CN219742596U

CN219742596U - Sucker type locking stabilizer of mobile robot

Info

Publication number: CN219742596U
Application number: CN202320624110.XU
Authority: CN
Inventors: 陶珍钰; 李保坤; 卞云豪; 李琳
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2023-03-27
Filing date: 2023-03-27
Publication date: 2023-09-26
Anticipated expiration: 2033-03-27

Abstract

The utility model relates to a sucker type locking stabilizer of a mobile robot, which comprises a robot, wherein a cleaning sucker structure is arranged on the robot, a dust collector is arranged on the cleaning sucker structure, the cleaning sucker structure comprises an electric push rod fixedly arranged on the bottom wall of an inner cavity of the robot, a sucker is fixedly arranged at the push rod of the electric push rod, elastic telescopic rods are fixedly arranged at the left side and the right side of the top of the sucker, a connecting seat which is movably penetrated by the push rod of the electric push rod is fixedly arranged between the tops of the two elastic telescopic rods, and a first micro air pump is fixedly arranged at the top of the connecting seat. This mobile robot sucking disc formula locking stabilization piece through the clearance sucking disc structure that sets up to guaranteed to clear up the sucking disc structure at first and clear up ground after the robot removes to stop, adsorb the floor after the clearance, guarantee stability, the dust collector that the cooperation set up simultaneously has realized collecting the processing to the dust of clearance.

Description

Sucker type locking stabilizer of mobile robot

Technical Field

The utility model relates to the technical field of robots, in particular to a sucker type locking stabilizer of a mobile robot.

Background

Mobile robots are classified into home service type and special work type, etc., and home service type robots are to service robots used in a home environment or the like for the purpose of satisfying the living demands of users, and mainly robots engaged in home services, the kinds of which may be classified into housekeeping robots, educational robots, entertainment robots, senior citizen helping robots, home security supervision robots, chef robots, and transfer robots.

The household service robot is generally provided with a driving roller type base, the driving roller is controlled by a controller through receiving an instruction, and the driving mechanism drives the roller to move, and the driving roller is locked and fixed through a locking mechanism after reaching a destination;

based on the description of the prior art, although the household service type robot can be locked and fixed through the locking piece when moving on the floor, the household floor is generally smooth, the robot is generally used for transporting some furniture articles including fragile articles such as water cups, and after the robot is locked, the rollers are rubber and are easy to slip and move due to contact with the floor, so that the robot shakes, and the transported articles are dumped and damaged;

based on the description of the defects in the prior art, the utility model designs the robot with the sucker type locking stabilizer, which is stably adsorbed on the ground, so that the robot is prevented from moving and shaking due to touch.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the sucker type locking stabilizer of the mobile robot, which has the advantages of high stability and the like, and solves the problem that the robot is easy to touch, move and shake when not moving.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the sucker type locking stabilizer of the mobile robot comprises a robot, wherein a cleaning sucker structure is arranged on the robot, and a dust collector is arranged on the cleaning sucker structure;

the cleaning sucker structure comprises an electric push rod fixedly mounted on the bottom wall of an inner cavity of the robot, a sucker is fixedly mounted at a push rod of the electric push rod, elastic telescopic rods are fixedly mounted on the left side and the right side of the top of the sucker, a connecting seat which is movably penetrated by the push rod of the electric push rod is fixedly mounted between the tops of the elastic telescopic rods, a first micro sucking pump is fixedly mounted at the top of the connecting seat, suction pipes communicated with the sucker are communicated at the suction openings of the first micro sucking pump, a plurality of suction holes are formed in the bottom of the sucker, soft rubber rings which are in one-to-one correspondence with the suction holes are fixedly mounted at the bottom of the sucker, an electric guide rail is fixedly mounted at the front side of the bottom of the connecting seat, a guide groove is formed in the rear side of the bottom of the connecting seat, a movable seat which is slidably connected with the guide groove is fixedly mounted at the guide rail sliding seat of the electric guide rail, and a cleaning brush is movably connected at the bottom of the movable seat.

Further, the elastic telescopic rod consists of a spring and a telescopic rod, the two ends of the inner side of the spring are fixedly connected with the two ends of the telescopic rod respectively, and the two ends of the outer side of the spring are fixedly connected with the sucking disc and the connecting seat respectively.

By the scheme, the elastic telescopic rod is guaranteed to be capable of stretching, contracting and resetting.

Further, when the elastic telescopic rod is in an extending state, the bottom of the sucker is lower than the bottom of the connecting seat, and the sucker holes are equidistantly distributed on the sucker.

According to the scheme, the sucker is ensured to be lower than the connecting seat.

Further, the magnets are fixedly arranged at four corners of the bottom of the movable seat, the movable seat is fixedly adsorbed by the magnets and the cleaning brush, and one end of the cleaning brush, which is contacted with the magnets, is an iron block.

Above-mentioned scheme is convenient for clean brush and the installation dismantlement change of removing the seat.

Further, when the push rod of the electric push rod is in a fully extended state, the bottom of the sucker is lower than the bottom of the robot.

Above-mentioned scheme, sucking disc can laminate with ground and adsorb.

Further, the dust collector is including communicating in the suction head that cleaning brush left side quantity is a plurality of with set up in the storage chamber on robot right side, the right side grafting of storage chamber has the switch door, the right side fixed mounting of switch door has the miniature aspiration pump of second, the aspiration port department intercommunication of the miniature aspiration pump of second has the trachea with the switch door intercommunication, all communicates on trachea and the straw has the automatic switch valve, the intercommunication has the hose between storage chamber and the cleaning brush.

Above-mentioned scheme has guaranteed to realize the collection to the dust after clear up the dust.

Further, the suction head is arranged at a downward-inclined thirty-degree angle, the suction head is distributed at intervals, a dustproof separation net is attached to the left side of the switch door, and the air pipe is located on the right side of the dustproof separation net.

According to the scheme, the dust is effectively collected, and meanwhile, the dust is prevented from entering the second micro air pump to damage the second micro air pump.

Compared with the prior art, the technical scheme of the utility model has the following beneficial effects:

this mobile robot sucking disc formula locking stabilization piece through the clearance sucking disc structure that sets up to guaranteed to clear up the sucking disc structure at first and clear up ground after the robot removes to stop, adsorb the floor after the clearance, guarantee stability, the dust collector that the cooperation set up simultaneously has realized collecting the processing to the dust of clearance.

Drawings

FIG. 1 is a cross-sectional view of the present utility model;

FIG. 2 is an enlarged view of the utility model at A in FIG. 1;

FIG. 3 is a schematic view of a partial structure of the present utility model;

FIG. 4 is a partial isometric view of the present utility model;

FIG. 5 is a perspective view of the soft rubber ring of the present utility model.

In the figure: 1. a robot; 2. an electric push rod; 3. a suction cup; 4. an elastic telescopic rod; 5. a suction hole; 6. a soft rubber ring; 7. a connecting seat; 8. a first micro suction pump; 9. a suction pipe; 10. an electric guide rail; 11. a movable seat; 12. a guide groove; 13. a cleaning brush; 14. a suction head; 15. a storage chamber; 16. opening and closing a door; 17. a second micro suction pump; 18. an air pipe; 19. automatically opening and closing a valve; 20. a magnet; 21. and (3) a hose.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-5, a sucker type locking stabilizer of a mobile robot in this embodiment includes a robot 1, a cleaning sucker structure is disposed on the robot 1, and a dust collector is disposed on the cleaning sucker structure.

The cleaning sucker structure in this embodiment includes fixed mounting in the electric putter 2 of the inner chamber diapire of robot 1, the push rod department fixed mounting of electric putter 2 has sucking disc 3, when the push rod department of electric putter 2 is in the complete extension state, the bottom of sucking disc 3 is less than the bottom of robot 1, the equal fixed mounting in top left and right sides of sucking disc 3 has flexible telescopic handle 4, fixed mounting has the connecting seat 7 that is passed by the push rod department activity of electric putter 2 between the top of two flexible telescopic handle 4, the bottom of sucking disc 3 is less than the bottom of connecting seat 7 when flexible telescopic handle 4 is in the extension state, sucking hole 5 is the equidistance and distributes on sucking disc 3, the top fixed mounting of connecting seat 7 has first miniature aspiration pump 8, the aspiration port department intercommunication of first miniature aspiration pump 8 has the straw 9 that communicates with sucking disc 3, the bottom of sucking disc 3 has a quantity to be a plurality of sucking hole 5, the bottom fixed mounting of sucking disc 3 has a plurality of soft rubber circle 6 that communicates with sucking hole 5 one by one, the bottom front side fixed mounting of connecting seat 7 has electric guide rail 10, the bottom rear side of connecting seat 7 has guide rail 12, guide rail 12 is seted up with the bottom guide rail 12 of moving seat 11, the movable guide seat 11 of sliding seat 11 is connected with the movable seat 11.

In this embodiment, magnets 20 are fixedly mounted at four corners of the bottom of the movable seat 11, the movable seat 11 is fixedly adsorbed to the cleaning brush 13 through the magnets 20, one end of the cleaning brush 13, which is in contact with the magnets 20, is an iron block, and the adsorption and fixation of the magnets 20 to the cleaning brush 13 are convenient for removing and replacing the cleaning brush 13 to ensure the cleaning effect.

It should be noted that, the elastic telescopic rod 4 is composed of a spring and a telescopic rod, the two ends of the inner side of the spring are fixedly connected with the two ends of the telescopic rod respectively, the two ends of the outer side of the spring are fixedly connected with the sucker 3 and the connecting seat 7 respectively, the telescopic rod is composed of an outer cylinder and an inner rod, the inner sliding connection of the outer cylinder is provided with an inner rod penetrating and extending to the outer part of the outer cylinder, the outer cylinder and the inner rod are not separated from each other, and one ends of the outer cylinder and the inner rod far away from each other are fixedly connected with the two ends of the inner side of the spring respectively.

The dust collector in this embodiment includes the suction head 14 that communicates in cleaning brush 13 left side quantity is a plurality of and sets up in the storage chamber 15 on robot 1 right side, the right side grafting of storage chamber 15 has switch door 16, the right side fixed mounting of switch door 16 has second miniature aspiration pump 17, the aspiration port department intercommunication of second miniature aspiration pump 17 has the trachea 18 with switch door 16 intercommunication, all be linked together on trachea 18 and the straw 9 has automatic switch valve 19, the intercommunication has hose 21 between storage chamber 15 and the cleaning brush 13, suction head 14 is the setting of downward sloping thirty degrees angle, suction head 14 and the distance distribution, the laminating of switch door 16 left side has dustproof screen, and trachea 18 is located the right side of dustproof screen.

In this embodiment, the dustproof separation net is an activated carbon net, so as to isolate dust, and avoid the stored dust from entering the second micro air pump 17 through the air pipe 18 to cause damage to the second micro air pump 17.

It should be noted that, through the second micro pump 17 provided, the second micro pump 17 works and pumps air, and meanwhile, the second micro pump 17, the air pipe 18, the switch door 16, the storage cavity 15, the hose 21, the movable seat 11 and the suction head 14 are utilized to communicate, so that the cleaned dust is sucked into the storage cavity 15 through the suction head 14 for storage.

The working principle of the embodiment is as follows:

through the robot 1 that sets up to when the robot 1 removes to stop, the electric putter 2 that the cooperation set up, electric putter 2 work promotes sucking disc 3 when moving down, drive connecting seat 7 on the flexible telescopic link 4 and move down in step, make cleaning brush 13 at first with ground contact, and then the electric rail 10 work that the cooperation set up drives cleaning brush 13 on the movable seat 11 and remove the floor dust, and then electric putter 2 continues to promote after the clearance, sucking disc 3 moves down and makes soft rubber circle 6 closely contact with ground laminating (at this moment flexible telescopic link 4 is in the extension state), when the first micro aspiration pump 8 that the cooperation set up is used simultaneously, the intercommunication between with first micro aspiration pump 8, suction pipe 9, sucking disc 3, suction opening 5 and soft rubber circle 6 is evacuated, make soft rubber circle 6 closely adsorb in the ground, thereby realized that the absorption of whole robot 1 is fixed in the floor, avoid touching to remove to shake (in addition automatic switch valve 19 is discharged, soft rubber circle 6 separates with the floor, electric putter 2 drives the removal that whole equipment can realize robot 1's removal).

The electrical components appearing herein are all electrically connected with the master controller and the power supply, the master controller can be a conventional known device for controlling a computer and the like, and the prior art of power connection is not described in detail herein.

Claims

1. The utility model provides a mobile robot sucking disc formula locking stabilizer, includes robot (1), its characterized in that: a cleaning sucker structure is arranged on the robot (1), and a dust collector is arranged on the cleaning sucker structure;

wherein, clear up sucking disc structure including fixed mounting in electric putter (2) of inner chamber diapire of robot (1), the push rod department fixed mounting of electric putter (2) has sucking disc (3), and the equal fixed mounting in both sides in top of sucking disc (3) has elastic telescopic handle (4), two fixed mounting has connecting seat (7) that are passed by the push rod department activity of electric putter (2) between the top of elastic telescopic handle (4), the top fixed mounting of connecting seat (7) has first miniature aspiration pump (8), suction opening department intercommunication of first miniature aspiration pump (8) has straw (9) with sucking disc (3) intercommunication, sucking disc (3) bottom has offered suction opening (5) that are a plurality of, sucking disc (3) bottom fixed mounting have a plurality of and suction opening (5) one-to-one soft rubber circle (6), the bottom front side fixed mounting of connecting seat (7) has electric guide rail (10), guide way (12) have been seted up to the bottom rear side of connecting seat (7), electric guide rail's (10) guide rail department fixed mounting has sliding connection's (11) with guide way (11), cleaning brush (11) of the bottom of sliding connection.

2. The mobile robot suction cup type locking stabilizer of claim 1, wherein: the elastic telescopic rod (4) consists of a spring and a telescopic rod, the two ends of the inner side of the spring are fixedly connected with the two ends of the telescopic rod respectively, and the two ends of the outer side of the spring are fixedly connected with the sucker (3) and the connecting seat (7) respectively.

3. The mobile robot suction cup type locking stabilizer of claim 1, wherein: when the elastic telescopic rod (4) is in an extending state, the bottom of the sucker (3) is lower than the bottom of the connecting seat (7), and the sucker holes (5) are equidistantly distributed on the sucker (3).

4. The mobile robot suction cup type locking stabilizer of claim 1, wherein: magnets (20) are fixedly arranged at four corners of the bottom of the movable seat (11), the movable seat (11) is fixedly adsorbed to the cleaning brush (13) through the magnets (20), and one end, in contact with the magnets (20), of the cleaning brush (13) is an iron block.

5. The mobile robot suction cup type locking stabilizer of claim 1, wherein: when the push rod of the electric push rod (2) is in a complete stretching state, the bottom of the sucker (3) is lower than the bottom of the robot (1).

6. The mobile robot suction cup type locking stabilizer of claim 1, wherein: the dust collector comprises suction heads (14) which are communicated with the cleaning brush (13) in number and a storage cavity (15) which is arranged on the right side of the robot (1), an opening and closing door (16) is inserted on the right side of the storage cavity (15), a second micro air pump (17) is fixedly arranged on the right side of the opening and closing door (16), an air pipe (18) communicated with the opening and closing door (16) is communicated with an air suction opening of the second micro air pump (17), an automatic opening and closing valve (19) is communicated with the air pipe (18) and the suction pipe (9), and a hose (21) is communicated between the storage cavity (15) and the cleaning brush (13).

7. The mobile robot suction cup type locking stabilizer of claim 6, wherein: the suction head (14) is arranged at a downward-inclined thirty-degree angle, the suction heads (14) are distributed at equal intervals, a dustproof separation net is attached to the left side of the switch door (16), and the air pipe (18) is located on the right side of the dustproof separation net.