CN210185494U - Power transmission device of mopping robot - Google Patents
Power transmission device of mopping robot Download PDFInfo
- Publication number
- CN210185494U CN210185494U CN201920471941.1U CN201920471941U CN210185494U CN 210185494 U CN210185494 U CN 210185494U CN 201920471941 U CN201920471941 U CN 201920471941U CN 210185494 U CN210185494 U CN 210185494U
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- China
- Prior art keywords
- lead screw
- flange
- hinge
- speed reducing
- reducing motor
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- Expired - Fee Related
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 21
- 238000004140 cleaning Methods 0.000 claims description 13
- 238000010146 3D printing Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a power transmission of mopping robot mainly comprises vertical bearing, flange, T8 lead screw, gear motor, crawler wheel device, hinge, disc, mop head motor, mop head. The power transmission device of the mopping robot of the utility model has the advantages that the speed reduction motor is connected with the lead screw through the shaft coupling to transmit the rotary motion, the flange connects the hinge with the motion of the lead screw to generate the lead screw motion to convert the rotary motion into the linear motion; the transverse movement speed of the connector is adjusted by controlling the rotating speed of the speed reducing motor, and finally the movement mode of the hinge is controlled through simulation, so that the hinge is stretched and contracted, and the long and narrow position is cleaned.
Description
Technical Field
The invention relates to a mopping machine device, in particular to a power transmission device of a mopping robot for cleaning places with more gaps, such as large machine rooms.
Background
With the continuous development of modern life science and technology, various robots are developed rapidly, and particularly, related products of household floor sweeping robots are abundant. However, in the existing cleaning robots, the number of robots capable of realizing the automatic intelligent floor mopping function is not large, and most of the robots have the defects of small cleaning range and low cleaning degree. We propose a humanoid mopping mechanism to compensate for the defect.
Related patent documents are found, most of cleaning machine devices at present adopt cleaning devices similar to rotary disc brush heads, the structure of the invention is improved on the basis of the related patent documents, the structure of the invention is firstly proposed in related fields, and the cleaning of a long and narrow space is realized by adopting a mode of driving the rotary disc brush heads by virtue of hinge contraction; the invention overcomes the defect that a single turntable brush head cannot clean a long and narrow space, and can effectively clean the ground by human-like mopping motion.
Disclosure of Invention
The invention provides a power transmission device of a mopping robot, and aims to solve the problem that a traditional cleaning robot cannot effectively clean a long and narrow space of a specific place.
The power transmission device of the mopping robot comprises a left crawler wheel device, a left vertical bearing, a left flange, a T8 left screw, a disc, a left speed reducing motor, a right speed reducing motor, a T8 right screw, a right flange, a right vertical bearing, a hinge and a right crawler wheel device; the left flange and the right flange move left and right along with the positive and negative rotation of the T8 left lead screw and the T8 right lead screw; the left flange and the right flange are special structural parts obtained by 3D printing, so that the hinge can freely stretch and retract under the left-right movement of the flanges; it is characterized in that: the mechanism consists of a lead screw transmission mechanism part and a hinge floor mopping mechanism part;
the screw transmission mechanism part consists of a left vertical bearing, a left flange, a T8 left screw, a left speed reducing motor, a right speed reducing motor, a T8 right screw, a right flange, a right vertical bearing and a hinge; the left speed reducing motor and the right speed reducing motor are respectively connected with a T8 left lead screw and a T8 right lead screw through a left coupling and a right coupling; the left flange and the T8 left screw form screw transmission, the right flange and the T8 right screw also form screw transmission, and rotary motion is converted into linear motion;
the hinge floor mopping mechanism part consists of a left flange, a right flange and a hinge; the left flange is connected with the left section of the hinge to form a revolute pair; the right flange is connected with the right end of the hinge to form a revolute pair; the telescopic and cleaning paths of the hinge floor mopping mechanism are controlled by adjusting the transverse motion of the left end and the right end of the hinge; the top end of the mop head motor is connected with the mop head motor to control the cleaning circuit of the rotary mop head.
The beneficial effects of the invention are: the hinge is combined with the screw rod, and then the rotating speed of the motor is adjusted to simulate the mop head and control the motion track of the mop head. And the path control of the moving crawler trolley is added, so that the coordination of the moving path and the moving direction of the mop head is realized, the function of gap sweeping is realized, and the cleaning degree and the cleaning effect of the mopping robot are improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Description of reference numerals: the crawler-belt wheel device comprises a left crawler-belt wheel device 1, a left vertical bearing 2, a left flange 3, a left lead screw 4T8, a disc 5, a left speed reducing motor 6, a right speed reducing motor 7, a right lead screw 8T8, a right flange 9, a right vertical bearing 10, a hinge 11 and a right crawler-belt wheel device 12.
Detailed Description
The invention is further described by way of example with reference to the accompanying drawings in which: see fig. 1.
The intelligent mopping mechanism provided by the invention comprises a lead screw transmission mechanism and a hinge mopping mechanism, wherein the lead screw transmission mechanism mainly comprises a left vertical bearing 2, a left flange 3, a T8 left lead screw 4, a left speed reducing motor 6, a right speed reducing motor 7, a T8 right lead screw 8, a right flange 9, a right vertical bearing 10 and a hinge 11; the left speed reducing motor 6 and the right speed reducing motor 7 are respectively connected with a T8 left lead screw 4 and a T8 right lead screw 8 through left and right couplers; the left flange 3 and the T8 left lead screw 4 form lead screw transmission, the right flange 9 and the T8 right lead screw 8 also form lead screw transmission, and rotary motion is converted into linear motion. The hinge mopping mechanism part consists of a left flange 3, a right flange 9 and a hinge 11; the left flange 3 is connected with the left section of the hinge 11 to form a revolute pair; the right flange 9 is connected with the right end of the hinge 11 to form a revolute pair; the extension and contraction of the hinge floor mopping mechanism are controlled by adjusting the transverse movement of the left end and the right end of the hinge 11.
The mechanism during operation, left gear motor 6 and the circular telegram of right gear motor 7, left gear motor 6 drives the 4 anticlockwise rotations of T8 left lead screw through left shaft coupling, right gear motor 7 drives the 8 clockwise rotations of T8 right lead screw through right shaft coupling, the 4 anticlockwise drives flange 2 and removes to being close to left gear motor 6 direction of T8 left lead screw, T8 right lead screw 8 drives flange 9 clockwise and removes to being close to left gear motor 6 direction, the hinge stretches out, limit switch control motor on the motor stops rotatoryly simultaneously, accomplish the process of stretching out of hinge.
When the hinge finishes work and needs to be withdrawn, the left speed reducing motor 6 and the right speed reducing motor 7 are powered off, the left speed reducing motor 6 drives the T8 left lead screw 4 to rotate clockwise through the left coupler, the right speed reducing motor 7 drives the T8 right lead screw 8 to rotate anticlockwise through the right coupler, the T8 left lead screw 4 drives the flange 2 clockwise to move towards the direction away from the left speed reducing motor 6, the T8 right lead screw 8 drives the flange 9 anticlockwise to move towards the direction away from the left speed reducing motor 6, the hinge is withdrawn, the limit switch control motor stops rotating, and the hinge restores to the original position. The mechanisms are relatively fixed on the disc 5, and the left crawler wheel device 1 and the right crawler wheel device 12 are used for carrying out integral movement of the device.
Claims (3)
1. A power transmission device of a mopping robot comprises a left crawler wheel device (1), a left vertical bearing (2), a left flange (3), a T8 left lead screw (4), a disc (5), a left speed reducing motor (6), a right speed reducing motor (7), a T8 right lead screw (8), a right flange (9), a right vertical bearing (10), a hinge (11) and a right crawler wheel device (12); the left flange (3) and the right flange (9) move left and right along with the positive and negative rotation of the T8 left lead screw (4) and the T8 right lead screw (8); the left flange (3) and the right flange (9) are special structural parts obtained by 3D printing, so that the hinge (11) can freely stretch and retract under the condition that the flange (9) moves left and right; the mechanism is characterized by comprising a lead screw transmission mechanism part and a hinge floor mopping mechanism part.
2. The power transmission device of a mopping robot according to claim 1, characterized in that the lead screw transmission mechanism part consists of a left vertical bearing (2), a left flange (3), a T8 left lead screw (4), a left speed reducing motor (6), a right vertical bearing (10), a right flange (9), a T8 right lead screw (8), a right speed reducing motor (7) and a hinge (11); the left speed reducing motor (6) and the right speed reducing motor (7) are respectively connected with the T8 left lead screw (4) and the T8 right lead screw (8) through left and right couplings; the left flange (3) and the T8 left lead screw (4) form lead screw transmission, the right flange (9) and the T8 right lead screw (8) also form lead screw transmission, and rotary motion is converted into linear motion.
3. The power transmission device of the mopping robot as claimed in claim 1, wherein the hinge mopping mechanism part consists of a left flange (3), a right flange (9) and a hinge (11); the left flange (3) is connected with the left section of the hinge (11) to form a revolute pair; the right flange (9) is connected with the right end of the hinge (11) to form a revolute pair; the telescopic and cleaning paths of the hinge floor mopping mechanism are controlled by adjusting the transverse movement of the left end and the right end of the hinge (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920471941.1U CN210185494U (en) | 2019-04-09 | 2019-04-09 | Power transmission device of mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920471941.1U CN210185494U (en) | 2019-04-09 | 2019-04-09 | Power transmission device of mopping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210185494U true CN210185494U (en) | 2020-03-27 |
Family
ID=69877736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920471941.1U Expired - Fee Related CN210185494U (en) | 2019-04-09 | 2019-04-09 | Power transmission device of mopping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210185494U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695282A (en) * | 2021-09-16 | 2021-11-26 | 杨其波 | Cleaning device for flat space |
-
2019
- 2019-04-09 CN CN201920471941.1U patent/CN210185494U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695282A (en) * | 2021-09-16 | 2021-11-26 | 杨其波 | Cleaning device for flat space |
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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: 20200327 |