CN106346999B - Using method of robot capable of automatically wiping blackboard - Google Patents
Using method of robot capable of automatically wiping blackboard Download PDFInfo
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- CN106346999B CN106346999B CN201611006048.9A CN201611006048A CN106346999B CN 106346999 B CN106346999 B CN 106346999B CN 201611006048 A CN201611006048 A CN 201611006048A CN 106346999 B CN106346999 B CN 106346999B
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- mounting frame
- transverse plate
- wiping
- driving
- blackboard
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L21/00—Blackboard or slate cleaning devices
- B43L21/04—Wiper holders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L21/00—Blackboard or slate cleaning devices
- B43L21/02—Blackboard or slate cleaning devices with means for absorbing the chalk dust
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a robot for automatically wiping a blackboard, wherein an automatic blackboard wiping and cleaning assembly is arranged at the upper end part of a fixed mounting frame and at the front end side of the blackboard, and comprises a movable mounting frame, a walking driving mechanism, an automatic wiping mechanism, a hairbrush cleaning mechanism, a dust hood and a water spraying pipe; the automatic wiping mechanism comprises a wiping driving rotating shaft, a wiping driving motor, an eccentric mounting block and a blackboard wiping bar, and the brush cleaning mechanism comprises a cleaning brush, an upper movable seat, a lower movable seat, an upper toothed bar mounting plate, a lower toothed bar mounting plate, an upper driving block, a lower driving block, a brush moving driving rotating shaft, an upper driving gear, a lower driving gear, a brush moving driving motor, a movable motor mounting seat and a cleaning driving motor. The invention can automatically realize blackboard wiping and cleaning treatment, and has novel design and high automation degree.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a robot capable of automatically wiping a blackboard.
Background
Blackboard, chalk still use in a large number at school, training mechanism, all write the back and wipe by the teacher by hand moreover, wipe the in-process and can produce a large amount of dust, and the dust is diffused in the air and can seriously pollute the teaching environment, also can influence teaching equipment's life and harm teacher and student's health simultaneously.
In addition, after the blackboard is used for a period of time, powder dirt can be generated, manual water washing is needed, and otherwise, the writing and display quality can be affected.
Disclosure of Invention
The invention aims to provide the robot for automatically wiping the blackboard, which can automatically realize the blackboard wiping and cleaning treatment and has novel structural design and high automation degree, thereby effectively reducing the workload of teachers or students and effectively improving the teaching environment.
In order to achieve the above object, the present invention is achieved by the following technical scheme.
The robot device for automatically wiping the blackboard comprises a fixed mounting frame for fixing the blackboard, wherein an automatic blackboard wiping and cleaning assembly is arranged at the upper end of the fixed mounting frame on the front end side of the blackboard, the automatic blackboard wiping and cleaning assembly comprises a movable mounting frame, a mounting frame vertical plate which is vertically arranged, an upper end mounting frame transverse plate which is horizontally and transversely arranged is screwed at the upper end of the mounting frame vertical plate, a lower end mounting frame transverse plate which is horizontally and transversely arranged and is positioned right below the upper end mounting frame transverse plate is screwed at the lower end of the mounting frame vertical plate, and a walking driving mechanism, an automatic wiping mechanism and a brush cleaning mechanism are arranged between the upper end mounting frame transverse plate and the lower end mounting frame transverse plate;
the walking driving mechanism comprises a walking driving rotating shaft which is vertically arranged, the upper end part of the walking driving rotating shaft is relatively rotatably arranged on an upper end mounting frame transverse plate, the lower end part of the walking driving rotating shaft is relatively rotatably arranged on a lower end mounting frame transverse plate, the upper end mounting frame transverse plate is correspondingly provided with a walking driving motor, a power output shaft of the walking driving motor is in driving connection with the walking driving rotating shaft, the upper end part and the lower end part of the walking driving rotating shaft are respectively provided with a walking driving gear, the fixed mounting frame is correspondingly provided with walking driving racks which are horizontally and transversely arranged, and the walking driving gears are respectively meshed with the walking driving racks on the corresponding sides;
the automatic wiping mechanism comprises a wiping driving rotating shaft which is vertically arranged, the upper end part of the wiping driving rotating shaft is relatively rotatably arranged on an upper end installation frame transverse plate, the lower end part of the wiping driving rotating shaft is relatively rotatably arranged on a lower end installation frame transverse plate, the upper end installation frame transverse plate is correspondingly provided with a wiping driving motor, a power output shaft of the wiping driving motor is in driving connection with the wiping driving rotating shaft, the periphery of the wiping driving rotating shaft is sleeved with an eccentric installation block, and the eccentric installation block is provided with a blackboard wiping strip which is vertically arranged;
the brush cleaning mechanism comprises a cleaning brush which is positioned between an upper end installation frame transverse plate and a lower end installation frame transverse plate and is vertically arranged, an upper end movable seat is arranged below the upper end installation frame transverse plate at the upper end side of the cleaning brush, a lower end movable seat is arranged above the lower end installation frame transverse plate at the lower end side of the cleaning brush, the upper end part and the lower end part of the cleaning brush are respectively and relatively rotatably arranged on an upper end movable seat and a lower end movable seat at corresponding sides, an upper end toothed bar mounting plate is horizontally movably arranged relative to the upper end movable seat left and right, an upper end movable rack is screwed on the upper end toothed bar mounting plate, an upper end chute which is obliquely extended is arranged on the upper end movable seat, an upper end driving block is arranged corresponding to the upper end chute, and the upper end driving block is embedded in the upper end chute of the upper end movable seat; the upper end side of the lower end mounting rack transverse plate is provided with a lower end rack mounting plate corresponding to the lower end movable seat in a horizontally movable manner relative to the left and right, the lower end rack mounting plate is provided with a lower end movable rack in a threaded manner, the lower end movable seat is provided with a lower end chute extending obliquely, the lower end rack mounting plate is provided with a lower end driving block corresponding to the lower end chute, and the lower end driving block is embedded in the lower end chute of the lower end movable seat; a brush moving driving rotating shaft is further arranged between the upper end mounting frame transverse plate and the lower end mounting frame transverse plate, the upper end part and the lower end part of the brush moving driving rotating shaft are respectively arranged on the corresponding side upper end mounting frame transverse plate and the lower end mounting frame transverse plate in a relatively rotatable manner, the upper end part of the brush moving driving rotating shaft is sleeved with an upper end driving gear, the lower end part of the brush moving driving rotating shaft is sleeved with a lower end driving gear, the upper end driving gear is meshed with an upper movable rack, the lower end driving gear is meshed with a lower movable rack, the upper end mounting frame transverse plate is provided with a brush moving driving motor, and a power output shaft of the brush moving driving motor is connected with the brush moving driving in a rotating driving manner; the upper end mounting rack transverse plate can be relatively movably provided with a movable motor mounting seat which moves synchronously with the upper end movable seat, the movable motor mounting seat is provided with a cleaning driving motor, and a power output shaft of the cleaning driving motor is in driving connection with the cleaning hairbrush;
the dust hood connected with the exhaust fan through the exhaust pipe and the water spraying pipe connected with the high-pressure water pump through the water delivery hose are further arranged between the upper end mounting frame diaphragm and the lower end mounting frame diaphragm, the upper end part and the lower end part of the dust hood are respectively arranged on the upper end mounting frame diaphragm and the lower end mounting frame diaphragm on the corresponding sides, the upper end part and the lower end part of the water spraying pipe are respectively connected with the upper end mounting frame diaphragm and the lower end mounting frame diaphragm on the corresponding sides, and the water spraying pipe is provided with water spraying holes which are sequentially arranged at intervals along the length direction of the water spraying pipe and spray water towards the blackboard sides.
Wherein, flexible mounting frame with install first linear guide rail pair between the fixed mounting frame, first linear guide rail is vice including the spiral shell dress in fixed mounting frame and along left and right directions horizontally extending's first guide rail, the spiral shell dress in the first slider of mounting frame riser, first slider cooperatees with first guide rail.
The upper end rack mounting plates and the upper end rack transverse plates and the lower end rack mounting plates and the lower end rack transverse plates are respectively provided with second linear guide pairs, each second linear guide pair comprises an upper end rack transverse plate and a second guide rail of a lower end rack transverse plate which are respectively and spirally arranged on corresponding sides, and second sliding blocks which are respectively and spirally arranged on the upper end rack mounting plates and the lower end rack mounting plates on corresponding sides, and each second sliding block is respectively matched with the second guide rail on corresponding sides.
The upper end movable seat and the upper end mounting frame transverse plate and the lower end movable seat and the lower end mounting frame transverse plate are respectively provided with third linear guide pairs, each third linear guide pair comprises a third guide rail which is screwed on the upper end mounting frame transverse plate and the lower end mounting frame transverse plate on the corresponding sides and horizontally extends along the front-back direction, and a third slider which is screwed on the upper end movable seat and the lower end movable seat on the corresponding sides, and each third slider is respectively matched with the third guide rail on the corresponding sides.
The movable motor mounting seat and the upper end mounting frame transverse plate are provided with a fourth linear guide rail pair, the fourth linear guide rail pair comprises a fourth guide rail which is screwed on the upper end mounting frame transverse plate and horizontally extends along the front-back direction, the movable motor mounting seat is provided with a fourth sliding block corresponding to the fourth guide rail, and the fourth sliding block is matched with the fourth guide rail.
The beneficial effects of the invention are as follows: the invention relates to a robot device for automatically wiping a blackboard, wherein an automatic blackboard wiping and cleaning assembly is arranged at the front end side of the blackboard at the upper end of a fixed mounting frame; the automatic wiping mechanism comprises a wiping driving rotating shaft, a wiping driving motor, an eccentric mounting block and a blackboard wiping bar, and the brush cleaning mechanism comprises a cleaning brush, an upper movable seat, a lower movable seat, an upper toothed bar mounting plate, a lower toothed bar mounting plate, an upper driving block, a lower driving block, a brush moving driving rotating shaft, an upper driving gear, a lower driving gear, a brush moving driving motor, a movable motor mounting seat and a cleaning driving motor. Through the structural design, the blackboard cleaning and cleaning device can automatically realize blackboard cleaning and cleaning treatment, is novel in structural design and high in automation degree, can effectively reduce the workload of teachers or students on one hand, and can effectively improve the teaching environment on the other hand.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an enlarged partial schematic view of fig. 1.
Fig. 3 is a schematic structural view of the automatic blackboard wiping and cleaning assembly of the present invention.
Fig. 4 is a schematic view of a blackboard automatic wiping cleaning assembly according to another view angle of the present invention.
Fig. 5 is an enlarged partial schematic view of the automatic blackboard wiping cleaning assembly of the present invention.
Fig. 6 is an enlarged partial schematic view of another view of the automatic blackboard erasing cleaning assembly of the present invention.
Fig. 1 to 6 include:
1-fixed mounting frame 2-flexible mounting frame
21-mounting frame riser 22-upper mounting frame cross plate
23-lower end mounting rack transverse plate 3-travelling driving mechanism
31-travel driving shaft 32-travel driving motor
33-travel drive gear 34-travel drive rack
4-automatic wiping mechanism 41-wiping drive shaft
42-wiping driving motor 43-eccentric mounting block
44-blackboard erasing strip 5-brush cleaning mechanism
51-cleaning brush 521-upper end movable seat
5211-upper chute 522-lower movable seat
5221-lower chute 531-upper rack mounting plate
532-lower end rack mounting plate 541-upper end movable rack
542-lower movable rack 551-upper driving block
552-lower end driving block 56-brush movement driving rotating shaft
571-upper end drive gear 572-lower end drive gear
58-brush movement driving motor 591-movable motor mounting seat
592-cleaning drive motor 6-dust hood
61-exhaust pipe 7-water spraying pipe
811-first guide 812-first slider
821-second guide 822-second slider
831-third guide 832-third slider
841-fourth guide 842-fourth slider
100-blackboard.
Detailed Description
The invention will be described with reference to specific embodiments.
As shown in fig. 1 to 6, a robot device for automatically wiping a blackboard comprises a fixed mounting frame 1 for fixing a blackboard 100, wherein an automatic blackboard wiping and cleaning assembly is arranged at the front end side of the blackboard 100 at the upper end of the fixed mounting frame 1, the automatic blackboard wiping and cleaning assembly comprises a movable mounting frame 2, a mounting frame vertical plate 21 which is vertically arranged, an upper end mounting frame transverse plate 22 which is horizontally and transversely arranged is screwed at the upper end of the mounting frame vertical plate 21, a lower end mounting frame transverse plate 23 which is horizontally and transversely arranged and is positioned under the upper end mounting frame transverse plate 22 is screwed at the lower end of the mounting frame vertical plate 21, and a walking driving mechanism 3, an automatic wiping mechanism 4 and a brush cleaning mechanism 5 are arranged between the upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23.
Further, the traveling driving mechanism 3 includes a traveling driving shaft 31 disposed vertically, an upper end portion of the traveling driving shaft 31 is rotatably mounted on the upper mounting frame transverse plate 22, a lower end portion of the traveling driving shaft 31 is rotatably mounted on the lower mounting frame transverse plate 23, the upper mounting frame transverse plate 22 is provided with a traveling driving motor 32 corresponding to the traveling driving shaft 31, a power output shaft of the traveling driving motor 32 is in driving connection with the traveling driving shaft 31, upper end portions and lower end portions of the traveling driving shaft 31 are respectively provided with traveling driving gears 33, the fixed mounting frame 1 is respectively provided with traveling driving racks 34 disposed horizontally and transversely corresponding to the traveling driving gears 33, and the traveling driving gears 33 are respectively meshed with the traveling driving racks 34 on corresponding sides.
Further, the automatic wiping mechanism 4 comprises a vertically arranged wiping driving rotating shaft 41, the upper end part of the wiping driving rotating shaft 41 is relatively rotatably arranged on the upper end mounting frame transverse plate 22, the lower end part of the wiping driving rotating shaft 41 is relatively rotatably arranged on the lower end mounting frame transverse plate 23, the upper end mounting frame transverse plate 22 is correspondingly provided with a wiping driving motor 42 for wiping the driving rotating shaft 41, a power output shaft of the wiping driving motor 42 is in driving connection with the wiping driving rotating shaft 41, the periphery of the wiping driving rotating shaft 41 is sleeved with an eccentric mounting block 43, and the eccentric mounting block 43 is provided with a vertically arranged blackboard wiping strip 44.
In addition, the brush cleaning mechanism 5 includes a cleaning brush 51 disposed between an upper mounting frame transverse plate 22 and a lower mounting frame transverse plate 23 and arranged vertically, an upper movable seat 521 is mounted below the upper mounting frame transverse plate 22 at an upper end side of the cleaning brush 51, a lower movable seat 522 is mounted above the lower mounting frame transverse plate 23 at a lower end side of the cleaning brush 51, an upper end and a lower end of the cleaning brush 51 are respectively rotatably mounted on the upper movable seat 521 and the lower movable seat 522 at corresponding sides, an upper toothed bar mounting plate 531 is mounted on the lower end side of the upper mounting frame transverse plate 22 and horizontally movable relative to the upper movable seat 521, an upper movable rack 541 is screwed on the upper toothed bar mounting plate 531, an upper inclined groove 5211 extending obliquely is formed on the upper movable seat 521, an upper driving block 551 is mounted on the upper inclined groove 5211 corresponding to the upper movable seat 521, and the upper driving block 551 is inserted in the upper inclined groove 5211 of the upper movable seat 521; the upper end side of the lower mounting rack transverse plate 23 is provided with a lower rack mounting plate 532 corresponding to the lower movable seat 522 in a horizontally movable manner relative to the left and right, the lower rack mounting plate 532 is provided with a lower movable rack 542 in a threaded manner, the lower movable seat 522 is provided with a lower chute 5221 extending obliquely, the lower rack mounting plate 532 is provided with a lower driving block 552 corresponding to the lower chute 5221, and the lower driving block 552 is embedded in the lower chute 5221 of the lower movable seat 522; a brush moving drive rotating shaft 56 is further arranged between the upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23, the upper end part and the lower end part of the brush moving drive rotating shaft 56 are respectively arranged on the corresponding side upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23 in a relatively rotatable manner, an upper end drive gear 571 is sleeved at the upper end part of the brush moving drive rotating shaft 56, a lower end drive gear 572 is sleeved at the lower end part of the brush moving drive rotating shaft 56, the upper end drive gear 571 is meshed with the upper end movable rack 541, the lower end drive gear 572 is meshed with the lower end movable rack 542, the upper end mounting frame transverse plate 22 is provided with a brush moving drive motor 58, and a power output shaft of the brush moving drive motor 58 is connected with the brush moving drive in a rotating manner; the upper mounting frame cross plate 22 is relatively movably provided with a movable motor mounting seat 591 which moves synchronously with the upper movable seat 521, the movable motor mounting seat 591 is provided with a cleaning driving motor 592, and a power output shaft of the cleaning driving motor 592 is in driving connection with the cleaning brush 51.
It should be further noted that a dust hood 6 connected with the exhaust fan through an exhaust pipe 61 and a water spraying pipe 7 connected with the high pressure water pump through a water delivery hose are further arranged between the upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23, the upper end and the lower end of the dust hood 6 are respectively arranged on the upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23 on the corresponding sides, the upper end and the lower end of the water spraying pipe 7 are respectively connected with the upper end mounting frame transverse plate 22 and the lower end mounting frame transverse plate 23 on the corresponding sides, and the water spraying pipe 7 is provided with water spraying holes which are sequentially arranged at intervals along the length direction of the water spraying pipe 7 and spray water towards the blackboard 100 side.
In the working process of the invention, the automatic blackboard wiping and cleaning assembly horizontally moves left and right relative to the fixed mounting frame 1 and realizes the wiping and cleaning operation of the blackboard 100, wherein the automatic blackboard wiping and cleaning assembly realizes the horizontal movement driving left and right through the walking driving mechanism 3. In the working process of the walking driving mechanism 3, the power output shaft of the walking driving motor 32 drives the walking driving rotating shaft 31 to rotate, the walking driving rotating shaft 31 drives each walking driving gear 33 to synchronously rotate, and as each walking driving gear 33 is respectively meshed with the corresponding side walking driving rack 34, the whole automatic blackboard wiping cleaning assembly moves left and right along the walking driving rack 34 under the condition that the walking driving gear 33 rotates. Wherein, in order to guarantee the steady reliability of horizontal movement, install first linear guide rail pair between flexible mounting frame 2 and the fixed mounting frame 1, first linear guide rail pair is including the spiral shell dress in fixed mounting frame 1 and along the first guide rail 811 of horizontal extension of left and right directions, the spiral shell dress in the first slider 812 of mounting frame riser 21, first slider 812 cooperatees with first guide rail 811.
In the process of wiping the blackboard 100 by utilizing the automatic wiping mechanism 4, the power output shaft of the wiping driving motor 42 drives the wiping driving rotating shaft 41 to rotate, the rotating wiping driving rotating shaft 41 drives the eccentric mounting block 43 to rotate for a certain angle, the rotating eccentric mounting block 43 drives the blackboard wiping strip 44 to swing for a certain angle, so that the blackboard wiping strip 44 contacts with the surface of the blackboard 100, and in the process of moving the blackboard automatic wiping cleaning assembly left and right, the blackboard wiping strip 44 contacted with the surface of the blackboard 100 finishes wiping action; when the blackboard 100 is wiped, the wiping driving motor 42 rotates reversely and drives the eccentric mounting block 43 to reset through the wiping driving rotating shaft 41, so that the wiping strip is separated from the surface of the blackboard 100.
In addition, for the brush cleaning mechanism 5 of the present invention, the brush moving driving motor 58 drives the brush moving driving shaft 56 to rotate, the brush moving driving shaft 56 drives the upper end driving gear 571 and the lower end driving gear 572 to synchronously rotate, and since the upper end driving gear 571 is meshed with the upper end movable rack 541 and the lower end driving gear 572 is meshed with the lower end movable rack 542, the upper end movable rack 541 and the lower end movable rack 542 synchronously move left and right under the condition that the upper end driving gear 571 and the lower end driving gear 572 rotate, wherein the upper end movable rack 541 drives the upper end rack mounting plate 531 and the upper end driving block 551 to synchronously move left and right, the lower end movable rack 542 drives the lower end rack mounting plate 532 and the lower end driving block 552 to synchronously move left and right, and the upper end movable seat 521 is driven to move back and forth along the upper end chute 5211, and the lower end movable seat 522 is driven to move back and forth along the lower end chute 5221; when the upper and lower movable bases 521 and 522 are simultaneously moved backward, the upper and lower movable bases 521 and 522 move backward with the cleaning brush 51 and the cleaning brush 51 is brought into contact with the surface of the blackboard 100; when the upper movable base 521 and the lower movable base 522 are simultaneously moved forward, the upper movable base 521 and the lower movable base 522 move forward with the cleaning brush 51 and disengage the cleaning brush 51 from the surface of the blackboard 100. When the surface of the blackboard 100 needs to be cleaned by the brush cleaning mechanism 5, the brush moving driving motor 58 is started to drive the cleaning brush 51 to contact the surface of the blackboard 100, and the power output shaft of the cleaning driving motor 592 drives the cleaning brush 51 to rotate, so that the rotating cleaning brush 51 can effectively clean the surface of the blackboard 100; after the surface of the blackboard 100 is cleaned, the brush moving driving motor 58 drives the cleaning brush 51 to be separated from the surface of the blackboard 100. It should be further explained that, in order to ensure that the upper rack mounting plate 531, the lower rack mounting plate 532, the upper movable seat 521 and the lower movable seat 522 move smoothly, the present invention adopts the following guiding structure design, specifically: second linear guide rail pairs are respectively arranged between the upper end rack mounting plate 531 and the upper end mounting frame transverse plate 22 and between the lower end rack mounting plate 532 and the lower end mounting frame transverse plate 23, each second linear guide rail pair comprises an upper end mounting frame transverse plate 22 and a second guide rail 821 of the lower end mounting frame transverse plate 23 which are screwed on corresponding sides and second sliding blocks 822 which are screwed on the upper end rack mounting plate 531 and the lower end rack mounting plate 532 on corresponding sides, and each second sliding block 822 is respectively matched with the second guide rail 821 on corresponding sides; third linear guide rail pairs are respectively arranged between the upper movable seat 521 and the upper mounting frame transverse plate 22 and between the lower movable seat 522 and the lower mounting frame transverse plate 23, each third linear guide rail pair comprises a third guide rail 831 which is screwed on the upper mounting frame transverse plate 22 and the lower mounting frame transverse plate 23 on the corresponding sides and horizontally extends along the front-rear direction, and third sliding blocks 832 which are screwed on the upper movable seat 521 and the lower movable seat 522 on the corresponding sides, and each third sliding block 832 is respectively matched with the third guide rail 831 on the corresponding sides; a fourth linear guide rail pair is installed between the movable motor installation seat 591 and the upper end installation frame transverse plate 22, the fourth linear guide rail pair comprises a fourth guide rail 841 which is screwed on the upper end installation frame transverse plate 22 and horizontally extends along the front-back direction, a fourth sliding block 842 is screwed on the movable motor installation seat 591 corresponding to the fourth guide rail 841, and the fourth sliding block 842 is matched with the fourth guide rail 841.
It should be further noted that, during the operation of the present invention, the suction hood 6 is connected to the suction fan through the suction fan 61, and during the process of wiping the blackboard 100, dust generated during the wiping process is absorbed into the suction hood 6 under the negative pressure, and is finally collected into the corresponding collection box.
In addition, in the working process of the invention, when the surface of the blackboard 100 needs to be cleaned, the high-pressure water pump supplies water to the water spraying pipe 7 through the water delivery hose, and the water entering the water spraying pipe 7 is finally sprayed to the surface of the blackboard 100 through the corresponding water spraying holes.
According to the structure design, the blackboard 100 can be automatically cleaned, the structure design is novel, the automation degree is high, the workload of teachers or students can be effectively reduced, and the teaching environment can be effectively improved.
Foundation project: guangdong climbing planning project "a robot for automatically wiping a blackboard" subsidizes (number: pdjh2016b 0801).
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (5)
1. The application method of the robot capable of automatically wiping the blackboard comprises the steps of automatically wiping the blackboard by the robot and the blackboard, and is characterized in that: the automatic blackboard cleaning device comprises a fixed mounting frame (1) for fixing a blackboard (100), wherein an automatic blackboard cleaning component is arranged at the upper end of the fixed mounting frame (1) on the front end side of the blackboard (100), the automatic blackboard cleaning component comprises a movable mounting frame (2), the movable mounting frame (2) comprises a mounting frame vertical plate (21) which is vertically arranged, an upper end mounting frame transverse plate (22) which is horizontally and transversely arranged is screwed at the upper end of the mounting frame vertical plate (21), a lower end mounting frame transverse plate (23) which is horizontally and transversely arranged and is positioned right below the upper end mounting frame transverse plate (22) is screwed at the lower end of the mounting frame vertical plate (21), and a walking driving mechanism (3), an automatic cleaning mechanism (4) and a brush cleaning mechanism (5) are arranged between the upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23);
the walking driving mechanism (3) comprises a walking driving rotating shaft (31) which is vertically arranged, the upper end part of the walking driving rotating shaft (31) is relatively rotatably arranged on an upper end installation frame transverse plate (22), the lower end part of the walking driving rotating shaft (31) is relatively rotatably arranged on a lower end installation frame transverse plate (23), the upper end installation frame transverse plate (22) is correspondingly provided with a walking driving motor (32) corresponding to the walking driving rotating shaft (31), a power output shaft of the walking driving motor (32) is in driving connection with the walking driving rotating shaft (31), the upper end part and the lower end part of the walking driving rotating shaft (31) are respectively provided with a walking driving gear (33), the fixed installation frame (1) is correspondingly provided with walking driving racks (34) which are horizontally and transversely arranged, and each walking driving gear (33) is respectively meshed with the walking driving racks (34) at the corresponding side;
the automatic wiping mechanism (4) comprises a wiping driving rotating shaft (41) which is vertically arranged, the upper end part of the wiping driving rotating shaft (41) is relatively rotatably arranged on an upper end installation frame transverse plate (22), the lower end part of the wiping driving rotating shaft (41) is relatively rotatably arranged on a lower end installation frame transverse plate (23), the upper end installation frame transverse plate (22) is correspondingly provided with a wiping driving motor (42) which is correspondingly arranged on the wiping driving rotating shaft (41), a power output shaft of the wiping driving motor (42) is in driving connection with the wiping driving rotating shaft (41), the periphery of the wiping driving rotating shaft (41) is sleeved with an eccentric installation block (43), and the eccentric installation block (43) is provided with a blackboard wiping strip (44) which is vertically arranged;
the brush cleaning mechanism (5) comprises a cleaning brush (51) which is arranged vertically and is positioned between an upper end mounting frame transverse plate (22) and a lower end mounting frame transverse plate (23), an upper end movable seat (521) is arranged below the upper end mounting frame transverse plate (22) at the upper end side of the cleaning brush (51), a lower end movable seat (522) is arranged above the lower end mounting frame transverse plate (23) at the lower end side of the cleaning brush (51), the upper end and the lower end of the cleaning brush (51) are respectively and relatively rotatably arranged on the upper end movable seat (521) and the lower end movable seat (522) at the corresponding sides, the lower end side of the upper end mounting frame transverse plate (22) is correspondingly provided with an upper end toothed bar mounting plate (531) relatively horizontally and movably, the upper end toothed bar mounting plate (531) is provided with an upper end movable rack (541) in a threaded manner, the upper end movable seat (521) is provided with an upper end inclined groove (5211) which extends obliquely, the upper end toothed bar (531) is correspondingly provided with an upper end driving block (551), and the upper end driving block (551) is embedded in the upper end movable seat (521); the upper end side of the lower end mounting rack transverse plate (23) is provided with a lower end rack mounting plate (532) corresponding to the lower end movable seat (522) in a horizontally movable manner relative to the left and right, the lower end rack mounting plate (532) is provided with a lower end movable rack (542) in a threaded manner, the lower end movable seat (522) is provided with a lower end chute (5221) extending obliquely, the lower end rack mounting plate (532) is provided with a lower end driving block (552) corresponding to the lower end chute (5221), and the lower end driving block (552) is embedded in the lower end chute (5221) of the lower end movable seat (522); a brush moving driving rotating shaft (56) is further arranged between the upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23), the upper end part and the lower end part of the brush moving driving rotating shaft (56) are respectively arranged on the corresponding side upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23) in a relatively rotatable manner, an upper end driving gear (571) is sleeved and clamped at the upper end part of the brush moving driving rotating shaft (56), a lower end driving gear (572) is sleeved and clamped at the lower end part of the brush moving driving rotating shaft (56), the upper end driving gear (571) is meshed with an upper end movable rack (541), the lower end driving gear (572) is meshed with a lower end movable rack (542), a brush moving driving motor (58) is arranged on the upper end mounting frame transverse plate (22), and a power output shaft of the brush moving driving motor (58) is in rotary driving connection with the brush moving driving motor; the upper end mounting frame transverse plate (22) is provided with a movable motor mounting seat (591) which can move synchronously with the upper end movable seat (521) in a relatively movable manner, the movable motor mounting seat (591) is provided with a cleaning driving motor (592), and a power output shaft of the cleaning driving motor (592) is in driving connection with the cleaning hairbrush (51);
a dust hood (6) connected with the exhaust fan through an exhaust pipe (61) and a water spraying pipe (7) connected with the high-pressure water pump through a water delivery hose are further arranged between the upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23), the upper end part and the lower end part of the dust hood (6) are respectively arranged on the upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23) on the corresponding sides, the upper end part and the lower end part of the water spraying pipe (7) are respectively connected with the upper end mounting frame transverse plate (22) and the lower end mounting frame transverse plate (23) on the corresponding sides, and the water spraying pipe (7) is provided with water spraying holes which are sequentially arranged at intervals along the length direction of the water spraying pipe (7) and spray water towards the blackboard (100);
the automatic blackboard wiping and cleaning assembly horizontally moves left and right relative to the fixed mounting frame (1) and realizes the wiping and cleaning operation of the blackboard (100), wherein the automatic blackboard wiping and cleaning assembly realizes the left and right horizontal movement driving through the traveling driving mechanism (3), and the blackboard wiping strip (44) contacted with the surface of the blackboard (100) completes the wiping action in the process of the left and right movement of the automatic blackboard wiping and cleaning assembly.
2. The method for using the robot for automatically wiping the blackboard according to claim 1, wherein: the movable mounting frame (2) with a first linear guide rail pair is arranged between the fixed mounting frame (1), and comprises a first guide rail (811) which is screwed on the fixed mounting frame (1) and horizontally extends along the left-right direction, and a first sliding block (812) which is screwed on the mounting frame vertical plate (21), wherein the first sliding block (812) is matched with the first guide rail (811).
3. The method for using the robot for automatically wiping the blackboard according to claim 2, wherein: the upper end rack mounting plate (531) with between upper end mounting bracket diaphragm (22) lower end rack mounting plate (532) with install the second linear guide pair respectively between lower end mounting bracket diaphragm (23), each second linear guide pair is including spiral shell dress in upper end mounting bracket diaphragm (22) of corresponding side, second guide rail (821) of lower end mounting bracket diaphragm (23) and spiral shell dress in second slider (822) of upper end rack mounting plate (531), lower end rack mounting plate (532) of corresponding side respectively, each second slider (822) cooperate with second guide rail (821) of corresponding side respectively.
4. A method of using a robot for automatically wiping a blackboard according to claim 3, characterized in that: the upper end movable seat (521) with between upper end mounting bracket diaphragm (22), lower extreme movable seat (522) with install the third linear guide pair respectively between lower extreme mounting bracket diaphragm (23), each third linear guide pair is including spiral shell dress in upper end mounting bracket diaphragm (22) of corresponding side, lower extreme mounting bracket diaphragm (23) and along upper end movable seat (521) of fore-and-aft direction horizontal extension and spiral shell dress in third slider (832) of corresponding side, each third slider (832) cooperate with third guide rail (831) of corresponding side respectively.
5. The method for using the robot for automatically wiping the blackboard according to claim 4, wherein: a fourth linear guide rail pair is arranged between the movable motor mounting seat (591) and the upper end mounting frame transverse plate (22), the fourth linear guide rail pair comprises a fourth guide rail (841) which is screwed on the upper end mounting frame transverse plate (22) and horizontally extends along the front-back direction, a fourth sliding block (842) is screwed on the movable motor mounting seat (591) corresponding to the fourth guide rail (841), and the fourth sliding block (842) is matched with the fourth guide rail (841).
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| CN201611006048.9A CN106346999B (en) | 2016-11-16 | 2016-11-16 | Using method of robot capable of automatically wiping blackboard |
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| CN106346999B true CN106346999B (en) | 2023-05-09 |
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| WO1999053466A2 (en) * | 1998-04-10 | 1999-10-21 | Jang Chang Ho | An apparatus and a method for automatically erasing a blackboard |
| JP2000318379A (en) * | 1999-05-07 | 2000-11-21 | Chang-Ho Jang | Wiping off device and method of black board |
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| CN106346999A (en) | 2017-01-25 |
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