CN217659532U - Cleaning robot lifts toilet lid device and robot - Google Patents
Cleaning robot lifts toilet lid device and robot Download PDFInfo
- Publication number
- CN217659532U CN217659532U CN202220559812.XU CN202220559812U CN217659532U CN 217659532 U CN217659532 U CN 217659532U CN 202220559812 U CN202220559812 U CN 202220559812U CN 217659532 U CN217659532 U CN 217659532U
- Authority
- CN
- China
- Prior art keywords
- force
- toilet lid
- rod
- lifting
- unloading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Toilet Supplies (AREA)
Abstract
The utility model provides a cleaning machines people lifts toilet lid device and robot, include: a base plate, a toilet lid adsorption device, a flushing pressing device and a toilet lid lifting device; the base plate is provided with a toilet cover adsorption device, a flushing pressing device and a toilet cover lifting device; the toilet cover adsorption device is provided with a sucker which adsorbs and lifts the toilet cover; the flushing pressing device is provided with a mandril which allows the mandril to slide relative to the base plate and one end of the mandril presses a flushing button of the closestool; one end of the toilet lid lifting device is connected with the flushing pressing device and is driven to rotate by the flushing pressing device, and the other end of the toilet lid lifting device jacks up the lifted toilet lid; the sucker is connected with the sucker force-unloading reed and unloads force through the sucker force-unloading reed, and the ejector rod is connected with the force-unloading spring and unloads force through the force-unloading spring. The device realizes that the damage to the manipulator or the toilet cover caused by the position error of the manipulator is reduced under the condition of omitting the force control module.
Description
Technical Field
The utility model relates to a cleaning machines people field specifically relates to cleaning machines people lifts toilet lid device and robot.
Background
A robot for lifting a toilet lid is a new application in the field of robots, and in the past, mechanical arms of the robots are controlled by using a force control module, but the cost is high. If the force control module is not used, the mechanical arm is often stressed excessively, so that the mechanical arm bends and deforms, and a gear of the push rod speed reducer is damaged or the toilet lid is damaged. It is desirable to provide a toilet lid lifting robot that does not damage the robot arm and the toilet lid when the force control module is not used.
Patent document CN112471981B discloses a multifunctional household toilet cleaning robot; the cleaning robot comprises a rack, a ground cleaning mechanism, a floor drain cleaning mechanism, a closestool cleaning mechanism and a controller; the ground cleaning mechanism comprises a dehydration transmission mechanism arranged on the frame and a water absorption cleaning head arranged on the dehydration transmission mechanism; the floor drain cleaning mechanism comprises a station switching mechanism arranged on the rack, a cover taking mechanism and a cleaning mechanism arranged on the station switching mechanism; the closestool cleaning mechanism comprises an extension mechanical arm arranged on the rack and a washing mechanism arranged on the extension mechanical arm; the controller is arranged on the frame and is respectively and electrically connected with the ground cleaning mechanism, the floor drain cleaning mechanism and the closestool cleaning mechanism.
At present, when the force control module is not used, the robot cannot damage the mechanical arm and the toilet cover when lifting the toilet cover.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims at providing a cleaning robot lifts toilet lid device and robot.
According to the utility model provides a pair of cleaning machines people lifts toilet lid device, include: a base plate, a toilet lid adsorption device, a flushing pressing device and a toilet lid lifting device;
the toilet cover adsorption device, the flushing pressing device and the toilet cover lifting device are arranged on the base plate;
the toilet cover adsorption device is provided with a sucker which adsorbs and lifts the toilet cover;
the flushing pressing device is provided with an ejector rod, the ejector rod is allowed to slide relative to the base plate, and one end of the ejector rod presses a flushing button of the closestool;
one end of the toilet lid lifting device is connected with the flushing pressing device and is driven to rotate by the flushing pressing device, and the other end of the toilet lid lifting device jacks up the lifted toilet lid;
the sucker is connected with the sucker force-unloading reed and unloads force through the sucker force-unloading reed, and the ejector rod is connected with the force-unloading spring and unloads force through the force-unloading spring.
Preferably, the toilet lid adsorption device further includes: the first electric push rod and the sucker connecting rod;
the first electric push rod is rotatably arranged on the base plate, and the other end of the first electric push rod is rotatably connected with the middle part of the sucker connecting rod;
one end of the sucker connecting rod is rotatably arranged on the base plate, and the other end of the sucker connecting rod is connected with the sucker through the sucker force-unloading reed.
Preferably, a vacuum pump and a pressure relief solenoid valve are mounted on the substrate;
the vacuum pump is connected with the pressure relief electromagnetic valve and is communicated with the sucker through an air pipe.
Preferably, one end of the substrate extends out of the bottom plate vertically to one side;
the bottom plate is provided with a through hole and a connecting hole.
Preferably, the flush pressure device includes: the second electric push rod, the force unloading guide rail and the force unloading slide block are arranged on the base;
one end of the force unloading guide rail is fixedly arranged in the connecting hole, the other end of the force unloading guide rail is fixed on the substrate through a fixed seat, and the fixed seat is provided with a positioning hole;
the ejector rod penetrates through the positioning hole and the through hole and slides relative to the positioning hole and the through hole;
one end of the force unloading sliding block vertically extends to form a convex edge, and the convex edge is connected with the ejector rod and the force unloading guide rail in a sliding fit manner;
the force unloading sliding block is arranged between the bottom plate and the fixed seat;
one end of the second electric push rod is rotatably installed on the base plate, the other end of the second electric push rod is rotatably connected with the force unloading sliding block, and the force unloading sliding block is pushed by the second electric push rod to slide along the ejector rod.
Preferably, the other end of the force unloading sliding block is provided with a second limiting block, the end, facing the fixed seat, of the force unloading sliding block is provided with the convex edge, and the end, facing the bottom plate, of the force unloading sliding block is provided with the second limiting block;
the middle part of the ejector rod is provided with a first limiting block, and the first limiting block is positioned between the convex edge and the second limiting block;
the first limiting block and the force-unloading spring are arranged between the convex edges.
Preferably, the toilet lid lifting device comprises: a cover lifting connecting rod and a cover lifting rod;
the middle part of the cover lifting rod is rotatably arranged on the base plate;
one end of the cover lifting connecting rod is rotatably connected with the cover lifting rod, and the other end of the cover lifting connecting rod is rotatably connected with the ejector rod.
Preferably, when the second electric push rod pushes the force unloading slide block to move, the ejector rod and the force unloading spring move together, the ejector rod drives the cover lifting rod to rotate through the cover lifting connecting rod, and the cover lifting rod is connected with one end of the cover lifting connecting rod in a back-to-back mode to jack up the lifted toilet cover;
work as the ejector pin dorsad the closestool bath button is pressed to fixing base one end, first stopper extrusion unload power spring one end, it passes through to unload the power spring other end the chimb is spacing, the ejector pin passes through it unloads power to unload power spring.
Preferably, the substrate is mounted on a robot body.
Preferably, a robot adopts the cleaning robot to lift the toilet lid device.
Preferably, the robot body, the toilet lid adsorption device, and the flush water pressing device omit a force control module.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the device reduces the damage to the manipulator or the toilet lid caused by the position error of the manipulator under the condition of omitting the force control module;
2. this device need not to use the power control module, the cost is reduced.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a toilet lid lifting device of a cleaning robot;
FIG. 2 is an exploded view of the toilet lid lifting device of the cleaning robot;
FIG. 3 is a schematic view illustrating a state of the toilet lid lifting device of the cleaning robot when not in operation;
FIG. 4 is a schematic view illustrating a state of the toilet lid lifting device of the cleaning robot during operation;
FIG. 5 is a schematic view of the flush pressure apparatus;
FIG. 6 is a schematic view of the toilet lid adsorption device adsorbing the toilet lid;
FIG. 7 is a schematic view illustrating the toilet lid adsorption device when the toilet lid is lifted;
FIG. 8 is a schematic view of the toilet lid lifting device in operation.
Shown in the figure:
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Example 1
As shown in fig. 1, a device for lifting a toilet lid by a cleaning robot, which can be used for a robot, includes: a base plate 2, a toilet lid adsorption device 3, a flushing pressing device 4 and a toilet lid lifting device 5; the base plate 2 is installed on the manipulator body 1, the toilet lid adsorption device 3 is installed on the base plate 2, the flushing pressing device 4 and the toilet lid lifting device 5 are installed on the base plate 2, the sucker 34 is installed on the toilet lid adsorption device 3, the sucker 34 adsorbs and lifts the toilet lid, the jacking rod 43 is installed on the flushing pressing device 4, the jacking rod 43 allows sliding relative to the base plate 2 and one end of the jacking rod presses the flushing button of the toilet, one end of the toilet lid lifting device 5 is connected with the flushing pressing device 4 and is driven to rotate by the flushing pressing device 4, the other end of the toilet lid lifting device 5 jacks up the lifted toilet lid, the sucker 34 is connected with the sucker force-releasing reed 33 and releases force by the sucker force-releasing reed 33, and the jacking rod 43 is connected with the force-releasing spring 41 and releases force by the force-releasing spring 41.
As shown in fig. 2, the toilet lid adsorption device 3 further includes: a first electric push rod 30 and a suction cup connecting rod 31; the first electric push rod 30 is rotatably mounted on the substrate 2, the other end of the first electric push rod is rotatably connected with the middle part of the suction cup connecting rod 31, one end of the suction cup connecting rod 31 is rotatably mounted on the substrate 2, and the other end of the suction cup connecting rod is connected with the suction cup 34 through the suction cup force-releasing reed 33. A vacuum pump 35 and a pressure relief solenoid valve 36 are mounted on the substrate 2, the vacuum pump 35 is connected with the pressure relief solenoid valve 36, and the vacuum pump 35 is communicated with the suction cup 34 through an air pipe 32.
One end of the substrate 2 vertically extends out of the bottom plate to one side, and the bottom plate is provided with a through hole and a connecting hole. The flush water pressing device 4 includes: a second electric push rod 40, a force unloading guide rail 42 and a force unloading slide block 44; unload power guide rail 42 one end fixed mounting in the connecting hole, the other end passes through fixing base 45 to be fixed on base plate 2, set up the locating hole on the fixing base 45, ejector pin 43 passes locating hole and through-hole and slides relative locating hole and through-hole, unload power slider 44 one end and extend the chimb perpendicularly, the chimb sliding fit is connected ejector pin 43 and is unloaded power guide rail 42, it installs between bottom plate and fixing base 45 to unload power slider 44, 40 one ends of second electric putter are rotated and are installed on base plate 2, the other end is rotated and is connected and is unloaded power slider 44, it promotes through second electric putter 40 and slides along ejector pin 43 to unload power slider 44. Unload power slider 44 other end and set up second stopper 47, unload power slider 44 and set up to the chimb towards fixing base 45 one end, unload power slider 44 and set up to second stopper 47 towards bottom plate one end, ejector pin 43 middle part sets up first stopper 46, and first stopper 46 is located between chimb and second stopper 47, and the installation is unloaded power spring 41 between first stopper 46 and the chimb. The toilet lid lifting device 5 includes: a lid lifting link 50 and a lid lifting lever 51; the middle part of the cover lifting rod 51 is rotatably arranged on the base plate 2, one end of the cover lifting connecting rod 50 is rotatably connected with the cover lifting rod 51, and the other end is rotatably connected with the ejector rod 43.
As shown in fig. 3 to 8, when the second electric push rod 40 pushes the force-removing slider 44 to move, the push rod 43 and the force-removing spring 41 move together, the push rod 43 drives the lid-lifting rod 51 to rotate through the lid-lifting connecting rod 50, and the lid-lifting rod 51 backs to one end connected with the lid-lifting connecting rod 50 to lift up the lid of the lifted toilet; when the push rod 43 presses the toilet flushing button at one end opposite to the fixed seat 45, the first limit block 46 extrudes one end of the force-releasing spring 41, the other end of the force-releasing spring 41 is limited by the convex edge, and the push rod 43 releases force through the force-releasing spring 41.
Example 2
Example 2 is a preferred example of example 1.
As shown in fig. 1 to 8, the force-releasing guide rail 42 and the force-releasing spring 41 are added in the present embodiment, when the push rod 43 is axially stressed by 6kg or more and generates 10mm or more displacement, the force-releasing spring 41 starts to be compressed, and the force of 6kg or more and the displacement of 10mm or more are transmitted to the force-releasing spring 41 through the movement of the force-releasing slider 44 by the push rod 43, so as to absorb the force and the displacement of overload; the contact surfaces of the first stopper 46 and the second stopper 47 are separated at this time. At this time, the second electric push rod 40 is not compressed, and does not bear overload and displacement exceeding the preset force-releasing spring 41, thereby playing the role of overload protection. Similarly, when the surface perpendicular to the suction cup 34 is subjected to a force greater than or equal to 3kg and a displacement of 10mm, the suction cup force-releasing reed 33 will elastically bend, absorb the overload force and displacement, and protect the gear of the first electric push rod 30 from being damaged by overload.
The robot lifts the toilet lid and comprises the following three steps: firstly, sucking the toilet lid by a sucking disc 34 and lifting the toilet lid to a certain height; secondly, the cover lifting rod 51 is lifted; thirdly, the suction cup connecting rod 31 is retracted, and the cover lifting rod 51 is lifted continuously until the toilet cover is lifted in place.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A cleaning robot lifting toilet lid device is characterized by comprising: a base plate (2), a toilet lid adsorption device (3), a flushing pressing device (4) and a toilet lid lifting device (5);
the base plate (2) is provided with the toilet lid adsorption device (3), the flushing pressing device (4) and the toilet lid lifting device (5);
the toilet lid adsorption device (3) is provided with a sucker (34), and the sucker (34) adsorbs and lifts the toilet lid;
the flushing pressing device (4) is provided with an ejector rod (43), the ejector rod (43) is allowed to slide relative to the base plate (2), and one end of the ejector rod presses a flushing button of the closestool;
one end of the toilet lid lifting device (5) is connected with the flushing pressing device (4) and is driven to rotate by the flushing pressing device (4), and the other end of the toilet lid lifting device (5) jacks up the lifted toilet lid;
the sucker (34) is connected with a sucker force-unloading reed (33) and unloads force through the sucker force-unloading reed (33), and the ejector rod (43) is connected with a force-unloading spring (41) and unloads force through the force-unloading spring (41).
2. The cleaning robot lifting toilet lid device according to claim 1, wherein the toilet lid adsorption device (3) further comprises: a first electric push rod (30) and a sucker connecting rod (31);
the first electric push rod (30) is rotatably arranged on the base plate (2), and the other end of the first electric push rod is rotatably connected with the middle part of the sucker connecting rod (31);
one end of the sucker connecting rod (31) is rotatably arranged on the base plate (2), and the other end of the sucker connecting rod is connected with the sucker (34) through the sucker force-unloading reed (33).
3. The cleaning robot lifting toilet lid device of claim 2, wherein: a vacuum pump (35) and a pressure relief electromagnetic valve (36) are arranged on the substrate (2);
vacuum pump (35) are connected pressure release solenoid valve (36), vacuum pump (35) pass through trachea (32) intercommunication sucking disc (34).
4. The cleaning robot lifting toilet lid device of claim 1, wherein: one end of the base plate (2) vertically extends out of the bottom plate towards one side;
the bottom plate is provided with a through hole and a connecting hole.
5. The cleaning robot lifting toilet lid device according to claim 4, wherein the flush water pressing device (4) comprises: a second electric push rod (40), a force unloading guide rail (42) and a force unloading slide block (44);
one end of the force-unloading guide rail (42) is fixedly arranged in the connecting hole, the other end of the force-unloading guide rail is fixed on the substrate (2) through a fixing seat (45), and a positioning hole is formed in the fixing seat (45);
the ejector rod (43) penetrates through the positioning hole and the through hole and slides relative to the positioning hole and the through hole;
one end of the force unloading sliding block (44) vertically extends to form a convex edge, and the convex edge is connected with the ejector rod (43) and the force unloading guide rail (42) in a sliding fit manner;
the force unloading sliding block (44) is arranged between the bottom plate and the fixed seat (45);
one end of the second electric push rod (40) is rotatably installed on the base plate (2), the other end of the second electric push rod is rotatably connected with the force unloading sliding block (44), and the force unloading sliding block (44) is pushed to slide along the ejector rod (43) through the second electric push rod (40).
6. The cleaning robot flip toilet lid apparatus of claim 5, further comprising: the other end of the force unloading sliding block (44) is provided with a second limiting block (47), one end, facing the fixed seat (45), of the force unloading sliding block (44) is provided with the convex edge, and one end, facing the bottom plate, of the force unloading sliding block (44) is provided with the second limiting block (47);
a first limit block (46) is arranged in the middle of the ejector rod (43), and the first limit block (46) is positioned between the convex edge and the second limit block (47);
the force-releasing spring (41) is arranged between the first limiting block (46) and the convex edge.
7. The cleaning robot lifting toilet lid device according to claim 6, wherein the toilet lid lifting device (5) comprises: a cover lifting connecting rod (50) and a cover lifting rod (51);
the middle part of the cover lifting rod (51) is rotatably arranged on the base plate (2);
one end of the cover lifting connecting rod (50) is rotatably connected with the cover lifting rod (51), and the other end of the cover lifting connecting rod is rotatably connected with the ejector rod (43).
8. The cleaning robot lifting toilet lid device of claim 7, wherein: when the second electric push rod (40) pushes the force unloading slide block (44) to move, the ejector rod (43) and the force unloading spring (41) move together, the ejector rod (43) drives the cover lifting rod (51) to rotate through the cover lifting connecting rod (50), and the cover lifting rod (51) is connected with one end of the cover lifting connecting rod (50) in a back direction to lift up the cover of the lifted closestool;
work as ejector pin (43) dorsad the closestool bath button is pressed to fixing base (45) one end, first stopper (46) extrusion unload power spring (41) one end, it passes through to unload power spring (41) other end the chimb is spacing, ejector pin (43) pass through it unloads power spring (41).
9. The cleaning robot lifting toilet lid device of claim 1, wherein: the substrate (2) is arranged on the manipulator body (1).
10. A robot, characterized by: the robot adopts the cleaning robot lifting toilet lid device of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220559812.XU CN217659532U (en) | 2022-03-15 | 2022-03-15 | Cleaning robot lifts toilet lid device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220559812.XU CN217659532U (en) | 2022-03-15 | 2022-03-15 | Cleaning robot lifts toilet lid device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217659532U true CN217659532U (en) | 2022-10-28 |
Family
ID=83730779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220559812.XU Active CN217659532U (en) | 2022-03-15 | 2022-03-15 | Cleaning robot lifts toilet lid device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217659532U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123864A (en) * | 2024-05-08 | 2024-06-04 | 四川奥特丝纺织有限公司 | Categorised cocoon stripping robot |
-
2022
- 2022-03-15 CN CN202220559812.XU patent/CN217659532U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123864A (en) * | 2024-05-08 | 2024-06-04 | 四川奥特丝纺织有限公司 | Categorised cocoon stripping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN217659532U (en) | Cleaning robot lifts toilet lid device and robot | |
| CN215591112U (en) | Workpiece film laminating machine | |
| US20040000184A1 (en) | Cam-type press system | |
| CN109955054B (en) | Assembling equipment and assembling method for assembling mobile phone shell and inlay | |
| CN212064187U (en) | Liftable camera device and electronic equipment | |
| CN210908818U (en) | Turnover notebook computer assembling equipment with pressure maintaining function | |
| CN218844780U (en) | FPC of OLED panel turns over and turns over laminating device | |
| CN217064139U (en) | Flexible circuit board paster tool | |
| CN210336001U (en) | Adsorption manipulator | |
| CN212917146U (en) | Bending equipment | |
| CN213382987U (en) | Laminating head and laminating machine | |
| CN211919799U (en) | Battery cell transfer robot | |
| JP2518163B2 (en) | Desorption device for suction type transfer device such as flat work | |
| CN111003508A (en) | Blanking device | |
| CN220963283U (en) | Automatic lifting and ejecting device for wafer | |
| KR20110025042A (en) | Commonness gripper for press line | |
| CN216270159U (en) | Adsorption type bag opening mechanism | |
| CN221329275U (en) | Vacuum hole filling device | |
| CN212786089U (en) | Flexible line way board cleaning pad pasting auxiliary device | |
| CN220427438U (en) | Cylinder cover enclasping mechanism, turnover device and valve press mounting equipment | |
| CN212250743U (en) | Automatic cold-pressing processing equipment for middle frame of mobile phone | |
| CN217775199U (en) | Automatic bending device | |
| CN219216746U (en) | Multi-station electronic component carrying device | |
| CN216178215U (en) | Flexible lossless meshing assembly mechanism for gears | |
| CN116727499A (en) | Automatic bending machine for metal plates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |