CN205923918U - Plane cleaning machines people - Google Patents
Plane cleaning machines people Download PDFInfo
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- CN205923918U CN205923918U CN201620446786.4U CN201620446786U CN205923918U CN 205923918 U CN205923918 U CN 205923918U CN 201620446786 U CN201620446786 U CN 201620446786U CN 205923918 U CN205923918 U CN 205923918U
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- roller
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- drive wheel
- directional drive
- base
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Abstract
The utility model provides a plane cleaning machines people, includes base (5) and sets up the walking unit on the base, the base is equipped with adsorption equipment and cleaning device, and plane cleaning machines people passes through adsorption equipment and adsorbs in the work plane, walking unit includes all -round drive wheel (3), all -round drive wheel includes all -round drive wheel wheel hub (9) and all -round drive wheel roller (10), the exterior bread of all -round drive wheel roller is equipped with roller rubber coating (12), the roller rubber coating is soft rubber coating. The utility model discloses an even soft rubber coating material of a layer thickness is established to drive wheel roller outward appearance bread from every side for plane cleaning machines people produces sufficient frictional force at the during operation on the one hand and between the work plane, and on the other hand robot base can not take place the undulation, thereby prevents adsorption equipment gas leakage, has guaranteed plane cleaning machines people's safety.
Description
Technical field
This utility model is related to a kind of flat clear robot, belongs to intelligent robot manufacturing technology field.
Background technology
With the raising of people's living standard, it is more and more intelligent that Household cleaning tool also becomes, various based on ordinary wheel
The household services people of formula platform, such as robot for cleaning floor, glass surface clean robot etc. quietly between occur in the family of people
In life.For household service robot, common wheeled platform has been difficult in adapt to such as the complex environments such as dead angle, and
Housekeeping robot operationally needs frequently travel direction to change, and not only wastes electric energy, and consumes substantial amounts of work
Time.
A kind of directional wheel device disclosed in Chinese patent CN2472991Y, it mainly comprises the axis distribution being crisscross arranged
Rotating wheel and radially-arranged rotating wheel so that directional wheel can any direction rotation.Due to omnidirectional's characteristic of directional wheel,
It is widely used in various running gears.A kind of clean robot as disclosed in Patent No. CN201366711Y, its running gear
Using directional wheel, so that robot can move any direction, walking is flexibly.
Traditional directional wheel is only applicable to horizontal plane, and its wheel material is harder, and this material and smooth flat are (as glass
Deng) coefficient of friction is relatively low, and do not account for the problem that robot base rises and falls, if using traditional directional wheel driven machine people
In smooth flat motion, easily there is the bad phenomenon such as skidding or base fluctuating in robot, have certain potential safety hazard.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, provides a kind of flat clear machine
Device people, by omni-directional drive wheel rollers outer surface bag set a layer thickness uniformly soft cover material so that flat clear
Robot operationally, on the one hand produces enough frictional force, another aspect robot base will not be sent out and working face between
Raw rise and fall, thus preventing adsorbent equipment gas leakage it is ensured that the safety of flat clear robot.
Technical problem to be solved in the utility model is achieved by the following technical solution：
The present invention provides a kind of flat clear robot, including base and the walking unit being arranged on base, described bottom
Seat is provided with adsorbent equipment and cleaning device, and flat clear robot is adsorbed in working face by adsorbent equipment, described walking list
Unit includes omni-directional drive wheel, and described omni-directional drive wheel includes omni-directional drive wheel wheel hub and omni-directional drive wheel roller, institute
Stating the appearance bread of omni-directional drive wheel roller, to be provided with roller encapsulated, described roller encapsulated for soft encapsulated.
In order that producing enough driving frictional force between flat clear robot roller and plane, prevent plane clear simultaneously
Operationally base rises and falls for clean robot, and described soft encapsulated hardness is 50 degree of -60 degree of shore hardness, and soft encapsulated
Thickness uniformity.
Preferably, described omni-directional drive wheel roller includes that roller wheel hub, roller be encapsulated and roller axle, and described roller is encapsulated
Consistency of thickness at roller wheel hub radially-outer surface.
Preferably, the radially-outer surface of described roller wheel hub and the encapsulated inner surface of roller are in circular arc, both circular arcs half
Footpath is identical.Further, the encapsulated arc radius of described roller are equal to omni-directional drive wheel radius.
Preferably, the encapsulated thickness of described roller is 1mm-2mm.
Preferably, the encapsulated material of described roller using (including but not limited to) silica gel, butadiene-styrene rubber or nitrile rubber.
In order to ensure that flat clear robot operationally can normally walk, described roller encapsulated and working face between
Confficient of static friction is more than or equal to 0.5.
Preferably, described adsorbent equipment comprises the vacuum cavity being arranged on base bottom, the number of described omni-directional drive wheel
Measure as 4, be distributed at 4 drift angles inside described vacuum cavity.Described base is square, and described omni-directional drive wheel is installed
Direction is in 45 degree of angles with the side of described base.
Or, described base is square, and described adsorbent equipment comprises the vacuum cavity being arranged at base bottom, described full side
Position driving wheel quantity be 4, be distributed in the outside of described vacuum cavity, and described omni-directional drive wheel installation direction with described
The side of base is parallel.
In order to prevent flat clear machine man-hour from toppling and improve its sealing, described walking unit also includes
Omni-directional drive wheel hub and omni-directional drive enclosing cover, omni-directional drive wheel hub and omni-directional drive enclosing cover are fastened on one
Rise and form an accommodation space, omni-directional drive wheel wheel hub and omni-directional drive wheel roller part are located in described accommodation space.
In sum, this utility model provides a kind of flat clear robot, by omni-directional drive wheel roller appearance
Bread set a layer thickness uniformly soft cover material so that flat clear robot operationally, one side robot and work
Make between plane, to produce enough frictional force, facilitate robot ambulation, another aspect robot base will not rise and fall, and produces
The enough frictional force of life, prevents adsorbent equipment gas leakage it is ensured that the safety of flat clear robot.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description
Fig. 1 is the decomposing schematic representation of this utility model midplane clean robot；
Fig. 2 is the top view of this utility model midplane clean robot；
Fig. 3 is the upward view of this utility model midplane clean robot；
Fig. 4 is the upward view of another kind of flat clear robot in this utility model；
Fig. 5 is the decomposing schematic representation of walking unit in this utility model；
Fig. 6 is the operating diagram of prior art midplane clean robot；
Fig. 7 is the operating diagram of this utility model midplane clean robot；
Fig. 8 is the decomposing schematic representation of omni-directional drive wheel roller in this utility model；
Fig. 9 is the sectional view of omni-directional drive wheel roller in this utility model；
Figure 10 is the track route figure of this utility model midplane clean robot.
Specific embodiment
Fig. 1 is the decomposing schematic representation of this utility model midplane clean robot；Fig. 2 cleans for this utility model midplane
The top view of robot；Fig. 3 is the upward view of this utility model midplane clean robot.As Fig. 1 combines shown in Fig. 2 and Fig. 3,
This utility model provides a kind of flat clear robot, and described flat clear robot includes base 5 and is arranged on base 5
Walking unit, described base 5 center is provided with vacuum source, is shaped as rectangle it is preferred that described base 5 due to most of windows
Be shaped as square.In the present embodiment, described vacuum source be centrifugal fan 2, base 5 bottom be additionally provided with adsorbent equipment and
Cleaning device is it is assumed that during the artificial glass-cleaning robot of cleaning machine, described flat clear robot is logical in the presence of vacuum source
Cross adsorbent equipment and be adsorbed in glass surface, optionally, described adsorbent equipment is sucker, and described cleaning device is hairbrush, described suction
Form negative pressure cavity, in the present embodiment, described adsorbent equipment and cleaning device are rag 6, institute between disk, glass and base 5
State rag 6 to be arranged on the outward flange of base 5 bottom that is to say, that forming negative pressure between described rag 6, glass and base 5
Chamber, rag 6 has sealing and two kinds of functions of cleaning in flat clear robot.
Described walking unit includes omni-directional drive wheel 3, and the quantity of described omni-directional drive wheel 3 can be 4, its center
In the symmetrical negative pressure cavity being distributed in base 5 bottom, that is, in the design of comprehensive flat clear robot, four comprehensive drives
Driving wheel 3 is located at " corner " of square base respectively, so can make full use of base space, can increase robotically-driven again
Power；Centrifugal fan 2 have enough be spatially located at flat clear robot center, thus producing centrosymmetric absorption air pressure,
This point to flat clear robot architecture stably also it is critical that, specifically, described adsorbent equipment also comprise arrange
In the vacuum cavity of base 5 bottom, described omni-directional drive wheel 3, it is distributed at 4 drift angles inside described vacuum cavity, is
Facilitate walking, described omni-directional drive wheel 3 installation direction is in 45 degree of angles with the side of described base 5.Fig. 4 is this utility model
The upward view of middle another kind flat clear robot is as shown in figure 4, this utility model can also adopt following structure, described complete
Orientation driving wheel 3 is distributed in the outside of described vacuum cavity, and described omni-directional drive wheel 3 installation direction and described base 5
Side is parallel.It should be noted that this utility model is not intended to limit the quantity of omni-directional drive wheel 3, those skilled in the art are permissible
Decide the quantity of driving wheel according to actual needs in its sole discretion.
Cause to damage in order to avoid flat clear robot collides in the course of the work, described base 5 is arranged with
Crashworthy plate 1 is it is preferred that also can arrange edge inductive transducer 4, described edge inductive transducer 4 and flat clear on Crashworthy plate 1
Control centre's (not shown) of robot connects, when edge inductive transducer 4 detects flat clear robot periphery
During rimless edge, the control plane clean robot commutation of described control centre.In the present embodiment, edge inductive transducer 4
Quantity is 4, and it is evenly distributed on 4 drift angles of Crashworthy plate 1.
Fig. 5 is the decomposing schematic representation of walking unit in this utility model.As shown in figure 5, described walking unit also includes electricity
Machine (not shown) and decelerating through motor box assembly 7, described omni-directional drive wheel 3 is arranged on decelerating through motor box assembly 7, in electricity
Being rotated by of machine.Described omni-directional drive wheel 3 by omni-directional drive wheel wheel hub 9 and is arranged on omni-directional drive wheel wheel hub 9
On omni-directional drive wheel roller 10 form, wherein omni-directional drive wheel roller 10 uniform ring is around being distributed in omni-directional drive wheel
On wheel hub 9, the orthogonal axe of the axis of omni-directional drive wheel roller 10 and omni-directional drive wheel wheel hub 9, omni-directional drive wheel 3
Structure is prior art, will not be described here.Described decelerating through motor box assembly 7 and the supporting connection of omni-directional drive wheel wheel hub 9.Enter
One step, described omni-directional drive wheel 3 can also include omni-directional drive wheel hub 8 and omni-directional drive enclosing cover 11, specifically
For, omni-directional drive wheel hub 8 and omni-directional drive enclosing cover 11 snap together formation one accommodation space, omni-directional drive
Wheel wheel hub 9 and omni-directional drive wheel roller 10 part are located in described accommodation space, described omni-directional drive wheel hub 8, Quan Fang
Position driving wheel hub 9 and the omni-directional drive enclosing cover 11 supporting connection with decelerating through motor box assembly 7 successively.Omni-directional drive wheel wheel
Omni-directional drive wheel wheel hub 9 and omni-directional drive wheel roller can be protected and be supported to shell 8 and omni-directional drive enclosing cover 11 1 aspect
Son 10, on the other hand, can strengthen the sealing effectiveness of negative pressure cavity, i.e. omni-directional drive wheel hub 8, omni-directional drive enclosing cover
11st, form negative pressure cavity between rag 6, base 5 and glass.
Due to taking said structure, this utility model has reached the purpose of Stability Analysis of Structures and save space, each assembly
(vacuum source, driving wheel, Crashworthy plate etc.) can be close to base 5.Fig. 6 is the work of this utility model midplane clean robot
Schematic diagram；Fig. 7 is the operating diagram of prior art midplane clean robot.It can be seen from figures 6 and 7 that plane is clear
" thickness " of clean robot is very low, and center of gravity presses close to glass surface therewith, in other words, the center of gravity of flat clear robot and glass surface
The distance between less, in the case that suffered by flat clear robot, gravity G is constant, its moment l is than conventional planar cleaner
Moment L of device people is little, thus reducing the danger that clean robot topples on perpendicular or inclined-plane.
Fig. 8 is the decomposing schematic representation of omni-directional drive wheel roller 10 in this utility model；Fig. 9 is entirely square in this utility model
The sectional view of position driving wheel roller 10.As shown in Figure 8 and Figure 9, omni-directional drive wheel roller 10 includes roller wheel hub 13, roller bag
Glue 12 and roller axle 14, in order to realize the smooth movement in smooth flat (as glass etc.), the appearance of described roller wheel hub 13
Bread is provided with by the soft encapsulated roller made encapsulated 12, and described roller encapsulated 12 is preferably special high abrasion great friction coefficient
Soft cover material (as silica gel, butadiene-styrene rubber or nitrile rubber etc.), its shore hardness be 50 degree -60 spend, roller encapsulated 12
Confficient of static friction and working face between is more than or equal to 0.5.Preferably, the slip between roller encapsulated 12 and working face rubs
Wipe coefficient and be more than or equal to 0.4.Described roller encapsulated 12 can be with roller wheel hub 13 stable bond, for example, described roller wheel hub 13
Radially-outer surface and encapsulated 12 inner surfacies of roller be in circular arc, both arc radius are identical, further, described roller
Encapsulated 12 arc radius are equal to the radius of omni-directional drive wheel 3.Preferably, the thickness of described roller encapsulated 12 is 1mm-2mm.Roller
The inside hollow out design of sub- wheel hub 13, roller axle 14 structure is simply effective, and the setting thickness of roller encapsulated 12 is uniform, i.e. described roller
Encapsulated 12 consistency of thickness at roller wheel hub 13 radially-outer surface.Because surface cleaning machines people moves on glass planar
When, omni-directional drive wheel must deform upon, and could produce enough frictional force, therefore, only when the thickness of roller encapsulated 12
When uniformly, deformation that roller encapsulated 12 occurs in motion just can identical so that robot base does not rise and fall, vacuum guarantor
It is fixed to keep steady, robot motion's best performance.
Figure 10 is the track route figure of this utility model midplane clean robot.As shown in Figure 10, in figure dotted line is flat
Face clean robot central motion track, flat clear robot, from the beginning of the original position of the upper left corner, runs directly down, reaches
Behind the lower left corner, robot need not turn to, direct one machine person position of right lateral, and after reaching precalculated position, robot need not turn to
Directly up, after reaching upper side frame, direct right lateral, runs to left frame, directly switchs to descending operation, until running to rectangle
The lower right corner of plane, completes whole clean up task.As seen from Figure 10, with commonly wheeled (crawler type) flat clear robot
Compared using the "the" shape method of operation, this utility model midplane clean robot has coverage rate height during cleaning,
Repetitive rate is low, the advantages of efficiency high.
It should be noted that " plane " described in this utility model is mainly with respect to the surface such as " curved surface ", " step "
For, plane is not necessarily referring to be necessary for smooth plane, for example, plane can be the glass containing abrasive glass or cut glass
Plane or ceramic tile plane.
In sum, this utility model provides a kind of flat clear robot, its omni-directional drive wheel roller outerplanar bag
If a layer thickness uniformly soft cover material so that flat clear robot operationally, on the one hand and working face between
Produce enough frictional force, facilitate robot ambulation, another aspect robot base will not rise and fall, prevent adsorbent equipment from leaking
Gas is it is ensured that the safety of flat clear robot.
Claims (11)
1. a kind of flat clear robot, including base (5) with the walking unit that is arranged on base, described base is provided with absorption
Device and cleaning device, flat clear robot is adsorbed in working face by adsorbent equipment, and described walking unit includes full side
Position driving wheel (3), described omni-directional drive wheel includes omni-directional drive wheel wheel hub (9) and omni-directional drive wheel roller (10), its
Be characterised by, the outerplanar bag of described omni-directional drive wheel roller is provided with roller encapsulated (12), described roller encapsulated for soft bag
Glue.
2. flat clear robot as claimed in claim 1 is it is characterised in that described soft encapsulated hardness is shore hardness
50 degree of -60 degree.
3. flat clear robot as claimed in claim 1 is it is characterised in that described omni-directional drive wheel roller (10) includes
Roller wheel hub (13), roller encapsulated (12) and roller axle (14), described roller encapsulated (12) is at roller wheel hub radially-outer surface
Consistency of thickness.
4. flat clear robot as claimed in claim 3 is it is characterised in that the radially-outer surface of described roller wheel hub (13)
Encapsulated with roller (12) inner surface is in circular arc, and both arc radius are identical.
5. flat clear robot as claimed in claim 3 is it is characterised in that the thickness of described roller encapsulated (12) is 1mm-
2mm.
6. flat clear robot as claimed in claim 1 is it is characterised in that the material of described roller encapsulated (12) is silicon
Glue, butadiene-styrene rubber or nitrile rubber.
7. flat clear robot as claimed in claim 1 it is characterised in that described roller encapsulated (12) and working face it
Between confficient of static friction be more than or equal to 0.5.
8. flat clear robot as claimed in claim 1 is it is characterised in that described adsorbent equipment comprises to be arranged on base
(5) the vacuum cavity of bottom, the quantity of described omni-directional drive wheel (3) is 4, is distributed in 4 inside described vacuum cavity
At drift angle.
9. flat clear robot as claimed in claim 8 is it is characterised in that described base (5) is square, described comprehensive
Driving wheel installation direction is in 45 degree of angles with the side of described base.
10. flat clear robot as claimed in claim 1 is it is characterised in that described base (5) is square, described absorption
Device comprises the vacuum cavity being arranged at base bottom, and the quantity of described omni-directional drive wheel (3) is 4, is distributed in described true
The outside of empty cavity, and described omni-directional drive wheel installation direction is parallel with the side of described base.
11. flat clear robots as claimed in claim 1 are it is characterised in that described walking unit also includes comprehensive drive
Driving wheel hub (8) and omni-directional drive enclosing cover (11), omni-directional drive wheel hub and omni-directional drive enclosing cover are fastened on one
Rise and form an accommodation space, omni-directional drive wheel wheel hub (9) and omni-directional drive wheel roller (10) are partly located at described accommodating sky
Between in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620446786.4U CN205923918U (en) | 2016-05-17 | 2016-05-17 | Plane cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620446786.4U CN205923918U (en) | 2016-05-17 | 2016-05-17 | Plane cleaning machines people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205923918U true CN205923918U (en) | 2017-02-08 |
Family
ID=57935396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620446786.4U Active CN205923918U (en) | 2016-05-17 | 2016-05-17 | Plane cleaning machines people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205923918U (en) |
-
2016
- 2016-05-17 CN CN201620446786.4U patent/CN205923918U/en active Active
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |