CN220494953U

CN220494953U - Obstacle surmounting structure of wall cleaning robot

Info

Publication number: CN220494953U
Application number: CN202321981502.8U
Authority: CN
Inventors: 刘德兵; 马玉祥; 郑帅林; 龙海燕
Original assignee: Chengdu Aeronautic Polytechnic
Current assignee: Chengdu Aeronautic Polytechnic
Priority date: 2023-07-25
Filing date: 2023-07-25
Publication date: 2024-02-20
Anticipated expiration: 2033-07-25

Abstract

The utility model discloses a barrier crossing structure of a wall cleaning robot, which comprises two front bottom plates and two rear bottom plates, wherein the two front bottom plates and the two rear bottom plates are connected through hinges, a front cylinder is fixedly arranged on the front bottom plates, a rear cylinder is fixedly arranged on the rear bottom plates, connecting plates are arranged at the pushing ends of the front cylinder and the rear cylinder, the front connecting plates and the rear connecting plates are connected through connecting pieces, and a torsion spring is arranged on a rotating shaft of the hinge. The utility model aims to provide an obstacle surmounting structure of a wall cleaning robot, which can realize autonomous obstacle surmounting of the wall cleaning robot, thereby being convenient for wall cleaning work.

Description

Obstacle surmounting structure of wall cleaning robot

Technical Field

The utility model relates to the technical field of cleaning, in particular to a barrier crossing structure of a wall cleaning robot.

Background

There are many wall cleaning robots in the market at present, but most cleaning robots cannot autonomously surmount obstacles and are difficult to surmount. Many robots on the market adopt hanging rail type obstacle surmounting, not only are a safety rope connected to a vehicle body and used for surmounting the obstacle through a telescopic mechanism on the roof, but also the robot for surmounting the obstacle on the wall surface is less. It is therefore necessary to provide a barrier-surmounting structure for a wall cleaning robot so that autonomous barrier-surmounting of the wall cleaning robot can be achieved.

Disclosure of Invention

The utility model aims to provide an obstacle surmounting structure of a wall cleaning robot, which can realize autonomous obstacle surmounting of the wall cleaning robot, thereby being convenient for wall cleaning work.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model provides a wall cleaning robot hinders structure more, includes two preceding bottom plates and two back bottom plates, all passes through hinge connection between two preceding bottom plates and between two back bottom plates, fixedly is provided with preceding cylinder on preceding bottom plate, fixedly is provided with the back cylinder on the back bottom plate, all be provided with the connecting plate on the release end on preceding cylinder and the back cylinder, connect through the connecting piece between two connecting plates around, be provided with the torsional spring in the pivot of hinge.

Further, the two preceding cylinders are driven synchronously, and the two following cylinders are driven synchronously.

Further, two fixing plates are connected to the front bottom plate and the rear bottom plate through screws, and the front air cylinder and the rear air cylinder are respectively fixed between the two fixing plates.

Further, the four connection plates are the same size and are flush.

Further, the front bottom plate and the rear bottom plate are rectangular plates, and a plurality of screw holes are formed in the front bottom plate and the rear bottom plate.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model is provided with two front bottom plates and two rear bottom plates, the front bottom plates and the rear bottom plates are provided with air cylinders, the front bottom plates and the rear bottom plates are connected through connecting plates, the rear bottom plates are ejected when the obstacle is surmounted, the front bottom plates are lifted up after the rear bottom plates are reset by the front air cylinders in cooperation with a movement mechanism, the rear bottom plates are lifted up by the front air cylinders which are reset by the rear bottom plates after the obstacle is surmounted, the whole frame is continuously moved forward, the obstacle is surmounted by the whole frame, and the wall cleaning robot can surmount the obstacle autonomously.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is a schematic diagram showing the connection between the obstacle surmounting mechanism and the wall cleaning robot.

In the figure, a front bottom plate, a rear bottom plate, a 3-fixing plate, a 4-front cylinder, a 5-rear cylinder, a 6-hinge, a 7-torsion spring, an 8-connecting plate and a 9-connecting piece are arranged.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

Example 1:

referring to fig. 1, the utility model provides a barrier-crossing structure of a wall cleaning robot, which comprises two front bottom plates 1 and two rear bottom plates 2, wherein the front bottom plates 1 and the rear bottom plates 2 are rectangular plates, a plurality of screw holes are formed in the front bottom plates 1 and the rear bottom plates 2 so as to be connected with the wall cleaning robot, the two front bottom plates 1 and the two rear bottom plates 2 are connected through hinges 6, so that the two front bottom plates 1 and the two rear bottom plates 2 can be opened, a front cylinder 4 is fixedly arranged on the front bottom plates 1, a rear cylinder 5 is fixedly arranged on the rear bottom plates 2, connecting plates 8 are respectively arranged at pushing ends of the front cylinder 4 and the rear cylinder 5, the front connecting plates 8 are connected through connecting pieces 9, and torsion springs 7 are arranged on rotating shafts of the hinges 6 so that when the wall with radian is used for barrier crossing, the hinges 6 can be reset after being opened. In order to ensure smooth obstacle crossing, the two front cylinders 4 are synchronously driven, the two rear cylinders 5 are synchronously driven, a main control board is arranged on the wall cleaning robot to control the driving of the front cylinders 4 and the rear cylinders 5, and the PLC circuit of the main control board can be configured through the technical effect of the obstacle crossing structure, and the utility model does not describe the description.

Example 2:

on the basis of the above embodiment, another embodiment of the present utility model is that, in order to fix the front cylinder 4 and the rear cylinder 5, two fixing plates 3 are connected to the front base plate 1 and the rear base plate 2 by screws, and the front cylinder 4 and the rear cylinder 5 are respectively fixed between the two fixing plates 3. The four connection plates 8 are the same size and the four connection plates 8 are flush.

The novel operating principle of this use is, install this obstacle surmounting mechanism on wall cleaning robot, as shown in fig. 2, when needs go over the obstacle, main control board control gas distribution system rises following cylinder 5, makes its preceding mechanism frame rise, cooperates upward motion mechanism forward, after crossing the obstacle, main control board control gas distribution system lets following cylinder 5 reset thereby let the mechanism frame of first half fall to the ground. And then the main control board sends out a signal to the gas distribution system to enable the front cylinder 4 to rise, and the front cylinder 4 is matched with the movement mechanism to move forwards again until the front cylinder passes over an obstacle, and the main control board sends out a signal again to enable the front cylinder 4 to reset, so that the framework of the latter half part also falls to the ground. When the robot works on the wall surface with radian, the vacuum source which needs to cross the obstacle is closed when crossing the obstacle, at the moment, the torsion spring 7 and the hinge 6 can reset due to the fact that the suction force of the suction disc is not available, the hinge mechanism in the middle of the obstacle crossing connecting plate starts to rotate by means of the reset force, the robot automatically returns to the initial position, and after crossing the obstacle, the robot can be returned to the optimal working position under the suction force of the suction disc along with the opening of the vacuum system.

Although the utility model has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope and spirit of the principles of this disclosure. More specifically, various variations and modifications may be made to the component parts or arrangements of the subject combination arrangement within the scope of the disclosure, drawings and claims of this application. In addition to variations and modifications in the component parts or arrangements, other uses will be apparent to those skilled in the art.

Claims

1. The utility model provides a wall cleaning robot hinders structure more which characterized in that: including two preceding bottom plates (1) and two back bottom plates (2), all connect through hinge (6) between two preceding bottom plates (1) and between two back bottom plates (2), fixedly provided with preceding cylinder (4) on preceding bottom plate (1), fixedly provided with back cylinder (5) on back bottom plate (2), all be provided with connecting plate (8) on the release end on preceding cylinder (4) and back cylinder (5), connect through connecting piece (9) between two connecting plates (8) around, be provided with torsional spring (7) in the pivot of hinge (6).

2. The obstacle detouring structure of a wall cleaning robot as claimed in claim 1, wherein: the two front cylinders (4) are synchronously driven, and the two rear cylinders (5) are synchronously driven.

3. The obstacle detouring structure of a wall cleaning robot as claimed in claim 1, wherein: two fixing plates (3) are connected to the front bottom plate (1) and the rear bottom plate (2) through screws, and a front air cylinder (4) and a rear air cylinder (5) are respectively fixed between the two fixing plates (3).

4. The obstacle detouring structure of a wall cleaning robot as claimed in claim 1, wherein: the four connecting plates (8) are identical in size and the four connecting plates (8) are flush.

5. The obstacle detouring structure of a wall cleaning robot as claimed in claim 1, wherein: the front bottom plate (1) and the rear bottom plate (2) are rectangular plates, and a plurality of screw holes are formed in the front bottom plate (1) and the rear bottom plate (2).