CN211582898U - Moving mechanism for walking on smooth surface - Google Patents
Moving mechanism for walking on smooth surface Download PDFInfo
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- CN211582898U CN211582898U CN201922476511.1U CN201922476511U CN211582898U CN 211582898 U CN211582898 U CN 211582898U CN 201922476511 U CN201922476511 U CN 201922476511U CN 211582898 U CN211582898 U CN 211582898U
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Abstract
The utility model relates to a moving mechanism for a robot walking on a smooth and clean surface. A moving mechanism for walking on a smooth surface comprises a first moving unit, a second moving unit, a telescopic mechanism, a rotating mechanism, a first moving unit sucker, a second moving unit sucker and a control chip, wherein the first moving unit and the second moving unit are connected through the telescopic mechanism, the first moving unit sucker is installed at the bottom of the first moving unit, the second moving unit sucker is installed at the bottom of the second moving unit, the rotating mechanism is fixedly installed on the upper portion of the first moving unit sucker or the second moving unit sucker, the first moving unit sucker or the second moving unit sucker installed on the rotating mechanism is rotatably connected with the first moving unit or the second moving unit on the first moving unit sucker or the second moving unit sucker, the first moving unit sucker and the second moving unit sucker are sequentially adsorbed on the smooth surface, the moving is realized under the action of the telescopic mechanism, and the rotating is realized under the action of the rotating mechanism.
Description
Technical Field
The utility model relates to a moving mechanism for a robot walking on a smooth and clean surface.
Background
With the continuous development of photovoltaic power stations in the building industry, a lot of buildings with smooth objects such as glass, ceramics and the like as surfaces have more and more devices and facilities. These facilities are generally characterized by large area, high height, no attachments on the exterior, and the like. The cleaning and cleaning of the facilities usually only adopt manual cleaning operation, and the manual operation has low efficiency, high cost and extremely high danger.
The existing small-sized glass cleaning robot has two moving modes: one is single sucking disc that bleeds, relies on the track of bottom and glass's friction to realize the removal of robot, and it adsorbs not very reliably, takes place the obscission easily when clearing up the window outside. The other is that two air suction suckers move forward by alternately adsorbing in a twisting way, although the robot in the way greatly strengthens the adsorption capacity of the robot and improves the guarantee, the moving track is not clear, the repeated wiping area is large, and the efficiency is low.
Therefore, how to design a moving mechanism which has clear action track, reliable adsorption and high efficiency and can walk on a smooth surface is a problem which is urgently needed to be solved at present.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: how to propose a motion mechanism capable of walking on a clean surface.
The utility model adopts the technical proposal that: a motion mechanism for walking on a smooth surface comprises a first motion unit 1, a second motion unit 4, a telescopic mechanism 2, a rotating mechanism 3, a first motion unit sucker, a second motion unit sucker 401 and a control chip, wherein the first motion unit 1 and the second motion unit 4 are connected through the telescopic mechanism 2, the first motion unit sucker is installed at the bottom of the first motion unit 1, the second motion unit sucker 401 is installed at the bottom of the second motion unit 4, the rotating mechanism 3 is fixedly installed at the upper part of the first motion unit sucker or the second motion unit sucker 401, the first motion unit sucker or the second motion unit sucker 401 on which the rotating mechanism 3 is installed is rotatably connected with the first motion unit 1 or the second motion unit 4 on which the first motion unit sucker or the second motion unit sucker 401 is installed, the first motion unit sucker and the second motion unit sucker 401 are sequentially sucked on the smooth surface and move under the action of the telescopic mechanism 2, the rotation is realized under the action of the rotating mechanism 3.
The telescoping mechanism 2 comprises a rectilinear motion driving motor 201, a driving gear 202 mounted on an output shaft of the rectilinear motion driving motor 201, a driven gear 203 meshed with the driving gear 202, a driving arm 204 fixedly connected with a fluted disc of the driven gear 203, a driven arm 206 crosswise and rotatably connected with the driving arm 204, a fixed shaft pin 207 respectively fixedly mounted at one end of the driving arm 204 and one end of the driven arm 206 and rotatably connected with the first motion unit 1 and the second motion unit 4, sliding chutes respectively arranged on the first motion unit 1 and the second motion unit 4, sliding shaft pins respectively mounted at the other ends of the driving arm 204 and the driven arm 206 and arranged in the sliding chutes, a first coded disc 214 mounted on the driven gear 203, a first travel switch 210 mounted in the sliding chutes and used for positioning a starting point position and a second travel switch 211 used for positioning an end point position.
The straight driving motor 201, the driving gear 202 and the driven gear 203 are all installed on the second motion unit 4, the fixed shaft pin 207 of the driving arm 204 is coaxial with the central shaft of the driven gear 203, the fixed shaft pin 207 of the driven arm 206 is rotatably connected with the first motion unit 1, the first sliding shaft pin 213 on the driving arm 204 is positioned in the first sliding groove 212 on the first motion unit 1, the second sliding shaft pin 209 of the driven arm 206 is positioned in the second sliding groove 208 on the second motion unit 4, and the driving arm 204 and the driven arm 206 are rotatably connected through the motion shaft pin 205.
The rotating mechanism 3 comprises a second moving unit sucker 401, a rotating driving motor 301, a rotating driving motor belt pulley 302 arranged on an output shaft of the rotating driving motor 301, a rotating transmission belt 303, a rotating driven wheel 304 fixed on the second moving unit sucker 401, a sucker guide shaft 305 fixed on the second moving unit sucker 401, a bearing 306 arranged on the sucker guide shaft 305, a rotating joint 309 and a second code disc 307, wherein the rotating driving motor 301 is fixed on the second moving unit 4, the sucker guide shaft 305 is rigidly connected with the second moving unit sucker 401 and the rotating joint 309, and is connected with the second motion unit 4 through a bearing 306, so that the combination of the suction cup catheter shaft 305, the suction cup 401 and the rotary joint 309 can do rotary motion relative to the second motion unit 4, and the rotary joint 309 is rotatably connected with the suction cup catheter shaft 305 to ensure that a vacuum gas circuit is not influenced in the rotary process. The second code wheel 307 is used to measure the angle of movement of the rotating mechanism.
The number of the first motion unit suction cups is three, and the first motion unit suction cup 101, the first motion unit second suction cup 102 and the first motion unit third suction cup 103 are respectively arranged.
The utility model has the advantages that: the utility model discloses when motion mechanism moves straightly, the sucking disc that is fixed in two motion units moves in turn, can be reliable when guaranteeing the motion mechanism motion adsorb on bright and clean surface, through telescopic machanism's reciprocating motion for motion mechanism moves straightly. When the steering is needed, the first moving unit sucker fixed on the first moving unit is released, the second moving unit sucker fixed on the second moving unit is sucked, the rotating mechanism acts, and the moving mechanism rotates around the second moving mechanism sucker.
Drawings
FIG. 1 is a general schematic diagram of the mechanism of the present invention;
FIG. 2 is a schematic view of the position of the suction cup of the present invention;
fig. 3 is a top view of the mechanism of the present invention;
FIG. 4 is a side view of the straight-going related mechanism of the present invention;
fig. 5 is a top view of the rotating mechanism of the present invention;
fig. 6 is an axonometric view of the rotating mechanism of the present invention;
fig. 7 is a sectional view of the rotating mechanism of the present invention;
wherein, 1, a first motion unit, 2, a telescopic mechanism, 3, a rotating mechanism, 4, a second motion unit, 101, a first motion unit, a first sucker, 102, a first motion unit, a second sucker, 103, a first motion unit, a third sucker, 201, a straight driving motor, 202, a driving gear, 203, a driven gear, 204, a driving arm, 205, a motion shaft pin, 206, a driven arm, 208, a second chute, 209, a second sliding shaft pin, 210, a first travel switch, 211, a second travel switch, 212, a first chute, 213, a first sliding shaft pin, 214, a first coded disc, 215, a first counting groove type optical coupler, 301, a rotation driving motor, 302, a rotation driving motor belt pulley, 303, a rotation transmission belt, 304, a rotation driven wheel, 305, a sucker, a 306 bearing, 307, a second coded disc, 308, a second counting groove type optical coupler, 309 and a rotating joint, and a second motion unit sucker.
Detailed Description
A moving mechanism for walking on a smooth surface comprises a first moving unit 1, a second moving unit 4, a telescopic mechanism 2, a rotating mechanism 3, a first moving unit sucker, a second moving unit sucker 401 and a control chip, wherein the chip for a common smart phone is only needed by the first moving unit 1 and the second moving unit 4 through the telescopic mechanism 2, the whole bottom of the first moving unit 1 is a plane, the upper part of the first moving unit is a box body, a box cover is not drawn in the drawing of the utility model, the first moving unit sucker is installed on the plane, the whole bottom of the second moving unit 4 is a plane, the upper part of the second moving unit 4 is a box body, the box cover is not drawn in the drawing of the utility model, the second moving unit sucker 401 is installed, the first moving unit 1 and the second moving unit 4 can be of structures such as rectangle and the like, and also can be of the shape shown in the drawing 1, the rotating mechanism 3 is fixedly installed on the upper parts of the first moving unit sucker, the first movement unit sucker or the second movement unit sucker 401 of the installation rotating mechanism 3 is rotatably connected with the first movement unit 1 or the second movement unit 4 on the installation rotating mechanism, the first movement unit sucker and the second movement unit sucker 401 are sequentially adsorbed on the smooth surface, the movement is realized under the action of the telescopic mechanism 2, and the rotation is realized under the action of the rotating mechanism 3.
The telescoping mechanism 2 comprises a rectilinear motion driving motor 201, a driving gear 202 mounted on an output shaft of the rectilinear motion driving motor 201, a driven gear 203 meshed with the driving gear 202, a driving arm 204 fixedly connected with a fluted disc of the driven gear 203, a driven arm 206 crosswise and rotatably connected with the driving arm 204, a fixed shaft pin 207 respectively fixedly mounted at one end of the driving arm 204 and one end of the driven arm 206 and rotatably connected with the first motion unit 1 and the second motion unit 4, sliding chutes respectively arranged on the first motion unit 1 and the second motion unit 4, sliding shaft pins respectively mounted at the other ends of the driving arm 204 and the driven arm 206 and arranged in the sliding chutes, a first coded disc 214 mounted on the driven gear 203, a first travel switch 210 mounted in the sliding chutes and used for positioning a starting point position and a second travel switch 211 used for positioning an end point position.
The straight driving motor 201, the driving gear 202 and the driven gear 203 are all installed on the second motion unit 4, the fixed shaft pin 207 of the driving arm 204 is coaxial with the central shaft of the driven gear 203, the fixed shaft pin 207 of the driven arm 206 is rotatably connected with the first motion unit 1, the first sliding shaft pin 213 on the driving arm 204 is positioned in the first sliding groove 212 on the first motion unit 1, the second sliding shaft pin 209 of the driven arm 206 is positioned in the second sliding groove 208 on the second motion unit 4, and the driving arm 204 and the driven arm 206 are rotatably connected through the motion shaft pin 205.
The rotating mechanism 3 comprises a second moving unit sucker 401, a rotating driving motor 301, a rotating driving motor belt pulley 302 arranged on an output shaft of the rotating driving motor 301, a rotating transmission belt 303, a rotating driven wheel 304 fixed on the second moving unit sucker 401, a sucker guide shaft 305 fixed on the second moving unit sucker 401, a bearing 306 arranged on the sucker guide shaft 305, a rotating joint 309 and a second code disc 307, wherein the rotating driving motor 301 is fixed on the second moving unit 4, the sucker guide shaft 305 is rigidly connected with the second moving unit sucker 401 and the rotating joint 309, and is connected with the second motion unit 4 through a bearing 306, so that the combination of the suction cup catheter shaft 305, the suction cup 401 and the rotary joint 309 can do rotary motion relative to the second motion unit 4, and the rotary joint 309 is rotatably connected with the suction cup catheter shaft 305 to ensure that a vacuum gas circuit is not influenced in the rotary process. The second code wheel 307 is used to measure the angle of movement of the rotating mechanism.
The number of the first motion unit suction cups is three, and the first motion unit suction cup 101, the first motion unit second suction cup 102 and the first motion unit third suction cup 103 are respectively arranged.
When the robot needs to move straight, the robot is vertically or horizontally adsorbed on the smooth surface, firstly, the first motion unit sucker, the first sucker 101, the first motion unit second sucker 102, the first motion unit third sucker 103 and the second motion unit sucker 401 work in a coordinated way, the mechanism is fixed on the smooth surface, the control chip is electrically connected with the camera through the camera control chip arranged on the first motion unit 1 and the second motion unit 4, the movable direction is detected, if it is ready to move in the direction of the first motion unit, the first motion unit suction cup is released, and at the same time, the rectilinear driving motor 201 rotates the driven gear 203 clockwise, since the second sliding pin 209 can only move in the second sliding slot 208 and the first sliding pin 213 can only move in the first sliding slot 212, the included angle α between the driving arm 204 and the driven arm 206 becomes smaller, and the first moving unit 1 is pushed to move away from the second moving unit 4. When the second sliding shaft pin 209 moves to the second travel switch 211, the second travel switch 211 is closed, the control system stops the movement of the straight driving motor 201, then the first moving unit sucker is vacuumized, so that the first moving unit 1 is adsorbed on a smooth surface, after the first moving unit 1 is firmly adsorbed, the control chip controls the second moving unit sucker 401 to release, the straight driving motor 201 drives the driven gear 203 to rotate anticlockwise, the included angle alpha between the driving arm 204 and the driven arm 206 is increased, and the second moving unit 4 is pulled to approach the first moving unit 1. The combination of the first code wheel 214 and the first counting groove-shaped optical coupler 215 is used for measuring and calculating the position and the track of the movement.
When the motion is reversed, the motion sequence of each mechanism is reversed.
When the device needs to rotate anticlockwise integrally, the control chip drives the second motion unit sucker 401 to suck, the first motion unit sucker is released, and after the suction is stable, the motor 301 is driven to rotate
The rotary driven wheel 304 is driven by the rotary driving motor pulley 302 and the rotary transmission belt 303 to rotate counterclockwise, and since the second moving unit suction cup 401 is firmly adhered to the surface, the combination of the suction cup catheter shaft 305, the second moving unit suction cup 401 and the rotary joint 309 cannot move, and therefore, as the pulley 304 rotates counterclockwise, the combination of the suction cup catheter shaft 305, the second moving unit suction cup 401 and the rotary joint 309 rotates counterclockwise through the bearing 306. The angle of rotation can be detected by a combination of a second code plate 307, a second counting slot type optical coupler 308, fixed to the suction cup catheter shaft 305, and when the controller detects that the device has rotated to a specified position, the rotation driving motor 302 is stopped and the device as a whole stops the rotational movement.
Claims (4)
1. A motion mechanism for walking on a smooth surface, comprising: the device comprises a first movement unit (1), a second movement unit (4), a telescopic mechanism (2), a rotating mechanism (3), a first movement unit sucker, a second movement unit sucker (401) and a control chip, wherein the first movement unit (1) and the second movement unit (4) are connected through the telescopic mechanism (2), the first movement unit sucker is installed at the bottom of the first movement unit (1), the second movement unit sucker (401) is installed at the bottom of the second movement unit (4), the rotating mechanism (3) is fixedly installed on the upper portion of the first movement unit sucker or the second movement unit sucker (401), and the first movement unit sucker or the second movement unit sucker (401) of the rotating mechanism (3) is installed to be rotatably connected with the first movement unit (1) or the second movement unit (4) on the first movement unit sucker or the second movement unit sucker.
2. A motion mechanism for walking a clean surface, according to claim 1, wherein: the telescopic mechanism (2) comprises a straight driving motor (201), a driving gear (202) arranged on an output shaft of the driving motor (201), a driven gear (203) meshed with the driving gear (202), a driving arm (204) fixedly connected with a fluted disc of the driven gear (203), a driven arm (206) in cross rotating connection with the driving arm (204), fixed shaft pins (207) which are respectively and fixedly arranged at one ends of the driving arm (204) and the driven arm (206) and are arranged on a first movement unit (1) and a second movement unit (4) through rotating connection, sliding chutes respectively arranged on the first movement unit (1) and the second movement unit (4), sliding shaft pins which are respectively arranged at the other ends of the driving arm (204) and the driven arm (206) and are arranged in the sliding chutes, a first code disc (214) arranged on the driven gear (203), a first stroke switch (210) arranged in the sliding chutes and used for positioning a starting point and a second stroke switch (210) used for positioning an end point (211).
3. A motion mechanism for walking a clean surface, according to claim 2, wherein: the straight driving motor (201), the driving gear (202) and the driven gear (203) are all installed on the second moving unit (4), a fixing shaft pin (207) of the driving arm (204) is coaxial with a central shaft of the driven gear (203), the fixing shaft pin (207) of the driven arm (206) is rotatably connected with the first moving unit (1), a first sliding shaft pin (213) on the driving arm (204) is located in a first sliding groove (212) on the first moving unit (1), a second sliding shaft pin (209) of the driven arm (206) is located in a second sliding groove (208) on the second moving unit (4), and the driving arm (204) and the driven arm (206) are rotatably connected through a moving shaft pin (205).
4. A motion mechanism for walking a clean surface, according to claim 1, wherein: the rotating mechanism (3) comprises a second moving unit sucker (401), a rotating driving motor (301), a rotating driving motor belt pulley (302) arranged on an output shaft of the rotating driving motor (301), a rotating transmission belt (303), a rotating driven wheel (304) fixed on the second moving unit sucker (401), a sucker catheter shaft (305) fixed on the second moving unit sucker (401), a bearing (306) arranged on the sucker catheter shaft (305), a rotating joint (309) and a second coded disc (307), wherein the rotating driving motor (301) is fixed on the second moving unit (4), the sucker catheter shaft (305) is connected with the second moving unit sucker (401), and the rotating joint (309) is rigidly connected with the second moving unit (4) through the bearing (306).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922476511.1U CN211582898U (en) | 2019-12-31 | 2019-12-31 | Moving mechanism for walking on smooth surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922476511.1U CN211582898U (en) | 2019-12-31 | 2019-12-31 | Moving mechanism for walking on smooth surface |
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| Publication Number | Publication Date |
|---|---|
| CN211582898U true CN211582898U (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922476511.1U Active CN211582898U (en) | 2019-12-31 | 2019-12-31 | Moving mechanism for walking on smooth surface |
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| CN (1) | CN211582898U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012239A (en) * | 2019-12-31 | 2020-04-17 | 太原智林信息技术股份有限公司 | Moving mechanism for walking on smooth surface |
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2019
- 2019-12-31 CN CN201922476511.1U patent/CN211582898U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012239A (en) * | 2019-12-31 | 2020-04-17 | 太原智林信息技术股份有限公司 | Moving mechanism for walking on smooth surface |
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Address after: 030001 9-10 / F, East Building, Hongtai international building, 75 Longcheng street, Xiaodian District, Taiyuan City, Shanxi Province Patentee after: Zhilin Information Technology Co.,Ltd. Address before: 030001 9-10 / F, East Building, Hongtai international building, 75 Longcheng street, Xiaodian District, Taiyuan City, Shanxi Province Patentee before: Taiyuan Zhilin Information Technology Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |