middle part and the fixed axle 8 of horizontal pole 9 rotate to be connected, one side lower part fixed mounting of first rectangle frame 5 has second motor 14, the output fixed mounting of second motor 14 has first cam 13, one side middle part fixed mounting of horizontal pole 9 has connecting rod 25, the one end fixed mounting of connecting rod 25 has second rectangle frame 12, first cam 13 is located the inside of second rectangle frame 12, can drive the straight reciprocating motion of U type pole 17, increase the clearance area to the wall, simultaneously more obvious to the clearance effect of wall, also can accelerate the clearance efficiency to the wall.

The both ends of U type pole 17 are the toper structure, and the toper structure is sharp, and is better to the treatment effect of wall, and is broken more laborsaving to accelerate the clearance to the wall.

The one end of stopper 22 is planar structure, and this planar structure is contradicted with movable plate 18, and the opposite side of stopper 22 is the arc structure, and this arc structure and arc wall 24 phase-match, and it is stable to connect, can reduce frictional force to can reduce the loss of energy.

The gear 7 is fixedly sleeved on the outer side of the fixed shaft 8, the rack 6 is fixedly mounted on one side of the inside of the first rectangular frame 5, the rack 6 is meshed with the gear 7, the U-shaped rod 17 can rotate to reciprocate, the reciprocating motion can increase the cleaning area of the wall surface, and meanwhile, the cleaning effect of the wall surface is more obvious.

The working principle is as follows: when the device is used, the device is connected with a robot through the connecting piece 11, one side face of the shell 1 is placed in a direction parallel to the wall surface, the distance between the shell and the wall surface is controlled, and the first motor 10 and the second motor 14 are started.

The first motor 10 that is equipped with drives pivot 21 and rotates, and pivot 21 drives second cam 20 and rotates, and second cam 20 drives movable plate 18 reciprocating motion through third rectangle frame 19, and at the effect of thread bush 15 simultaneously, threaded rod 16 can carry out reciprocating motion on the straight line, can carry out the rotation simultaneously, and U type pole 17 just also can be perpendicular to wall straight line reciprocating motion on this moment to and the rotation.

The second motor 14 that is equipped with drives first cam 13 and rotates, and first cam 13 drives connecting rod 25 reciprocating motion through second rectangle frame 12, and connecting rod 25 drives fixed axle 8 reciprocating motion through horizontal pole 9, and fixed axle 8 drives top cap 3 from also can driving U type pole 17 and realizing reciprocating motion.

When the fixed shaft 8 is arranged to do linear reciprocating motion, the fixed shaft 8 drives the gear 7 to do linear motion, the gear 7 can rotate under the action of the rack 6, the gear 7 can drive the top cover 3 to rotate through the fixed shaft 8, and therefore the U-shaped rod 17 can rotate by the axis of the fixed shaft 8.

In conclusion, the U-shaped rod 17 can rotate in a reciprocating mode with the axis of the threaded rod 16, can also reciprocate in a direction perpendicular to the wall surface, can reciprocate in a direction parallel to the wall surface, and can also reciprocate with the axis of the fixed shaft 8, so that efficient cleaning of the wall surface is realized, and the wall surface cleaning effect is obvious.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot end device for wall clearance, includes shell (1), its characterized in that, a side of shell (1) is fixed to be run through and has a plurality of thread bush (15), threaded rod (16) are installed to the equal screw thread in inside of thread bush (15), the one end fixed mounting of threaded rod (16) has U type pole (17), the other end fixed mounting of threaded rod (16) has stopper (22), the inside movable mounting of shell (1) has movable plate (18), a side middle part fixed mounting of movable plate (18) has third rectangle frame (19), the another side fixed mounting of movable plate (18) has a plurality of blocks (23), the middle part that blocks (23) is equipped with arc wall (24), stopper (22) are located the inside of arc wall (24), threaded rod (16) run through and block (23), one side fixed mounting of shell (1) has first motor (10), the output of first motor (10) runs through shell (1) fixed mounting and rotates pivot (21) of being connected with shell (1), the middle part of pivot (21) is fixed to be cup jointed second cam (20), second cam (20) are located the inside of third rectangle frame (19), one side fixed mounting that thread bush (15) were kept away from in shell (1) has top cap (3).

2. The wall surface cleaning robot end device according to claim 1, characterized in that a fixed shaft (8) is fixedly mounted in the middle of the top cover (3), a first rectangular frame (5) is movably mounted on one side of the top cover (3), a guide rail (4) is symmetrically and fixedly mounted on one side of the first rectangular frame (5), a slider (2) is slidably mounted on the outer side of the guide rail (4), a cross rod (9) is fixedly mounted on one side of the two sliders (2) together, the middle of the cross rod (9) is rotatably connected with the fixed shaft (8), a second motor (14) is fixedly mounted on the lower portion of one side of the first rectangular frame (5), a first cam (13) is fixedly mounted on the output end of the second motor (14), a connecting rod (25) is fixedly mounted in the middle of one side of the cross rod (9), and a second rectangular frame (12) is fixedly mounted on one end of the connecting rod (25), the first cam (13) is located inside the second rectangular frame (12).

3. The wall surface cleaning robot end device according to claim 2, wherein two sets of connecting pieces (11) are symmetrically installed on one side of the first rectangular frame (5), and one ends of the two sets of connecting pieces (11) are connected and fixed with the robot together.

4. The end device of a robot for cleaning a wall surface according to claim 1, wherein one end of the stopper (22) is a plane structure, and the plane structure is abutted against the moving plate (18), and the other end of the stopper (22) is an arc structure, and the arc structure is matched with the arc groove (24).

5. A wall surface cleaning robot end unit according to claim 1, characterized in that both ends of the U-shaped bar (17) are of a tapered configuration.

6. The wall surface cleaning robot end device according to claim 2, wherein a gear (7) is fixedly sleeved on the outer side of the fixed shaft (8), a rack (6) is fixedly installed on one side of the inside of the first rectangular frame (5), and the rack (6) is meshed with the gear (7).