CN114176459A

CN114176459A - Self-balancing scraper and cleaning robot

Info

Publication number: CN114176459A
Application number: CN202111678135.XA
Authority: CN
Inventors: 张海峰; 郭震
Original assignee: Shanghai Jingwu Trade Technology Development Co Ltd
Current assignee: Shanghai Jingwu Trade Technology Development Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-15

Abstract

The invention provides a self-balancing scraper and a cleaning robot, which comprise a self-balancing structure, wherein the self-balancing structure is arranged in an installation shell, external equipment can drive the installation shell to move between a first position and a second position, the self-balancing structure comprises an installation groove, a scraper body is in an upwarping state in the installation shell, when the installation shell is located at the second position, a universal ball joint can rotate downwards in the installation groove, and the scraper body is in a sinking state in the installation shell. According to the invention, the spring is arranged on the scraper main body, when the scraper and the mirror are pressed on the mirror to wipe the mirror at a certain angle, an included angle is easily formed between the scraper and the mirror when the scraper moves left and right, after the scraper tilts, the head part of the scraper is uniformly pressed on the mirror surface under the action of the spring, the soft rubber scraping head at the end part of the scraper is kept to uniformly scrape the glass surface, and the phenomenon that the scraper scrapes the mirror surface in an empty mode is avoided.

Description

Self-balancing scraper and cleaning robot

Technical Field

The invention relates to the field of cleaning robots, in particular to a self-balancing scraper and a cleaning robot.

Background

Along with the continuous development of the era and the rapid progress of science and technology in the current society, people gradually step into the intelligent era, along with the appearance of robots, the living standard of people is obviously improved, and the robots have various types, such as service types, cleaning types, industrial types and the like;

the cleaning robot has very extensive application in people's life, and then help the mankind to solve the vexation of cleaning the health, the article robot has the functional shape robot at clean mirror surface, at the in-process of clean mirror surface, for the stability of arm action, the fuselage is generally fixed motionless, when pasting the scraper on the mirror and cleaning, so receive the influence of robot own gesture, the local scraper of wiping just facing the machine can paste the plane mirror surface, and when wiping the fuselage left and right sides, because receive the influence of vision and arm running accuracy, the scraper can not fine keep absolutely parallel with the mirror surface, can lead to the scraper too dead with the laminating of glass on one side like this, laminate not good again on one side. The cleaning cleanliness is reduced, the efficiency is reduced (reworking is needed), and the scraper or the mirror surface can be seriously damaged;

patent document CN201088 discloses a mirror surface scraper, which can easily remove stains on a mirror surface by clamping a sharp and flat blade by a forward-inclined cutter head, so as to thoroughly solve the problem of cleaning all mirror surface surfaces, and meanwhile, the scraper is made of a rigid material and can easily leave traces on the mirror surface, and when the scraper moves left and right to clean the mirror surface, the phenomenon that the mirror surface is unevenly stressed and damaged can occur is likely to occur.

Disclosure of Invention

In view of the shortcomings in the prior art, it is an object of the present invention to provide a self-balancing scraper and a cleaning robot.

The self-balancing scraper provided by the invention comprises a self-balancing structure, wherein the self-balancing structure is arranged in a mounting shell, one side of the mounting shell is provided with external equipment, and the external equipment can drive the mounting shell to move between a first position and a second position, the self-balancing structure comprises a mounting groove, a universal ball joint, a scraper handle, a scraper body, a mounting clamp and a soft rubber scraper head are sequentially arranged above the mounting groove, the scraper body is arranged in the mounting shell and has an upwarping state and a sinking state, when the mounting shell is positioned at the first position, the universal ball joint can rotate upwards in the mounting groove, and the scraper body is in an upwarping state in the mounting shell, when the mounting shell is located at the second position, the universal ball joint can rotate downwards in the mounting groove, and the scraper body is in a sunken state in the mounting shell;

preferably, a limiting column is installed inside the installation shell, and a reset spring is arranged on the surface of the limiting column;

preferably, positioning ribs are respectively arranged on two sides of the scraper handle;

preferably, the scraper handle and the universal ball joint are cast and integrated;

preferably, a butt joint structure is formed between the universal ball joint and the mounting groove;

preferably, a clamping structure is formed between the mounting clamp and the soft rubber scraping head;

preferably, the limiting columns are arranged in the installation shell in two groups, and the two groups of limiting columns are symmetrically distributed around the central line of the installation shell. (ii) a

Preferably, the two groups of limiting columns respectively penetrate through the scraper body, and the radius of a hole groove penetrating through the scraper body is larger than that of the limiting columns;

preferably, the two groups of positioning ribs are symmetrically distributed about the center line of the scraper handle;

according to the invention, the cleaning robot is characterized by comprising the self-balancing scraper blade of any one of claims 1-9;

compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the spring is arranged on the scraper main body, when the scraper and the mirror are pressed on the mirror at a certain angle to wipe the mirror, an included angle is easily formed between the scraper and the mirror when the scraper moves left and right, after the scraper tilts, the head part of the scraper is uniformly pressed on the mirror surface under the action of the spring, the soft rubber scraping head at the end part of the scraper is kept to uniformly scrape the glass surface, the phenomenon that the scraper scrapes the mirror surface without scraping is avoided when the scraper scrapes the mirror surface, and the problem that the left and right unbalance of the mirror surface cleaned by the scraper due to the posture limitation of a robot is solved;

2. according to the invention, due to the precision problem of the mechanical arm, when the scraper scrapes glass, errors are generated before and after the scraper scrapes the glass, so that the scraper can be excessively compact or excessively loose when contacting with the mirror surface;

3. according to the invention, the scraper handle is limited in the left-right direction through the arrangement of the positioning ribs, so that the phenomenon that the scraper body deflects left and right is avoided, and the mirror surface can be protected by utilizing the contact of the soft glue and the mirror surface, so that the phenomenon that the surface of the mirror surface is damaged by a merchant is avoided;

drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a front view of the main body of the present invention;

FIG. 2 is a schematic side view of a cross-sectional structure of the main body of the present invention;

FIG. 3 is a schematic top view of a cross-sectional structure of the main body of the present invention;

FIG. 4 is a schematic structural view of the scraper of the present invention in a mirror motion state;

fig. 5 is a side view schematic structure of the robot of the present invention.

The figures show that: 1. installing a shell; 2. a return spring; 3. a limiting column; 4. a scraper body; 5. installing a clamp; 6. a soft rubber scraping head; 7. scraping the knife handle; 8. positioning ribs; 9. a universal ball joint; 10. mounting grooves; 11. a gripper; 12. a mechanical arm; 13. a robot body; 14. a mirror surface.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Referring to the drawings, the present invention provides: a self-balancing scraper comprises a self-balancing structure, the self-balancing structure is arranged inside an installation shell 1, one side of the installation shell 1 is provided with an external device, the external device can drive the installation shell 1 to move between a first position and a second position, the first position refers to that the external device drives the self-balancing structure and comprises an installation groove 10, a universal ball joint 9, a scraper handle 7, a scraper body 4, an installation clamp 5 and a soft rubber scraper head 6 are sequentially arranged above the installation groove 10, the scraper body 4 is arranged inside the installation shell 1 and has an upwarp state and a sinking state, when the installation shell 1 is arranged at the first position, the universal ball joint 9 can rotate upwards inside the installation groove 10, the scraper body 4 is arranged inside the installation shell 1 and is in the upwarp state, when the installation shell 1 is arranged at the second position, the universal ball joint 9 can rotate downwards inside the installation groove 10, the scraper body 4 is in a sinking state in the installation shell 1, the limiting column 3 is installed in the installation shell 1, and the surface of the limiting column 3 is provided with the reset spring 2;

in the process that the scraper body 4 is inclined, the scraper body 4 is driven to be in contact with the mirror surface 14 through the elastic reset function of the reset spring 2, the phenomenon that a gap is formed between the soft rubber scraping head 6 and the mirror surface 14 is avoided, and the scraping area of the soft rubber scraping head 6 on the surface of the mirror surface 14 is increased by utilizing the inclined design of the soft rubber scraping head 6;

referring to fig. 1, 2 and 3, the two sides of the scraper handle 7 are respectively provided with a positioning rib 8, the scraper handle 7 and the universal ball joint 9 are cast integrally, the universal ball joint 9 is in butt joint with the mounting groove 10, and the mounting clamp 5 and the soft rubber scraper 6 are in a clamping structure;

when the distance between the scraper body 4 and the mirror surface 14 is too close, the scraper body 4 is subjected to extrusion force to enable the universal ball joint 9 to rotate in the mounting groove 10, the scraper handle 7 is tilted upwards at the same time, the scraper body 4 is driven to tilt upwards at the same time, the distance between the scraper body 4 and the mirror surface 14 is further increased, the scraper body 4 is pulled by the reset spring 2, the soft rubber scraper head 6 is enabled to be in contact with the mirror surface 14, and when the distance between the scraper body 4 and the mirror surface 14 is too far, the opposite is true;

referring to fig. 1, 2 and 3, two sets of limiting posts 3 are arranged inside the mounting housing 1, the two sets of limiting posts 3 are symmetrically distributed about the center line of the mounting housing 1, the two sets of limiting posts 3 respectively penetrate through the scraper body 4, the radius of a hole groove penetrated through the scraper body 4 is larger than that of the limiting posts 3, and the two sets of positioning ribs 8 are symmetrically distributed about the center line of the scraper handle 7;

referring to fig. 5, the external device is a cleaning robot, the cleaning robot has a robot body 13, a robot arm 12 is installed at one side of the robot body 13, a gripper 11 is fixedly connected to a top end of the robot arm 12, and an installation housing 1 is installed at one side of a top end of the gripper 11;

the working principle of the invention is as follows:

firstly, a scraper body 4 with pretightening force is installed in an installation shell 1, a limiting column 3 in the installation shell 1 is inserted into a through hole in the surface of the scraper body 4 to limit the scraper body, then a reset spring 2 provides pretightening force for the scraper body 4 at the top end, a soft rubber scraping head 6 is taken up and inserted into an installation clamp 5, the installed installation shell 1 is clamped by a mechanical claw 11, the installation shell 1 is contacted with a mirror surface 14 through a mechanical arm 12, the mechanical arm 12 drives the installation shell 1 to move, and the scraper is inclined to scrape off stains on the mirror surface 14;

secondly, when the precision of external equipment is deficient, after the soft rubber scraping head 6 scrapes one mirror surface 14 and then contacts the other mirror surface 14, the distance between the scraper body 4 and the mirror surface 14 is improperly controlled, and the distance between the scraper body 4 and the mirror surface 14 is balanced by the rotation of the universal ball joint 9 in the mounting groove 10 and the matching of the return spring 2, so that the phenomenon that the scraper body 4 damages the mirror surface 14 is avoided;

finally, the mirror surface 14 is protected again through the characteristic of the self material of the soft rubber scraping head 6, the phenomenon of marks after the surface of the mirror surface 14 is scraped is avoided, and all work of the device is finally completed.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. The self-balancing scraper is characterized by comprising a self-balancing structure, wherein the self-balancing structure is arranged in an installation shell (1), external equipment is arranged on one side of the installation shell (1) and can drive the installation shell (1) to move between a first position and a second position, the self-balancing structure comprises an installation groove (10), a universal ball joint (9), a scraper handle (7), a scraper body (4), an installation clamp (5) and a soft rubber scraper head (6) are sequentially arranged above the installation groove (10), the scraper body (4) is arranged in the installation shell (1) and has an upwarp state and a sinking state,

when the mounting shell (1) is positioned at the first position, the universal ball joint (9) can rotate upwards in the mounting groove (10), and the scraper body (4) is in an upwarping state in the mounting shell (1),

when the mounting shell (1) is located at the second position, the universal ball joint (9) can rotate downwards in the mounting groove (10), and the scraper body (4) is in a sunken state in the mounting shell (1).

2. The self-balancing scraper according to claim 1, characterized in that the mounting housing (1) is internally provided with a limiting post (3), and the surface of the limiting post (3) is provided with a return spring (2).

3. The self-balancing scraper according to claim 1, characterized in that the scraper shank (7) is provided with positioning ribs (8) on both sides.

4. Self-balancing doctor blade according to claim 1, characterised in that the doctor blade shank (7) is cast integral with the universal ball joint (9).

5. The self-balancing doctor blade according to claim 1, characterised in that the universal ball joint (9) is in a butt joint structure with the mounting groove (10).

6. The self-balancing scraper blade of claim 1, wherein the mounting clip (5) and the soft rubber scraper head (6) are in a snap-fit structure.

7. The self-balancing scraper according to claim 2, characterized in that the limiting columns (3) are arranged in two sets inside the mounting casing (1), and the two sets of limiting columns (3) are symmetrically distributed about the center line of the mounting casing (1).

8. The self-balancing scraper blade of claim 2, wherein the two sets of limiting columns (3) respectively penetrate through the scraper body (4), and the radius of the hole groove through which the scraper body (4) penetrates is larger than that of the limiting columns (3).

9. A self-balancing doctor blade according to claim 3, characterised in that the two sets of positioning ribs (8) are symmetrically distributed about the centre line of the doctor blade shank (7).

10. A cleaning robot comprising the self-balancing blade of any one of claims 1 to 9.