CN114109063B

CN114109063B - Robot tail end device for wall surface cleaning

Info

Publication number: CN114109063B
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: 2023-06-16
Anticipated expiration: 2041-12-17
Also published as: CN114109063A

Abstract

The invention relates to the technical field of robots, in particular to a robot tail end device for wall surface cleaning, 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 each movable plate, an arc-shaped groove is formed in the middle of each blocking block, a first motor is fixedly arranged on one side of the shell, a second cam is fixedly sleeved on the middle of each rotating shaft and is 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 the reciprocating rotation of the U-shaped rod by the axis of the threaded rod, the reciprocating motion of the U-shaped rod in the direction vertical to the wall surface, the reciprocating motion of the U-shaped rod in the direction parallel to the wall surface, and the reciprocating motion of the U-shaped rod by the axis of the fixed shaft, thereby realizing the efficient cleaning of the wall surface.

Description

Robot tail end device for wall surface cleaning

Technical Field

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

Background

At present, when building decoration is carried out, especially when decoration is carried out on a second-hand house building, the coating and the like of the original wall surface are required to be removed, and new repair construction is convenient to carry out after the coating and the like are removed.

But when now 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 moreover, and very big power of needs just can 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 replaces the manual work to clear up the wall, and rescue the people from the work, in order to solve the problems of unclean cleaning and lower efficiency, we provide a robot tail end device for wall cleaning.

Disclosure of Invention

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

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

the utility model provides a wall clearance is with robot end device, includes the shell, a side fixed run through of shell has a plurality of thread bush, the equal screw thread in inside of thread bush is installed the threaded rod, the one end fixed mounting of threaded rod has U type pole, the other end fixed mounting of threaded rod has the stopper, the inside movable mounting of shell has the movable plate, a side middle part fixed mounting of movable plate has the third rectangle frame, another side fixed mounting of movable plate has a plurality of blocking piece, the middle part of blocking piece is equipped with the arc wall, the stopper is located the inside of arc wall, the threaded rod runs through the blocking piece, one side fixed mounting of shell has first motor, the output of first motor runs through shell fixed mounting and rotates the pivot of being connected with the shell, the middle part fixed sleeve of pivot has the second cam, the second cam is located the inside of third rectangle frame, one side fixed mounting that the thread bush was kept away from to the shell has the top cap.

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 sliding mounting of guide rail has the slider, two one side of slider is fixed mounting has the horizontal pole jointly, 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, one end fixed mounting of connecting rod has the second rectangle frame, first cam is located the inside of second rectangle frame.

Preferably, two groups of connecting pieces are symmetrically arranged 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 planar structure, the planar structure is abutted against the movable 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, two ends of the U-shaped rod are in conical structures.

Preferably, the outer side of the fixed shaft is fixedly sleeved with a gear, one side of the inner part of the first rectangular frame is fixedly provided with a rack, and the rack is meshed with the gear.

The invention provides a robot tail end device for wall surface cleaning, which has the beneficial effects that:

1. the first motor drives the rotating shaft to rotate, the rotating shaft drives the second cam to rotate, the second cam drives the moving plate to reciprocate through the third rectangular frame, meanwhile, under the action of the threaded sleeve, the threaded rod can reciprocate linearly and simultaneously rotate, the U-shaped rod can reciprocate linearly and vertically on the wall surface at the moment, and rotate, so that the wall surface can be cleaned, impact force can be generated on the wall surface when the U-shaped rod reciprocates linearly vertically, the surface of the wall surface is broken, and the broken 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 passes through second rectangle frame and drives connecting rod reciprocating motion, and the connecting rod passes through the horizontal pole and drives fixed axle reciprocating motion, and the fixed axle drives the top cap, from also can driving the U type pole and realize reciprocating motion, the reciprocating motion in the parallel direction of relative wall of U type pole for the clearance to the wall.

3. When the fixed shaft is in linear reciprocating motion, the fixed shaft drives the gear to perform 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 with the axis of the fixed shaft, and cleaning of the wall surface is quickened.

4. The U-shaped rod 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 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 schematic diagram of a perspective view of a first view angle structure of a robot end device for cleaning a wall surface according to the present invention;

fig. 2 is a schematic diagram of a perspective view of a second view angle structure 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 wall cleaning according to the present invention;

fig. 4 is a schematic diagram of a three-part enlarged structure of a tail end device of a robot for cleaning a wall surface according to the present invention;

fig. 5 is a schematic partial side view of the end device of the robot for cleaning wall surface of fig. 1;

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

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

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 rod 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 following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

Referring to fig. 1-7, a robot end device for wall surface cleaning comprises a housing 1, a plurality of thread sleeves 15 fixedly penetrate through one side surface of the housing 1, a threaded rod 16 is installed in the thread sleeves 15 in a threaded manner, a U-shaped rod 17 is fixedly installed at one end of the threaded rod 16, a limiting block 22 is fixedly installed at the other end of the threaded rod 16, a movable plate 18 is movably installed in the housing 1, a third rectangular frame 19 is fixedly installed in the middle of one side surface of the movable plate 18, a plurality of blocking blocks 23 are fixedly installed 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 rod 16 penetrates through the blocking blocks 23, a first motor 10 is fixedly installed on one side of the housing 1, an output end of the first motor 10 penetrates through the housing 1 and is fixedly installed with a rotating shaft 21 which is rotatably connected with the housing 1, a second cam 20 is fixedly sleeved in the middle of the rotating shaft 21, the second cam 20 is located in the inner side of the third rectangular frame 19, and one side of the housing 1, which is far from the threaded sleeve 15, and a top cover 3 is fixedly installed.

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 jointly with the robot, 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, the outside slidable mounting of guide rail 4 has slider 2, the common fixed mounting of one side of two sliders 2 has horizontal pole 9, the middle part and the fixed axle 8 rotation of horizontal pole 9 are 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, the clearance effect to the wall is more obvious simultaneously, also can accelerate the efficiency of cleaing away to the wall.

The two ends of the U-shaped rod 17 are of conical structures, the conical structures are sharp, the wall surface treatment effect is better, the crushing is more labor-saving, and therefore the wall surface cleaning is quickened.

One end of the limiting block 22 is of a planar structure, the planar structure is abutted against the movable plate 18, the other side of the limiting block 22 is of an arc-shaped structure, the arc-shaped structure is matched with the arc-shaped groove 24, connection is stable, friction force can be reduced, and accordingly energy loss can be reduced.

The gear 7 has been cup jointed in fixed outside of fixed axle 8, and inside one side fixed mounting of first rectangle frame 5 has rack 6, and rack 6 and gear 7 meshing can realize the rotatory reciprocating motion of U type pole 17, and reciprocating motion's realization can increase the clearance area to the wall, and is more obvious to the clearance effect of wall simultaneously.

Working principle: when the device is used, the device is installed and connected with a robot through the connecting piece 11, one side surface of the shell 1 is placed in a direction parallel to a wall surface, the distance between the device 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 the rotation of second cam 20, and the second cam 20 drives the reciprocating motion of movable plate 18 through third rectangle frame 19, and simultaneously at the effect of thread bush 15, threaded rod 16 can carry out straight line up reciprocating motion, simultaneously can carry out the rotation, and U type pole 17 just also can be perpendicular wall straight line up reciprocating motion and rotation this moment.

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

When the fixed shaft 8 is arranged to reciprocate linearly, the fixed shaft 8 drives the gear 7 to reciprocate linearly, the gear 7 can rotate under the action of the rack 6, and the gear 7 can drive the top cover 3 to rotate through the fixed shaft 8, so that the U-shaped rod 17 can rotate around the axis of the fixed shaft 8.

In combination, the U-shaped rod 17 can reciprocate with the axis of the threaded rod 16, reciprocate in the direction vertical to the wall surface, reciprocate in the direction parallel to the wall surface, reciprocate with the axis of the fixed shaft 8, realize the efficient cleaning of the wall surface, and have an obvious cleaning effect on the wall surface.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 wall clearance is with robot end device, includes shell (1), its characterized in that, a side fixed run through of shell (1) has a plurality of thread bush (15), threaded rod (16) are all installed to the inside of thread bush (15) screw thread, 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), the side middle part fixed mounting of movable plate (18) has third rectangle frame (19), the opposite side fixed mounting of movable plate (18) has a plurality of blocking piece (23), the middle part of blocking piece (23) is equipped with arc wall (24), stopper (22) are located the inside of arc wall (24), threaded rod (16) run through blocking piece (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 has and shell (1) rotates connection's side movable mounting, the second cam (20) of movable plate (18) is located the inside of second cam (20), a top cover (3) is fixedly arranged on one side of the shell (1) far away from the thread sleeve (15); the novel multifunctional electric bicycle is characterized in that a fixed shaft (8) is fixedly arranged in the middle of the top cover (3), a first rectangular frame (5) is movably arranged on one side of the top cover (3), guide rails (4) are symmetrically and fixedly arranged on one side of the first rectangular frame (5), sliding blocks (2) are arranged on the outer sides of the guide rails (4), a cross rod (9) is fixedly arranged on one side of each sliding block (2) jointly, the middle of each cross rod (9) is rotationally connected with the fixed shaft (8), a second motor (14) is fixedly arranged on the lower portion of one side of the first rectangular frame (5), a first cam (13) is fixedly arranged at the output end of the second motor (14), a connecting rod (25) is fixedly arranged on the middle of one side of each cross rod (9), a second rectangular frame (12) is fixedly arranged at one end of each connecting rod (25), and each first cam (13) is located inside each second rectangular frame (12). The outer side of the fixed shaft (8) is fixedly sleeved with a gear (7), one side of the inner part of the first rectangular frame (5) is fixedly provided with a rack (6), and the rack (6) is meshed with the gear (7).

2. The end device of the robot for cleaning wall surface according to claim 1, wherein two groups of connecting pieces (11) are symmetrically installed on one side of the first rectangular frame (5), and one ends of the two groups of connecting pieces (11) are connected and fixed with the robot together.

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

4. The end device of the robot for cleaning wall surface according to claim 1, wherein both ends of the U-shaped rod (17) are tapered structures.