CN212287649U - Automatic cleaning robot and rocking arm mechanism thereof - Google Patents

Abstract

The utility model provides an automatic cleaning robot and rocking arm mechanism thereof, including setting up revolving stage and the rotation driving piece on walking module, the revolving stage with walking module rotates continuously, it is used for the drive to rotate the driving piece the revolving stage carries out circumferential direction. When the robot arm mechanism is used, the rotating table is rotated by rotating the driving piece, so that the cantilever and the barrier are staggered, and the robot provided with the rotating arm mechanism can conveniently and quickly pass through the barrier. The rotating rotary table can drive the spray head to move along an arc line so as to clean the livestock pen again, reduce the residue of dirt in the livestock pen and improve the cleaning effect of the robot. The revolving stage rotates and can change the movement track of shower nozzle for this robot of being equipped with this rocking arm mechanism has bigger washing scope, can carry out more abundant cleanness to the livestock pen, reduces the filth residue in the livestock pen corner.

Description

Automatic cleaning robot and rocking arm mechanism thereof

Technical Field

The utility model relates to a cleaning robot, in particular to an automatic cleaning robot and rocking arm mechanism thereof.

Background

At present, chinese patent No. CN206576046U discloses an automatic cleaning robot, which includes a frame, a walking module, and a cleaning module. The walking module is used for supporting the rack and driving the robot to walk linearly. The cleaning module comprises two cantilevers and two first star-shaped handles which are arranged on the rack. The two cantilevers are respectively positioned on two sides of the walking direction of the robot and are respectively provided with a swinging mechanism and a sprayer, and the two cantilevers are fixedly inserted into the rack through the first star-shaped handle.

However, when the walking module drives the robot to walk along a straight line and the livestock pens are arranged and built on two sides of the passageway, if an obstacle capable of contacting with the front side of the cantilever is fixed above the livestock pens, the obstacle can block the normal traveling of the robot when the obstacle contacts with the front side of the cantilever, so that when the front side of the cantilever is about to contact with the obstacle, the first star-shaped handle is required to be unlocked, the first star-shaped handle is taken down, the cantilever is separated from the rack, and when the robot moves to the front of the obstacle, the cantilever is clamped to the rack and locked to the rack by the first star-shaped handle.

SUMMERY OF THE UTILITY MODEL

In view of the above, the first objective of the present invention is to provide a rotating arm mechanism, which has the advantages of being able to pass through an obstacle quickly and being easy to operate when passing through the obstacle.

In order to solve the technical problem, the technical scheme of the utility model is that: the rotary arm mechanism comprises a rotary table and a rotary driving piece, wherein the rotary table is arranged on a walking module, the rotary table is rotationally connected with the walking module, and the rotary driving piece is used for driving the rotary table to rotate in the circumferential direction.

Through above-mentioned technical scheme, with the frame setting on the revolving stage of rocking arm mechanism, when the cantilever is about to contact the barrier, the module of pausing walking rotates through rotating driving piece control revolving stage for the cantilever rotates gradually from the barrier, when the cantilever rotates to stagger completely with the barrier, restarts the walking module, when the cantilever passes through the barrier completely, through rotating driving piece control revolving stage antiport, make the cantilever rotate to perpendicular with the advancing direction of walking module. In the whole process, the cantilever does not need to be detached, the time is less, and the operation is simpler and more convenient. In-process of carrying out the washing to the livestock circle, the accessible revolving stage drives shower nozzle on cantilever and the cantilever and removes along the pitch arc for the livestock circle to preliminary clearance completion clears up once more, reduces the inside filth residue of livestock circle, makes the cleaning robot who is equipped with this rocking arm mechanism can have better cleaning performance. Moreover, the rotating table drives the cantilever and the spray head on the cantilever to move along an arc line, so that the movement track of the spray head is changed, the cleaning robot with the rotating arm mechanism can have a larger cleaning range, and a better cleaning effect is achieved.

Preferably, the rotary driving member includes a stepping motor and a speed reducer, an input end of the speed reducer is coaxially connected to an output shaft of the stepping motor, and an output end of the speed reducer is coaxially connected to the turntable.

Through the technical scheme, when the stepping motor works, the rotating platform is driven to rotate through the speed reducer, so that the cantilever and the barrier are staggered. Meanwhile, the speed reducer can control the rotary table to rotate at a reduced speed, so that the walking module is not prone to side turning in the rotating process of the rotary table.

Preferably, an oil storage groove is formed in the side wall of the rotary table, and lubricating grease is filled in the oil storage groove.

Through above-mentioned technical scheme, lubricating grease is used for lubricating the revolving stage for the revolving stage rotates more smoothly, and makes the outer wall of revolving stage be difficult for wearing and tearing.

Preferably, the bottom of the oil storage tank is provided with a sliding plate, and the sliding plate is connected with the oil storage tank in a sliding manner.

Through above-mentioned technical scheme, when the revolving stage rotated, the slide slowly moved to notch one side of holding the oil groove, and this in-process, the slide can slowly extrude the oil groove with lubricating grease for the revolving stage can obtain effective lubrication.

Preferably, the turntable is provided with a vent hole, and the vent hole is communicated with one side, far away from the notch, of the oil storage tank.

Through above-mentioned technical scheme, the air vent will hold oil groove and external intercommunication, so when the slide slides in holding the inside of oil groove, atmospheric pressure is difficult for causing the hindrance to the slip of slide.

A second object of the present invention is to provide an automatic cleaning robot, which has the advantages of passing through the obstacle quickly and being easy and simple to handle when passing through the obstacle.

The technical scheme of the utility model is that: an automatic cleaning robot comprises the rotating arm mechanism.

Through the technical scheme, the automatic cleaning robot with the rotating arm mechanism can rapidly pass through obstacles when working, and the operation is simple and convenient when the robot passes through the obstacles.

Preferably, a support is arranged on the rotary table of the rotating arm mechanism, two groups of rotating arm units are arranged on the support, the two groups of rotating arm units are respectively positioned on two sides of the walking direction of the robot, and each rotating arm unit comprises a cantilever hinged to the support and a rotary driving piece arranged on the support and used for driving the cantilever to rotate.

Through above-mentioned technical scheme, when the cantilever the place ahead of both sides all had the barrier, through the rotation driving spare drive cantilever downwardly rotating for the cantilever can stagger with the barrier sooner. Simultaneously, the control cantilever rotates around the pin joint, can change the position that the shower nozzle sprayed for this self-cleaning robot can have bigger washing scope, and is more abundant to the washing of livestock pen. When the cantilever rotates upwards, water sprayed from the spray head moves in a parabolic manner and can fall on the position of the livestock pen far away from the robot to clean the position of the livestock pen far away from the robot; when the cantilever rotates downwards, water sprayed from the spray head can fall at the position of the livestock pen close to the robot to clean the position of the livestock pen close to the robot.

Preferably, the rotary driving member includes a cylinder, a gear and a rack, the gear is disposed on the side wall of the cantilever and is used for driving the cantilever to rotate, and the rack is connected to the piston rod of the cylinder and engaged with the gear.

Through above-mentioned technical scheme, the homoenergetic drives the rack and slides when cylinder piston rod is flexible, drives the cantilever through the gear and rotates around the pin joint when the rack slides.

In summary, the turntable is arranged on the walking module, so that when an obstacle appears in front of the cantilever, the turntable can be rotated to control the cantilever to be staggered with the obstacle, and the robot provided with the rotating arm mechanism can conveniently pass through the obstacle. Simultaneously, rotate the revolving stage and can drive cantilever and shower nozzle and move along the pitch arc for clean once more to the livestock pen, reduce the residue of filth in the livestock pen. Furthermore, the rotation of the rotary table can change the movement track of the spray head, so that the robot provided with the rotating arm mechanism has a larger cleaning range. Set up the cantilever that the spiral arm mechanism can drive on the support and rotate, so can change the position that the shower nozzle sprayed to obtain bigger washing scope, can carry out more abundant, thoroughly washing to the livestock pen.

Drawings

FIG. 1 is a schematic structural diagram according to a first embodiment;

FIG. 2 is a schematic cross-sectional view of the first embodiment;

FIG. 3 is a schematic structural diagram according to a second embodiment;

fig. 4 is an enlarged view of a portion a of fig. 3.

Reference numerals: 1. a turntable; 2. rotating the driving member; 211. a stepping motor; 212. a speed reducer; 4. an oil storage tank; 5. a slide plate; 6. a vent hole; 7. a support; 8. a swing arm unit; 81. a cantilever; 82. a rotary drive member; 823. a cylinder; 822. a gear; 821. a rack.

Detailed Description

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings, so that the technical solution of the present invention can be more easily understood and grasped.

The first embodiment is as follows:

a swivel arm mechanism, as shown in fig. 1 and 2, includes a turntable 1 and a rotary drive member 2.

The turntable 1 is cylindrical in the embodiment, one end of the turntable 1 extends into the top of the walking module and is rotatably connected with the walking module, and the other end of the turntable 1 protrudes out of the top surface of the walking module. Revolving stage 1 stretches into the circumference wall department of walking module and has seted up a plurality of oil storage groove 4, and a plurality of oil storage groove 4 are circumference evenly distributed, and oil storage groove 4 is inside to be filled with lubricating grease, and when revolving stage 1 rotated, lubricating grease can flow out and lubricate revolving stage 1's surface in oil storage groove 4. Every holds tank 4's tank bottom department and all is provided with slide 5, and slide 5 slides with holding oil tank 4 and is connected, and when revolving stage 1 rotated, slide 5 can slow movement to the notch one side of holding oil tank 4 to extrude oil tank 4 with lubricating grease. The turntable 1 is provided with vent holes 6 which are in one-to-one correspondence with the oil storage tanks 4, and the vent holes 6 are communicated with one sides of the oil storage tanks 4 far away from the groove openings.

The rotary driving member 2 is used for driving the turntable 1 to rotate in the circumferential direction. The movable driving member 2 includes a stepping motor 211 and a reducer 212, an input end of the reducer 212 is coaxially connected to an output shaft of the stepping motor 211, and an output end of the reducer 212 is coaxially connected to the turntable 1. When the stepping motor 211 is operated, the turntable 1 is driven to rotate at a relatively slow speed by the speed reducer 212.

Example two:

as shown in fig. 3 and 4, an automatic cleaning robot includes a rotating arm mechanism according to the first embodiment, a support 7 is provided on a rotating platform 1 of the rotating arm mechanism, the support 7 is provided in a direction perpendicular to a top surface of the rotating platform 1, two sets of arm units 8 are provided on the support 7, and the two sets of arm units 8 are respectively located on two sides of a robot traveling direction. The swing arm unit 8 includes a cantilever 81 hinged to the support 7, and a rotary driving member 82 disposed on the support 7 for driving the cantilever 81 to rotate, wherein a rotation axis of the cantilever 81 is horizontal, the rotary driving member 82 includes a cylinder 823, a gear 822 and a rack 821, the gear 822 is fixedly disposed on a side wall of the cantilever 81 and is used for driving the cantilever 81 to rotate, and the rack 821 is connected to a piston rod of the cylinder 823 and engaged with the gear 822. The piston rod of the cylinder 823 drives the rack 821 to slide when expanding and contracting, and the rack 821 drives the cantilever 81 to rotate in the circumferential direction through the gear 822 engaged with the rack 821.

Of course, the above is only a typical example of the present invention, and besides, the present invention can also have other various specific embodiments, and all technical solutions adopting equivalent replacement or equivalent transformation are all within the scope of the present invention as claimed.

Claims (8)

1. A rotating arm mechanism is characterized in that: including setting up revolving stage (1) and rotation driving piece (2) on walking module, revolving stage (1) with walking module rotates continuously, rotation driving piece (2) are used for the drive revolving stage (1) carries out circumferential direction.

2. The boom mechanism of claim 1 wherein: the rotary driving piece (2) comprises a stepping motor (211) and a speed reducer (212), the input end of the speed reducer (212) is coaxially connected to the output shaft of the stepping motor (211), and the output end of the speed reducer (212) is coaxially connected to the rotary table (1).

3. The boom mechanism of claim 1 wherein: an oil storage groove (4) is formed in the side wall of the rotary table (1), and lubricating grease is filled in the oil storage groove (4).

4. A tumbler mechanism according to claim 3, wherein: the bottom of oil storage groove (4) is provided with slide (5), slide (5) with oil storage groove (4) slides and is connected.

5. The boom mechanism of claim 4 wherein: the turntable (1) is provided with a vent hole (6), and the vent hole (6) is communicated with one side, away from the notch, of the oil storage groove (4).

6. An automatic cleaning robot, characterized by: comprising a swivel arm mechanism according to any of claims 1-5.

7. The automatic cleaning robot according to claim 6, wherein: the rotary table (1) of the rotating arm mechanism is provided with a support (7), the support (7) is provided with two groups of rotating arm units (8), the two groups of rotating arm units (8) are respectively positioned at two sides of the walking direction of the robot, and each rotating arm unit (8) comprises a cantilever (81) hinged to the support (7) and a rotary driving piece (82) arranged on the support (7) and used for driving the cantilever (81) to rotate.

8. The automatic cleaning robot according to claim 7, wherein: the rotary driving part (82) comprises an air cylinder (823), a gear (822) and a rack (821), the gear (822) is arranged on the side wall of the cantilever (81) and used for driving the cantilever (81) to rotate, and the rack (821) is connected to a piston rod of the air cylinder (823) and meshed with the gear (822).

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