CN211722964U - Dual-drive mechanism and traveling device - Google Patents
Dual-drive mechanism and traveling device Download PDFInfo
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- CN211722964U CN211722964U CN201922058076.0U CN201922058076U CN211722964U CN 211722964 U CN211722964 U CN 211722964U CN 201922058076 U CN201922058076 U CN 201922058076U CN 211722964 U CN211722964 U CN 211722964U
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- drive mechanism
- actuating mechanism
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- connecting plate
- walking
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Abstract
The utility model discloses a dual drive mechanism and running gear, wherein, dual drive mechanism includes first actuating mechanism and second actuating mechanism for the running gear, first actuating mechanism is connected with second actuating mechanism, second actuating mechanism sets up along first actuating mechanism's direction of motion, be connected with the walking main part on the second actuating mechanism, the walking main part sets up along second actuating mechanism's direction of motion. The walking device with the dual-driving mechanism can adapt to obstacles with large crossing quantity and different heights, and is favorable for improving the obstacle crossing capability of the walking device.
Description
Technical Field
The utility model relates to a curtain cleaning equipment field, concretely relates to dual drive mechanism and running gear.
Background
At present glass curtain wall abluent washing mode is mainly for manual cleaning, and glass curtain wall's scope is generally great to be in the eminence of more danger, not having the support that can be used for supporting on every side, so the washing workman generally need take hanging flower basket or waist rope tether and just can carry out cleaning work to the curtain of eminence, in case misoperation or meet bad weather and will brew the accident, cause the casualties, loss of property. In addition, the manual scrubbing mode has the advantages of high labor intensity, high danger coefficient, low efficiency and high price, and belongs to high-risk occupations. Therefore, an intelligent cleaning robot with high automation degree is urgently needed to replace manpower to carry out dangerous glass curtain wall cleaning work.
Along with the demand for cleaning curtain walls is increasing, many types of curtain wall cleaning robots have emerged at home and abroad, the existing high-rise curtain wall cleaning robot mainly comprises a walking device and a cleaning device, the walking device is a single driving mechanism, the obstacle crossing capability is poor, and the robot is difficult to adapt to obstacles with large crossing number and different heights.
Disclosure of Invention
An object of the utility model is to provide a dual drive mechanism and running gear, the running gear who has this dual drive mechanism can adapt to the barrier that strides over a large amount, highly differ, is favorable to improving running gear's the ability of hindering more.
The technical scheme is as follows:
the dual-drive mechanism for the traveling device comprises a first drive mechanism and a second drive mechanism, wherein the first drive mechanism is connected with the second drive mechanism, the second drive mechanism is arranged along the motion direction of the first drive mechanism, the second drive mechanism is connected with a traveling main body, and the traveling main body is arranged along the motion direction of the second drive mechanism.
According to the arrangement, the first driving mechanism drives the second driving mechanism to move along with the first driving mechanism, so that the walking main body is driven to move along the movement direction of the first driving mechanism, and the lifting of the walking main body is indirectly adjusted; when the second driving mechanism moves, the walking main body is directly driven to move along the movement direction of the second driving mechanism, and the lifting of the walking main body is further adjusted so as to adjust the horizontal height of the walking device relative to the moving plane, so that the walking device smoothly passes through the barrier.
The first driving mechanism comprises a first fixing part and a first driving part, and a limiting block is arranged on the side wall of the first fixing part. Through the setting of stopper, when first drive division resets, during the stopper restriction first drive division withdraws first actuating mechanism completely, make first drive division part stretch out all the time to keep running gear relative movement planar initial level.
The first driving part is provided with a first connecting piece, and the first driving mechanism is connected with the second driving mechanism through the first connecting piece. When the first driving mechanism moves, the second driving mechanism is driven to move through the first connecting piece.
The first connecting piece comprises a first connecting plate, a second connecting plate and a third connecting plate, the first connecting plate and the third connecting plate are transversely arranged, the second connecting plate is vertically arranged, the first connecting plate and the third connecting plate are respectively arranged at two ends of the second connecting plate in the vertical direction, and the first connecting plate transversely extends along the opposite direction relative to the third connecting plate. Through the arrangement, the position relation between the first driving mechanism and the second driving mechanism can be reasonably arranged, and the matching work of the first driving mechanism and the second driving mechanism is facilitated.
The first driving portion is connected with a first connecting plate, and the first connecting plate is located at the bottom of the first driving portion. When the first driving part moves, the first connecting plate is driven to move, and then the first connecting piece is driven to move.
And a fixing plate is arranged between the first driving part and the first connecting plate and is respectively connected with the first driving part and the first connecting plate. The fixed plate is arranged to be beneficial to improving the stability of connection between the first driving part and the first connecting plate, so that the first connecting plate is not easy to displace, and the stability of connection between the first driving mechanism and the second driving mechanism is further improved.
The second driving mechanism comprises a second fixing portion and a second driving portion, the second connecting plate and the third connecting plate are connected with the second fixing portion, the second connecting plate is located on the side wall of the second fixing portion, and the third connecting plate is located at the top of the second fixing portion. The second fixing part is connected with the second connecting plate and the third connecting plate, so that the stability of connection between the second driving mechanism and the first driving mechanism is improved, the position relation between the first driving mechanism and the second driving mechanism is reasonably set, and the matching work of the first driving mechanism and the second driving mechanism is facilitated.
And a second connecting piece is arranged at the bottom of the second driving part, and the second driving mechanism is connected with the walking main body through the second connecting piece. When the second driving part moves, the walking main body is driven to move through the second connecting piece so as to adjust the horizontal height of the walking device relative to the moving plane and control the lifting of the walking main body.
Running gear, including deflector, first actuating mechanism second actuating mechanism and the walking main part that is equipped with drive assembly, drive assembly is connected with first actuating mechanism, first actuating mechanism is connected with second actuating mechanism, second actuating mechanism sets up along first actuating mechanism's direction of motion, second actuating mechanism is connected with the walking main part, the walking main part sets up along second actuating mechanism's direction of motion, first actuating mechanism constitutes dual drive mechanism with second actuating mechanism. Through the dual-drive mechanism, the walking device can effectively cross obstacles, is suitable for the obstacles with more quantity and different heights, and is favorable for improving the obstacle crossing capability of the walking device.
Drawings
Fig. 1 is a schematic view of the overall structure of a dual drive mechanism for a walking device according to an embodiment of the present invention.
Fig. 2 is a schematic side view of a dual drive mechanism for a walking device according to an embodiment of the present invention.
Description of reference numerals:
10. a first drive mechanism; 11. a first driving section; 12. a first fixed part; 20. a second drive mechanism; 21. a second driving section; 22. a second fixed part; 30. a walking body; 31. a vacuum chuck; 40. a limiting block; 50. a first connecting member; 51. a first connecting plate; 52. a second connecting plate; 53. a third connecting plate; 60. a fixing plate; 70. a second connecting member.
Detailed Description
The following describes embodiments of the present invention in detail.
As shown in fig. 1 and 2, the dual-drive mechanism for a traveling device includes a first drive mechanism 10 and a second drive mechanism 20, the first drive mechanism 10 includes a first fixing portion 12 and a first drive portion 11, the first fixing portion 12 is connected to a transmission component of the traveling device (not shown in the figure), a first connecting member 50 is connected to the bottom of the first drive portion 11 and connected to the second drive mechanism 20 through the first connecting member 50, the second drive mechanism 20 is disposed along a movement direction of the first drive mechanism 10, the second drive mechanism 20 includes a second fixing portion 22 and a second drive portion 21, the second fixing portion 22 is connected to the first connecting member 50, a traveling body 30 is connected to the second drive portion 21, the traveling body 30 is disposed along the movement direction of the second drive mechanism 20, and a plurality of dual-drive mechanisms are disposed on the traveling device.
Through the arrangement, when the first driving mechanism 10 works alone, the first driving part 11 drives the second driving mechanism 20 to move along the movement direction of the first driving mechanism 10, so as to drive the walking main body 30 to move along the movement direction of the first driving mechanism 10, so as to adjust the lifting of the walking main body 30, and meanwhile, the plurality of double-driving mechanisms are transmitted through the transmission assembly of the walking device to realize the walking function; when the first driving mechanism 10 and the second driving mechanism 20 work simultaneously, the second driving portion 21 drives the traveling main body 30 to move along the moving direction of the second driving mechanism 20, further adjusting the lifting height of the traveling main body 30, so as to adjust the horizontal height of the relative moving plane of the traveling device, and make the traveling device not easily blocked by a higher obstacle, thereby smoothly passing through a larger number of obstacles with different heights, in this embodiment, a pneumatic two-position five-way valve is adopted to control the movement of the first driving mechanism 10, and a normally closed two-way electromagnetic valve and a mechanical two-position three-way valve are adopted to perform combined control on the work 20 of the second driving mechanism.
The first connecting piece 50 comprises a first connecting plate 51, a second connecting plate 52 and a third connecting plate 53, the first connecting plate 51 and the third connecting plate 53 are transversely arranged, the second connecting plate 52 is vertically arranged, the first connecting plate 51 and the third connecting plate 53 are respectively arranged at two ends of the second connecting plate 52 in the vertical direction, the first connecting plate 51 transversely extends along the opposite direction relative to the third connecting plate 53, the bottom of the first driving portion 11 is connected with the first connecting plate 51, the side wall of the second fixing portion 22 is connected with the second connecting plate 52, and the top of the second fixing portion 22 is connected with the third connecting plate 53. The bottom of the first driving portion 11 is connected to the first connecting plate 51 so that the first driving mechanism 10 drives the second driving mechanism 20, and the second fixing portion 22 is connected to the second connecting plate 52 and the third connecting plate 53, which is beneficial to improving the stability of connection between the second driving mechanism 20 and the first driving mechanism 10, and simultaneously, the horizontal heights of the second driving mechanism 20 and the first driving mechanism 10 are kept basically consistent, so as to keep the horizontal height of the relative movement plane of the running gear, reduce the influence on the running gear during running, and be beneficial to reasonably setting the position relationship between the first driving mechanism 10 and the second driving mechanism 20, and be beneficial to the cooperation of the first driving mechanism 10 and the second driving mechanism 20.
Be equipped with stopper 40 on the lateral wall of first fixed part 12, stopper 40 part stretches out, under the initial condition, stopper 40 stretches out part and first connecting plate 51 butt, when first drive division 11 resets, stopper 40 restricts first drive division 11 and retracts into first actuating mechanism 10 completely, make first drive division 11 part stretch out all the time, with the planar initial level of running gear relative movement, thereby reach the best level when running gear walks, it is more stable to make the running gear walk, be favorable to running gear to accomplish the walking smoothly and hinder the function more.
Be equipped with fixed plate 60 between first drive division 11 and the first connecting plate 51, fixed plate 60 is connected with first drive division 11 and first connecting plate 51 respectively, and being provided with of fixed plate 60 does benefit to the stability of being connected between improvement first drive division 11 and the first connecting plate 51, makes first connecting plate 51 be difficult to take place the displacement, and then is favorable to improving the stability of being connected between first actuating mechanism 10 and the second actuating mechanism 20.
The second driving unit 21 has a second link 70 at the bottom thereof, and the second driving mechanism 20 is connected to the traveling body 30 via the second link 70. When the second driving part 21 moves, the second connecting part 70 drives the walking main body 30 to move, so as to adjust the horizontal height of the walking device relative to the moving plane and control the lifting of the walking main body 30.
The walking main body 30 is provided with the vacuum sucker 31, the vacuum sucker 31 generates vacuum through the vacuum generator, the disc opening of the vacuum sucker 31 faces the moving plane, the adsorption force of the walking main body 30 on the relative moving plane is improved, and the walking device is not easy to loosen from the moving plane.
The working method of the dual-drive mechanism comprises the following steps:
the walking device is started after receiving a working instruction;
after the pneumatic two-position five-way valve receives a working instruction, the first driving mechanism 10 is controlled to move, and the second driving mechanism 20 moves synchronously with the first driving mechanism 10 so as to drive the walking main body 30 to adjust the lifting of the walking main body 30;
in the embodiment, a detection control element arranged on the walking device is an existing sensor (not shown in the figure), and after receiving an information instruction through detection information feedback of the sensor, the normally closed two-way electromagnetic valve and the mechanical series connection two-position three-way valve are combined to control the second driving mechanism 20 to move, so that the lifting of the walking main body 30 is further controlled, the horizontal height of the walking device relative to a moving plane is adjusted, and the walking device smoothly passes through the obstacle;
in the obstacle crossing process, the first driving mechanism 10 keeps a working state, and the second driving mechanism 20 performs circulating work;
similarly, after passing through the obstacle, the walking device continues to detect and feed back information, and after receiving the information command, the normally closed two-way solenoid valve and the mechanical series two-position three-way valve control the second driving mechanism 20 to move, and further control the walking body 30 to move, so as to restore the initial height of the walking device relative to the moving plane.
The double-driving mechanism for the walking device realizes stable walking through the working method, can make crossing action according to obstacles, can adapt to obstacles with more quantity and different heights, and is favorable for improving obstacle crossing capability.
It should be noted that:
the foregoing "first, second, and third … …" do not denote any particular quantity or order, but rather are used merely to distinguish one name from another.
The above are only specific embodiments of the present invention, and the protection scope of the present invention is not limited thereby; any replacement and improvement made on the basis of not violating the conception of the utility model belong to the protection scope of the utility model.
Claims (9)
1. The dual-drive mechanism for the traveling device is characterized by comprising a first drive mechanism and a second drive mechanism, wherein the first drive mechanism is connected with the second drive mechanism, the second drive mechanism is arranged along the motion direction of the first drive mechanism, the second drive mechanism is connected with a traveling main body, and the traveling main body is arranged along the motion direction of the second drive mechanism.
2. The dual drive mechanism for traveling gear according to claim 1, wherein said first drive mechanism includes a first fixed portion and a first drive portion, and a stopper is provided on a side wall of said first fixed portion.
3. The dual drive mechanism for a traveling apparatus according to claim 2, wherein a first connecting member is provided on the first driving portion, and the first driving mechanism is connected to the second driving mechanism via the first connecting member.
4. The dual drive mechanism for the traveling device according to claim 3, wherein the first link includes a first link plate, a second link plate, and a third link plate, the first link plate and the third link plate are both disposed horizontally, the second link plate is disposed vertically, the first link plate and the third link plate are respectively disposed at both ends of the second link plate in the vertical direction, and the first link plate extends horizontally in the opposite direction with respect to the third link plate.
5. The dual drive mechanism for a traveling apparatus according to claim 4, wherein the first driving portion is connected to a first link plate, and the first link plate is located at a bottom of the first driving portion.
6. The dual drive mechanism for a traveling apparatus according to claim 5, wherein a fixing plate is provided between the first driving portion and the first connecting plate, and the fixing plate is connected to the first driving portion and the first connecting plate, respectively.
7. The dual drive mechanism for the walking device according to claim 4, wherein said second driving mechanism comprises a second fixing portion and a second driving portion, said second connecting plate and said third connecting plate are connected to said second fixing portion, said second connecting plate is located on the sidewall of said second fixing portion, and said third connecting plate is located on the top of said second fixing portion.
8. The dual drive mechanism for a walking device according to claim 7, wherein a second connecting member is provided at the bottom of said second driving portion, and said second driving mechanism is connected to the walking body through the second connecting member.
9. Running gear, its characterized in that, including deflector, first actuating mechanism second actuating mechanism and the walking main part that is equipped with drive assembly, drive assembly is connected with first actuating mechanism, first actuating mechanism is connected with second actuating mechanism, second actuating mechanism sets up along first actuating mechanism's direction of motion, second actuating mechanism is connected with the walking main part, the walking main part sets up along second actuating mechanism's direction of motion, first actuating mechanism constitutes dual drive mechanism with second actuating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922058076.0U CN211722964U (en) | 2019-11-25 | 2019-11-25 | Dual-drive mechanism and traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922058076.0U CN211722964U (en) | 2019-11-25 | 2019-11-25 | Dual-drive mechanism and traveling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211722964U true CN211722964U (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922058076.0U Active CN211722964U (en) | 2019-11-25 | 2019-11-25 | Dual-drive mechanism and traveling device |
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|---|---|
| CN (1) | CN211722964U (en) |
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2019
- 2019-11-25 CN CN201922058076.0U patent/CN211722964U/en active Active
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