CN206761623U - Endless track type cleaning robot - Google Patents
Endless track type cleaning robot Download PDFInfo
- Publication number
- CN206761623U CN206761623U CN201621060765.5U CN201621060765U CN206761623U CN 206761623 U CN206761623 U CN 206761623U CN 201621060765 U CN201621060765 U CN 201621060765U CN 206761623 U CN206761623 U CN 206761623U
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- CN
- China
- Prior art keywords
- traction
- sucker
- endless track
- track type
- cleaning robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Cleaning In General (AREA)
Abstract
The utility model provides a kind of endless track type cleaning robot, including agent structure, caterpillar drive structure, the cleaning mechanism in the agent structure, sucker and hitch structure located at track surface, the agent structure is driven by the caterpillar drive structure and advanced；The caterpillar drive structure passes through sucker suction target to be cleaned；The hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, the pull rope connection outside and the intermediate structure, the agent structure and caterpillar drive structure thereon are hung in the intermediate structure, relative position between agent structure and intermediate structure or relative stress described in the traction detection structure detection, the situation driving pull rope that the traction drive structure arrives according to the traction detection structure detection work.
Description
Technical field
It the utility model is related to automated cleaning field, more particularly to a kind of endless track type cleaning robot.
Background technology
Conventional cleaning glass machine people is applied to indoor glass cleaning more at present, operating efficiency be present and lowly cleans dynamics
Difference, body flexibility ratio is poor, automaticity is low and the problems such as throwing over barrier ability.The open air of the buildings such as office building
Cleaning glass uses manual work more, and safety coefficient is low, clean-up performance is poor and cleaning cost is high.
Utility model content
In order to solve above-mentioned technical problem, the utility model provides a kind of endless track type cleaning robot, including
Agent structure, caterpillar drive structure, the cleaning mechanism in the agent structure, the sucker located at track surface and traction knot
Structure, the agent structure are driven by the caterpillar drive structure and advanced；The caterpillar drive structure passes through the sucker suction
Target to be cleaned；
The hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, the pull rope
Connection is outside and the intermediate structure, and the agent structure and caterpillar drive structure thereon are hung in the intermediate structure, described
Relative position between agent structure and intermediate structure or relative stress, the traction drive knot described in traction detection structure detection
The situation driving pull rope work that structure arrives according to the traction detection structure detection.
Optionally, the traction drive structure includes winding the main shaft of the pull rope and drives the electricity of the main shaft rotation
Machine.
Optionally, the traction detection structure includes spring and limit switch, described in the both ends of the spring connect respectively
Intermediate structure and agent structure, when the spring-compressed or when being stretched to ad-hoc location, the limit switch is triggered, so as to anti-
The traction drive structure is fed to, it is driven pull rope work.
Optionally, the limit switch includes traction unwrapping wire limit switch, take-up limit switch and stop spacing switch.
Optionally, sucker described in one group is disposed with along the width of crawler belt, and sucker connection is same described in same group
Vavuum pump.
Optionally, the sucker is fixedly installed in the crawler belt by screw nut assembly.
Optionally, the sucker includes base and the disk body being removably mounted on base, and the base is connected to described
Crawler belt.
Optionally, the cleaning structure is stretched by an expansion link relative to the agent structure.
Optionally, described endless track type cleaning robot also includes mechanical arm configuration, and the mechanical arm configuration can drive
The cleaning structure is respectively along two mutually perpendicular axial-rotations.
Optionally, the cleaning structure includes main element and along the outer peripheral polishing piece of the main element, described
Polishing piece is located at the side of the cleaning object to be cleaned of the main element, and the one of the cleaning object to be cleaned of the main element
Groove is also formed among side, the groove is provided with vapours extraction structure and/or bath of glass extraction structure.
Caterpillar walking manner is combined by the utility model with adsorption piece so that endless track type cleaning robot being capable of edge
Cleaning object, such as window movement, furthermore, it is understood that in order to ensure absorption affinity, the utility model also introduces leading for original creation
Guiding structure, to set up relation between the absorption of clean robot is mobile and traction is hung, preferably help clean robot
Complete mobile and cleaning.
Brief description of the drawings
Fig. 1 is the structural representation of endless track type cleaning robot in the alternative embodiment of the utility model one；
Fig. 2 is sucker scheme of installation in the alternative embodiment of the utility model one；
Fig. 3 is the schematic diagram of hitch structure in the alternative embodiment of the utility model one；
Fig. 4 is the schematic diagram of swing boom configuration in the alternative embodiment of the utility model one；
Fig. 5 is the schematic diagram of cleaning structure in the alternative embodiment of the utility model one；
In figure, 1- agent structures；2- vavuum pumps；3- suckers；4- expansion links；5- workbench main bodys；6- swing boom configurations；7-
Cleaning structure；8- crawler belts；9- screw rods；10- nuts；11- bases；12- connecting tubes；13- disk bodies；14- vavuum pumps；Tied among 15-
Structure；16- pull ropes；17- motors；18- main shafts；19- springs；20- controllers；21- limit switches；22- traction guides；23- is led
Draw sliding block；24- sliding blocks；25- slide rails；26- turning arms；The rotating disks of 27- first；28- connecting portions；The rotating disks of 29- second；30- stopper slots；
31- locating parts；32- vapours extraction structures；33- main elements；34- polishing pieces；35- grooves；36- bath of glass extraction structures.
Embodiment
Endless track type cleaning robot provided by the utility model is described in detail below with reference to Fig. 1 to Fig. 5, its
For the utility model optional embodiment, it is believed that those skilled in the art are not changing the utility model spirit and content
In the range of, it is modified and polished.
Fig. 1 is refer to, the utility model provides a kind of endless track type cleaning robot, including agent structure 1, caterpillar drive
Structure, the cleaning mechanism 7 in the agent structure 1, sucker 3 and hitch structure located at the surface of crawler belt 8, the body junction
Structure 1 is driven by the caterpillar drive structure and advanced；The caterpillar drive structure adsorbs target to be cleaned by the sucker 3；
Fig. 3 is refer to, the hitch structure includes intermediate structure 15, pull rope 16, traction drive structure and traction detection
Structure, the pull rope 16 connect outside and described intermediate structure 15, and the agent structure 1 and caterpillar drive structure thereon are hung
In the intermediate structure 15, the traction detects the relative position described in structure detection between agent structure 1 and intermediate structure 15
Or relative stress, the traction drive structure according to the traction detect structure detection to situation driving pull rope 16 work.
Relevant traction drive structure therein, the traction drive structure include winding the He of main shaft 18 of the pull rope 16
The motor 17 for driving the main shaft 18 to rotate, and the motor 17 is driven by controller 20, controller 20 connects limit switch 21.
Relevant traction detection structure therein, the traction detection structure include spring 19 and limit switch 21, the bullet
The both ends of spring 19 connect the intermediate structure 15 and agent structure 1 respectively, when the spring 19 compresses or be stretched to ad-hoc location
When, the limit switch 21 is triggered, and so as to feed back to the traction drive structure, makes it drive pull rope 16 to work.It is described
Limit switch includes traction unwrapping wire limit switch, take-up limit switch and stop spacing switch.
The relevant sucker 3, refer to Fig. 1 and Fig. 2, and sucker 3 described in one group is disposed with along the width of crawler belt 8, and
Sucker 3 described in same group connects same vavuum pump 2, and one group of sucker 3 is connected to vavuum pump 2 by connecting tube.The sucker 3 passes through
Screw nut assembly is fixedly installed in the crawler belt 8.The sucker 3 includes base 11 and the disk being removably mounted on base 11
Body 13, the base are connected to the crawler belt.The screw nut assembly includes nut 10 and screw rod 9, and screw rod 9 can be fixed in
Base 11, the connection chamber in base 11 are respectively communicated with disk body 13 and connecting tube 12.The disk body 13 can use the material of rubber.
Relevant cleaning structure 7, the cleaning structure 7 include main element 33 and outer peripheral along the main element 33
Polishing piece 34, the polishing piece 34 is located at the side of the cleaning object to be cleaned of the main element 33, the main element 33
Cleaning object to be cleaned side among be also formed with groove 35, the groove 35 be provided with vapours extraction structure 32 and/or
Bath of glass extraction structure 36.The polishing piece 34 includes scraping article and/or scrapes head.Certainly, vapours extraction structure 32 and bath of glass
Extraction structure 36 also matches the device for being provided with steam and bath of glass, and those skilled in the art can be designed according to demand,
So not doing expansion narration, in the absence of the situation of insufficient disclosure, and the scope of the utility model is not departed from yet.
In the utility model optional embodiment, the cleaning structure is by an expansion link 4 relative to the body junction
Structure 1 is stretched.Expansion link 4 driven relative to cleaning sliding block 25 do it is flexible, its specific implementation can use leading screw, spiral shell
Female and motor combination.Certainly, in further alternative embodiment, in addition to cleaning movement mechanism, the cleaning structure 7
Driven along subject surface to be cleaned and move by the cleaning movement mechanism.Furthermore, it is understood that the cleaning movement mechanism includes
Sliding block 25 and cleaning slide rail 24 are cleaned, cleaning slide rail 24 is located at agent structure 1, and cleaning sliding block 25 is moved by drives edge cleaning slide rail 24
It is dynamic, and then drive expansion link 4 thereon to move.
For the utility model further and in other alternative embodiments, described endless track type cleaning robot also includes machinery
Arm configuration 6, the mechanical arm configuration 6 can drive the cleaning structure 7 respectively along two mutually perpendicular axial-rotations, and institute
Rotation can also be driven by the mechanical arm configuration 6 by stating cleaning structure 7.
Furthermore, it is understood that also include workbench main body 5, the mechanical arm configuration 6 include the first rotating disk 27, connecting portion 28,
The rotating disk 29 of turning arm 262 and second, the connecting portion 28 on first rotating disk 27, the turning arm 26 be rotatably connected in
The connecting portion 28, the end of the turning arm 26 are provided with second rotating disk 29, and the cleaning structure 7 is located at described second turn
Disk 29.So cleaning structure 7 can realize the rotation of multiple dimensions.
In summary, caterpillar walking manner is combined by the utility model with adsorption piece so that endless track type cleaning machine
Device people can be along cleaning object, such as window movement, furthermore, it is understood that in order to ensure absorption affinity, the utility model also introduces
The hitch structure of original creation, to set up relation between the absorption of clean robot is mobile and traction is hung, preferably help
Clean robot completes mobile and cleaning.
Claims (6)
- A kind of 1. endless track type cleaning robot, it is characterised in that：Including agent structure, caterpillar drive structure, located at the main body Cleaning mechanism in structure, sucker and hitch structure located at track surface, the agent structure pass through the caterpillar drive knot Structure driving is advanced；The caterpillar drive structure passes through sucker suction target to be cleaned；The hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, the pull rope connection Outside and described intermediate structure, the agent structure and caterpillar drive structure thereon are hung in the intermediate structure, the traction Detect the relative position described in structure detection between agent structure and intermediate structure or relative stress, the traction drive structure root The situation driving pull rope work arrived according to the traction detection structure detection.
- 2. endless track type cleaning robot as claimed in claim 1, it is characterised in that：The traction drive structure includes winding institute State the main shaft of pull rope and drive the motor of the main shaft rotation.
- 3. endless track type cleaning robot as claimed in claim 1, it is characterised in that：One group is disposed with along the width of crawler belt The sucker, and sucker described in same group connects same vavuum pump.
- 4. endless track type cleaning robot as claimed in claim 1, it is characterised in that：The sucker is consolidated by screw nut assembly Dingan County is loaded on the crawler belt.
- 5. the endless track type cleaning robot as described in claim 1 or 4, it is characterised in that：The sucker includes base and removable The disk body being installed on base is unloaded, the base is connected to the crawler belt.
- 6. endless track type cleaning robot as claimed in claim 1, it is characterised in that：The cleaning structure include main element and Along the outer peripheral polishing piece of the main element, the polishing piece is located at the one of the cleaning object to be cleaned of the main element Side, groove is also formed among the side of the cleaning object to be cleaned of the main element, the groove is provided with vapours outgoing Structure and/or bath of glass extraction structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621060765.5U CN206761623U (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621060765.5U CN206761623U (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206761623U true CN206761623U (en) | 2017-12-19 |
Family
ID=60646832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621060765.5U Expired - Fee Related CN206761623U (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206761623U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106235951A (en) * | 2016-09-19 | 2016-12-21 | 上海黑翼科技有限公司 | Endless track type cleaning robot |
-
2016
- 2016-09-19 CN CN201621060765.5U patent/CN206761623U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106235951A (en) * | 2016-09-19 | 2016-12-21 | 上海黑翼科技有限公司 | Endless track type cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20180919 |