CN215971823U

CN215971823U - Climbing device with sucker and robot

Info

Publication number: CN215971823U
Application number: CN202122256417.2U
Authority: CN
Inventors: 吴琳波
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-03-08
Anticipated expiration: 2031-09-16

Abstract

The utility model discloses a climbing device with a sucker and a robot, comprising: a supporting body, a climbing part and a cleaning part; the portion of climbing slides and locates the one side that supports the main part, and clean position is connected with the one end of the portion of climbing, and clean portion is equipped with the rack that climbs on one side of support main part by pump-out machine and silica gel sealing washer formation sucking disc, is equipped with the motor that climbs in the portion of climbing, and the motor that climbs is connected with the rack transmission that climbs, still is equipped with preceding mechanism in the support main part, and the rack that climbs and preceding mechanism fixed connection, preceding mechanism are used for driving the rack that climbs and slide. By adopting the design, the climbing rack is arranged on the supporting main body, so that the climbing part rises and the supporting main body is lifted under the adsorption force of the cleaning part; simultaneously set up the mechanism that moves ahead in supporting the main part, realize climbing portion and advance, through the rack that climbs and the mutually supporting of the mechanism that moves ahead, realize climbing to the step to clean the mesa of step through clean portion, structural design is reasonable, and is simple, and it is convenient to implement, low in production cost is honest and clean.

Description

Climbing device with sucker and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a climbing device with a sucker and a robot.

Background

The population in the world is increased at present, and in order to effectively utilize limited ground space, people develop to higher and higher positions, buildings such as various high-rise buildings, stairclassrooms, conference rooms, stadium stands and the like including stairs are more and more common, the work of cleaning the stairways is obviously increased, and the market demand in the aspect is brought forward. On the other hand, most of the cleaning robots that have advanced into people's daily lives are indoor flat cleaning robots, and therefore it is necessary to research and develop stair cleaning robots, and the structure that can climb stairs at present mainly includes: wheel type, crawler type, leg type, and rolling type. Wherein the crawler-type and rolling-type structures are complex, and the cleaning device is difficult to design. The wheel type stair climbing robot adopts the planet wheels or other composite wheel types, the structure is large and complex, the cost is high, the stair cleaning function is rarely considered, and the practicability is greatly reduced.

Therefore, there is a need to design a climbing device and a robot with suction cups to overcome the disadvantages of the prior art.

SUMMERY OF THE UTILITY MODEL

The technical scheme adopted by the utility model to achieve the technical purpose is as follows: a climbing device having suction cups, comprising: a supporting body, a climbing part and a cleaning part; the climbing part is arranged on one side of the supporting main body in a sliding mode, the cleaning part is located on one side of the supporting main body and is connected with one end of the climbing part, a climbing rack is arranged on one side of the supporting main body, a climbing motor is arranged in the climbing part, the output end of the climbing motor is in transmission connection with the climbing rack, a advancing mechanism is further arranged in the supporting main body and is fixedly connected with the advancing mechanism, and the advancing mechanism is used for driving the climbing rack to slide.

In a preferred embodiment, the advancing mechanism comprises: the supporting frame is arranged in the supporting main body, one end of the supporting frame is provided with a forward motor, the other end of the supporting frame is provided with a rotating wheel, and a transmission part is arranged between the forward motor and the rotating wheel; and a sliding block is fixedly arranged on the transmission part and is fixedly connected with the climbing rack.

In a preferred embodiment, the two sides of the supporting frame are respectively provided with a fixing rod, and two ends of the sliding block are respectively connected with the fixing rods in a sliding manner.

In a preferred embodiment, a sliding groove is formed in the climbing rack, a clamping block is arranged at the bottom of the climbing portion, the clamping block is matched with the sliding groove and can slide in the sliding groove, and one end, far away from the output end, of the climbing motor is fixedly connected with the clamping block.

In a preferred embodiment, both ends of the climbing rack are provided with inward positioning blocks.

In a preferred embodiment, the cleaning part comprises a shell and a bottom cover buckled with the shell, the middle part of the bottom cover is provided with an evacuator for evacuating, two sides of the evacuator are respectively provided with a jacking device, and the bottom cover is provided with two silica gel sealing rings arranged at intervals.

In a preferred embodiment, the jacking device comprises a jacking motor, a driving shaft and a jacking roller; the jacking roller is provided with two driven gears which are respectively positioned at the two ends of the driving shaft, and the driven gears are engaged with the driving gears at the end parts of the driving shaft.

In a preferred embodiment, rectangular holes are respectively formed in positions, corresponding to the jacking rollers, of the bottom cover, a plurality of air suction holes are formed in positions, corresponding to the air pump, of the bottom cover, and a closed space is formed in the position where the jacking device is located.

In a preferred embodiment, a lateral displacement mechanism is provided on the bottom of the support body, and an inductor is provided on one end of the cleaning part.

In another aspect, the present invention provides a robot comprising a climbing device with suction cups as described in any one of the above embodiments.

The utility model has the beneficial effects that: according to the utility model, the climbing rack is arranged on one side of the supporting main body, so that the climbing part and the cleaning part can ascend and ascend, and the supporting main body can be lifted under the coordination of the evacuator and the silica gel sealing ring; simultaneously through set up the mechanism that moves ahead in supporting the main part, realize climbing portion action of advancing to through the rack that climbs and the mutually supporting between the mechanism that moves ahead, realize climbing to the step, and clean the mesa of step through clean portion, structural design is reasonable, and is simple, and it is convenient to implement, low in production cost is honest and clean.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a support body according to the present invention;

FIG. 3 is a schematic structural view of a climbing rack in accordance with the present invention;

FIG. 4 is a schematic structural diagram of the climbing part of the utility model;

FIG. 5 is an exploded view of the cleaning section of the present invention;

FIG. 6 is a schematic structural diagram of a jacking apparatus according to the present invention;

fig. 7 is a schematic diagram of the creep state of the present invention.

In the figure:

10. a support body; 101. a climbing rack; 102. a chute; 103. positioning blocks; 11. a forward mechanism; 111. a support frame; 112. a forward motor; 113. a transmission member; 114. a rotating wheel; 115. a slider; 116. Fixing the rod; 12. a lateral displacement mechanism;

20. a climbing part; 201. a clamping block; 202. a climbing motor;

30. a cleaning section; 31. a housing; 32. a bottom cover; 321. a rectangular hole; 322. an air exhaust hole; 33. a jacking device; 331. a jacking motor; 332. a drive shaft; 333. a driving gear; 334. jacking rollers; 335. connecting a bracket; 336. a driven gear; 337. a baffle plate; 34. a silica gel seal ring; 35. an air pump.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

As shown in figures 1-7, the present invention provides a climbing device with suction cups, comprising: a support main body 10, a climbing portion 20, a cleaning portion 30; the supporting main body 10 is rectangular with openings at two sides, the climbing part 20 is slidably disposed at one side of the supporting main body 10, a climbing rack 101 is disposed at one side of the supporting main body 10, a climbing motor 202 is disposed in the climbing part 20, an output end of the climbing motor 202 is connected with a gear, an output end of the climbing motor 202 is in meshing transmission connection with the climbing rack 101 through the gear, the motor drives the climbing part 20 to ascend and descend along the climbing rack 101 when rotating, a forward mechanism 11 is further disposed in the supporting main body 10, the climbing rack 101 is fixedly connected with the forward mechanism 11, the forward mechanism 11 is used for driving the climbing rack 101 to slide, when the forward mechanism 11 operates, the climbing rack 101 is driven to slide along the length direction of the supporting main body 10, and the climbing part 20 connected with the climbing rack 101 is driven to move along the length direction of the supporting main body 10, so as to realize the ascending and advancing actions of the climbing part 20, further realizing the step climbing action.

As can be understood, the ascending and ascending actions of the ascending part 20 and the cleaning part 30 are achieved by providing the ascending rack 101 on one side of the support main body 10; meanwhile, the climbing part 20 moves forwards by arranging the advancing mechanism 11 in the supporting main body 10, so that climbing of the step is realized by matching the climbing rack 101 and the advancing mechanism 11, and the table top of the step is cleaned by the cleaning part 30.

Further, in the present embodiment, the advancing mechanism 11 includes: a support frame 111, the support frame 111 is arranged in the support main body 10, one end of the support frame 111 is provided with a forward moving motor 112, a rotating wheel 114 is arranged at the other end, a transmission member 113 is arranged between the advancing motor 112 and the rotating wheel 114, the advancing motor 112 and the rotating wheel 114 are connected together through the transmission member 113, meanwhile, a sliding block 115 is fixedly arranged on the transmission piece 113, one end of the sliding block 115 is fixedly connected with the climbing rack 101 on one side, when the forward motor 112 operates, the transmission member 113 in transmission connection with the forward motor is driven to rotate, so as to drive the sliding block 115 to move back and forth, further driving the climbing rack 101 fixedly connected with the climbing rack to move back and forth, and then driving the climbing part 20 to move back and forth, when the climbing part rises, the advancing mechanism 11 operates to drive the climbing part 20 to move forward, so that the climbing part 20 is lapped on a step, wherein the transmission member 113 can be a transmission member such as a belt, a rack or a chain.

It should be noted that the supporting frame 111 is located at the lower part of the supporting body 10, so that the weight is on the bottom of the supporting body 10, and the weight of the supporting body 10 should be greater than the sum of the weights of the ascending part 20 and the cleaning part 30, so as to avoid the gravity center of the ascending part 20 shifting to topple over when it ascends.

Further, in this embodiment, in order to avoid the sliding block 115 from shaking during the movement, fixing rods 116 are respectively disposed on two sides of the supporting frame 111, two ends of the sliding block 115 are respectively slidably connected with the fixing rods 116 on two sides, and the fixing rods 116 can also avoid the sliding block 115 from shaking during the movement while guiding.

Further, in this embodiment, a sliding groove 102 is disposed on one side of the climbing rack 101, a fixture block 201 is disposed on the bottom of the climbing portion 20, the fixture block 201 is engaged with the sliding groove 102, the fixture block 201 is inserted into the sliding groove 102 and can slide in the sliding groove 102, and an end of the climbing motor 202 away from the output end is fixedly connected to the fixture block 201, so that the climbing motor 202 drives the climbing portion 20 to ascend or descend through gear engagement during operation.

Further, in the embodiment, in order to prevent the climbing portion 20 from tilting or falling out of the support body 10 when the climbing portion 20 ascends, inward positioning blocks 103 are respectively disposed at both ends of the climbing rack 101, so that when the climbing rack 101 is tilted by the ascending portion 20, the support body 10 cannot fall out under the limit of the abutting between the positioning blocks 103 and the support body 10.

Further, in the present embodiment, the cleaning portion 30 includes: the vacuum cleaner comprises a shell 31 and a bottom cover 32 buckled with the bottom of the shell 31, wherein an evacuator 35 for evacuation is arranged in the middle of the bottom cover 32, the evacuator 35 is a conventional evacuator 35, so the details are not repeated herein, two jacking devices 33 are respectively arranged on two sides of the evacuator 35, and two silica gel sealing rings 34 arranged at intervals are arranged on the bottom cover 32, wherein the silica gel sealing rings 34 surround the position of the evacuator 35, and the two silica gel sealing rings 34 are arranged to form a double-layer sealing effect.

It should be noted that the suction force of the cleaning part 30 should be greater than the weight of the support body 10, so that when the cleaning part 30 is attached to the step, the support body 10 can be driven to ascend by the climbing motor 202, and because the suction force of the cleaning part 30 is greater than the weight of the support body 10, the support body 10 will not topple over due to the weight of the support body 10 when ascending, and when the support body 10 is flush with the step, the support body 10 moves forward to the step by the driving of the forward motor 112, so as to complete climbing of the step. Two silica gel sealing rings 34 are arranged on the peripheral side of the bottom cover 32 at intervals, so that the vacuumized area is increased, and the adsorption force between the cleaning part 30 and the bottom surface is improved; a cleaning sheet (not shown) may be disposed between the two silicone sealing rings 34 to have a cleaning function.

Further, in the present embodiment, the jacking device 33 includes: the lifting motor 331, the driving shaft 332 and the lifting rollers 334, wherein a driving gear 333 is respectively arranged at the end part and the middle part of the two ends of the driving shaft 332, the lifting motor 331 is in transmission connection with the driving gear 333 in the middle part, so that the driving gear 333 is driven to rotate when the lifting motor 331 operates, the driving shaft 332 is driven to rotate, two lifting rollers 334 are respectively arranged at the two ends of the driving shaft 332, each lifting roller 334 is fixedly connected with a driven gear 336 through a connecting bracket 335, the driven gear 336 is meshed with the driving gear 333 at the end part of the driving shaft 332, the driving shaft 332 is driven to rotate when the lifting motor 331 operates, the driven gear 336 in transmission connection with the driving shaft 332 is driven, and the lifting rollers 334 are driven to move up and down when the driven gear 336 rotates.

Further, in the embodiment, in order to realize the translation function of the climbing device, a lateral displacement mechanism 12 is provided on the bottom of the support main body 10, and the two lateral displacement mechanisms 12 are driven synchronously, so that the climbing device can realize climbing and advancing and can also perform lateral translation motion.

It should be noted that, the transverse displacement mechanism 12 may adopt a track manner or a roller manner, when cleaning at the current position, the transverse displacement mechanism 12 may drive the horizontal displacement to change the cleaning position, so as to clean the whole step, wherein the jacking device 33 descends when the supporting main body 10 is transversely displaced, so as to make the jacking roller 334 contact with the ground, thereby facilitating to drive the cleaning part 30 to synchronously displace when the supporting main body 10 is transversely displaced.

Further, in this embodiment, rectangular holes 321 are respectively formed in positions of the bottom cover 32 corresponding to the jacking rollers 334, the jacking rollers 334 are in contact with the ground through the rectangular holes 321, a plurality of uniformly distributed air pumping holes 322 are further formed in positions of the bottom cover 32 corresponding to the air pump 35, the air pump 35 pumps the space in the silica gel sealing ring 34 through the air pumping holes 322, and meanwhile, the top of the air pump 35 protrudes out of the outer shell 31 to send out the pumped air to the outside; wherein, because of the inside of shell 31 forms the intercommunication with the external world through rectangular hole 321 on the bottom cover 32, for preventing the leakage of vacuum environment, be equipped with sealed space through baffle 337 on the position that the bottom cover 32 is equipped with jacking device 33, prevent that the evacuation environment from making the vacuum extraction fail because of not airtight space.

Further, in order to facilitate the control of the climbing movement of the climbing device in this embodiment, a sensor (not shown) is disposed at one end of the cleaning portion 30 in the advancing direction for sensing a step, so as to transmit data to the background and control the related operation.

The working principle is that when climbing, the climbing motor 202 drives to lift the climbing part 20, and further drives the cleaning part 30 to move synchronously, when the climbing part 20 is higher than a step to be ascended, the advancing motor 112 operates to drive the climbing part 20 to move forwards, so that the climbing part is positioned above the step to be ascended, then the climbing motor 202 operates reversely, so that the cleaning part 30 descends to abut against the step, then the evacuator 35 operates to evacuate the space in the silica gel sealing ring 34, so that the cleaning part 30 is adsorbed on the step, then the climbing motor 202 operates continuously and reversely, the cleaning part 30 cannot move under the conflict of the step, so that the support main body 10 ascends under the drive of the climbing motor 202, and because the cleaning part 30 is adsorbed on the step and the adsorption force is greater than the weight of the support main body 10, the support main body 10 cannot topple when ascending, when the bottom of the support main body 10 is higher than the step, the forward motor 112 operates, the cleaning part 30 cannot advance due to being adsorbed on the steps, so that the support main body 10 moves forward under the driving of the forward motor 112, the steps climb and subsequent step cleaning are realized, and meanwhile, the climbing device can transversely displace on the steps through the transverse displacement mechanism 12, so that the whole table top is convenient to clean.

A second aspect of the utility model provides a robot comprising a climbing device according to any of the embodiments described above.

In summary, the climbing rack is arranged on one side of the support main body, so that the climbing part and the cleaning part can ascend and ascend, and the support main body 10 can be lifted under the cooperation of the evacuator 35 and the silica gel sealing ring 34; simultaneously through set up the mechanism that moves ahead in supporting the main part, realize climbing portion action of advancing to through the rack that climbs and the mutually supporting between the mechanism that moves ahead, realize climbing to the step, and clean the mesa of step through clean portion, structural design is reasonable, and is simple, and it is convenient to implement, low in production cost is honest and clean.

The utility model is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the utility model is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A climbing device having suction cups, comprising: a supporting body, a climbing part and a cleaning part; the climbing part is arranged on one side of the supporting main body in a sliding mode, the cleaning part is located on one side of the supporting main body and is connected with one end of the climbing part, a climbing rack is arranged on one side of the supporting main body, a climbing motor is arranged in the climbing part, the output end of the climbing motor is in transmission connection with the climbing rack, a advancing mechanism is further arranged in the supporting main body and is fixedly connected with the advancing mechanism, and the advancing mechanism is used for driving the climbing rack to slide.

2. The climbing device with suction cups of claim 1, wherein the advancing mechanism comprises: the supporting frame is arranged in the supporting main body, one end of the supporting frame is provided with a forward motor, the other end of the supporting frame is provided with a rotating wheel, and a transmission part is arranged between the forward motor and the rotating wheel; and a sliding block is fixedly arranged on the transmission part and is fixedly connected with the climbing rack.

3. The climbing device with the suction cup as claimed in claim 2, wherein the support frame is provided with a fixing rod on each side, and the two ends of the sliding block are slidably connected with the fixing rods.

4. The climbing device with the sucker as claimed in claim 1 wherein the climbing rack has a sliding slot, the bottom of the climbing part has a block, the block is engaged with the sliding slot and can slide in the sliding slot, and the end of the climbing motor away from the output end is fixedly connected to the block.

5. The climbing device with suction cups as claimed in claim 1, wherein the climbing rack is provided with inwardly facing locating blocks on both ends.

6. The climbing device with the sucker according to claim 1, wherein the cleaning part comprises a housing and a bottom cover fastened with the housing, the bottom cover is provided with an evacuator for evacuation in the middle, the evacuator is provided with a jacking device on each side, and the bottom cover is provided with two silicone sealing rings arranged at intervals.

7. The climbing device with the sucker according to claim 6, wherein the jacking device comprises a jacking motor, a driving shaft, a jacking roller; the jacking roller is provided with two driven gears which are respectively positioned at the two ends of the driving shaft, and the driven gears are engaged with the driving gears at the end parts of the driving shaft.

8. The climbing device with suction cups as claimed in claim 7, wherein the bottom cover is provided with rectangular holes at positions corresponding to the jacking rollers, the bottom cover is provided with a plurality of air pumping holes at positions corresponding to the air pump, and the jacking device is provided with a closed space at a position.

9. The climbing device with suction cups as claimed in claim 1, wherein a lateral displacement mechanism is provided on the bottom of the support body and an inductor is provided on one end of the cleaning part.

10. A robot, characterized in that it comprises a climbing device with suction cups according to any of claims 1-9.