CN109157170B - Intelligent nurse robot - Google Patents

Intelligent nurse robot Download PDF

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Publication number
CN109157170B
CN109157170B CN201811093957.XA CN201811093957A CN109157170B CN 109157170 B CN109157170 B CN 109157170B CN 201811093957 A CN201811093957 A CN 201811093957A CN 109157170 B CN109157170 B CN 109157170B
Authority
CN
China
Prior art keywords
sleeve
gear
power output
shaft
driving
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
Application number
CN201811093957.XA
Other languages
Chinese (zh)
Other versions
CN109157170A (en
Inventor
张宪明
李超亮
孟静丹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Luoyang Zhongke Chaojin Intelligent Equipment Co ltd
Innovation Institute For Robot And Intelligent Equipment (luoyang) Casia
Original Assignee
Luoyang Zhongke Chaojin Intelligent Equipment Co ltd
Innovation Institute For Robot And Intelligent Equipment (luoyang) Casia
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Luoyang Zhongke Chaojin Intelligent Equipment Co ltd, Innovation Institute For Robot And Intelligent Equipment (luoyang) Casia filed Critical Luoyang Zhongke Chaojin Intelligent Equipment Co ltd
Priority to CN201811093957.XA priority Critical patent/CN109157170B/en
Publication of CN109157170A publication Critical patent/CN109157170A/en
Application granted granted Critical
Publication of CN109157170B publication Critical patent/CN109157170B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

The intelligent nurse robot comprises a machine body, wherein mechanical arms are respectively arranged at the middle lower parts of the left side and the right side of the machine body, the two mechanical arms are respectively arranged along the front vertical surface and the rear vertical surface, an arm driving mechanism is arranged in the middle part of the machine body, a walking and auxiliary mopping mechanism is respectively arranged at the left side and the right side of the bottom of the machine body, and the two walking and auxiliary mopping mechanisms are respectively arranged along the front and the rear directions and are symmetrically arranged on the machine body left and right; the mechanical arm comprises a big arm, the front end of the big arm is provided with a small arm rotating shaft, the inner end of the small arm rotating shaft is rotatably inserted into the front end of the big arm, a small arm rotating shaft driving belt pulley is fixedly sleeved on the outer side of the small arm rotating shaft, which is positioned at the front end of the big arm, and an inner ear plate used for connecting the small arm is fixedly sleeved on the outer side of the small arm rotating shaft driving belt pulley. The intelligent nurse robot has the advantages of small volume, compact structure, capability of efficiently and rapidly completing mopping work, cleaner mopping and good mopping effect.

Description

Intelligent nurse robot
Technical Field
The invention relates to an intelligent nurse robot.
Background
The existing robot is unreasonable in the aspect of combination design, so that the existing robot is difficult to engage in mopping work in a room, and the basic requirements of people cannot be met.
Disclosure of Invention
The invention aims to provide the intelligent nurse robot which has small volume and compact structure, can efficiently and quickly finish mopping work, is cleaner in mopping and has good mopping effect.
The intelligent nurse robot comprises a machine body, wherein mechanical arms are respectively arranged at the middle lower parts of the left side and the right side of the machine body, the two mechanical arms are respectively arranged along the front vertical surface direction and the rear vertical surface direction, an arm driving mechanism is arranged in the middle part of the machine body, a walking and auxiliary mopping mechanism is respectively arranged at the left side and the right side of the bottom of the machine body, and the two walking and auxiliary mopping mechanisms are respectively arranged along the front direction and the rear direction and are symmetrically arranged on the machine body left and right;
the mechanical arm comprises a big arm, the big arm is arranged along the front and back vertical surface direction, the front end of the big arm is provided with a small arm rotating shaft, the axis of the small arm rotating shaft is positioned in the left and right horizontal direction, the inner end of the small arm rotating shaft is rotatably inserted into the front end of the big arm, a small arm rotating shaft driving belt pulley is sleeved and fixed on the outer side of the large arm front end on the small arm rotating shaft, an inner ear plate for connecting the small arm is sleeved and fixed on the outer side of the small arm rotating shaft driving belt pulley on the small arm rotating shaft, the front end of the inner ear plate is fixedly connected with the rear end of the small arm, the plate surface of the inner ear plate is positioned in the front and back vertical direction, a telescopic rod driving belt pulley is rotatably arranged on the outer side sleeve of the small arm rotating shaft on the inner ear plate, a driving bevel gear is fixed on the outer end surface of the telescopic rod driving belt pulley, the axis of the driving bevel gear is positioned in the left-right horizontal direction, the driving bevel gear is meshed with the driven bevel gear, the driven bevel gear is positioned in front of the outer side of the driving bevel gear, a roller mop driving belt pulley is rotatably sleeved on the outer side of the driving bevel gear on a small arm rotating shaft, the outer end of the roller mop driving belt pulley is fixedly connected with the inner end of a roller mop middle belt pulley through a transmission sleeve, the transmission sleeve and the roller mop middle belt pulley are rotatably sleeved on a small arm rotating shaft, an outer lug plate for connecting a small arm is fixedly sleeved on the outer side of the roller mop middle belt pulley on the small arm rotating shaft, the plate surface of the outer lug plate is positioned in the front-back vertical direction, and the front end of the outer lug plate is fixedly connected with the rear end of the small arm;
The small arm is arranged along the front and back vertical surface direction, a small arm through hole is axially arranged in the small arm, a screw nut is inserted at the rear end in the small arm through hole, the screw nut can rotate in the small arm through hole but can not move along the axial direction of the small arm through hole, the rear end of the screw nut extends out of the small arm through hole and is fixedly connected with the front end of the driven bevel gear, the screw nut is rotatably arranged on a telescopic driving screw rod, the telescopic driving screw rod can move along the axial direction of the small arm through hole, the front end of the telescopic driving screw rod is attached to the rear end of a telescopic rod end cap, the front end of the telescopic rod end cap is fixedly connected with the rear end of the small arm telescopic rod, the forearm telescopic link extends forward to extend out of the forearm through hole, the front end of the forearm telescopic link is fixed with a sliding bearing sleeve, the sliding bearing sleeve is sleeved at the end part of a rotary shaft of the rotary drum mop, the rotary drum mop is fixedly sleeved at the middle part of the rotary shaft of the rotary drum mop, the forearm telescopic link is sleeved with a forearm telescopic link reset pressure spring, the rear end of the forearm telescopic link reset pressure spring is propped against the front end face of a telescopic link end cap, the front end of the forearm telescopic link reset pressure spring is propped against the rear end face of a gland, and the gland is installed at the front end outlet of the forearm through hole through threaded connection;
the middle belt pulley of the roller mop is connected with the roller mop belt pulley through an annular roller mop driving belt, the roller mop belt pulley is sleeved on the end part of the roller mop rotating shaft, which is positioned at the outer side of the sliding bearing sleeve, the middle part of the roller mop driving belt is matched with a tensioning wheel of a tensioning device, and the tensioning device is arranged on a small arm;
The upper supporting belt roller is rotatably arranged on the upper supporting roller frame, the top end of the upper supporting belt roller is attached to the roller mop driving belt, the lower supporting belt roller is arranged below the small arm, the axis of the lower supporting belt roller is positioned in the left-right horizontal direction, the lower supporting belt roller is rotatably arranged on the lower supporting roller frame, and the bottom end of the lower supporting belt roller is attached to the roller mop driving belt;
the arm driving mechanism comprises a bottom plate, the plate surface of the bottom plate is positioned in the horizontal direction, the bottom plate is fixed in the middle of the machine body, a left power output shaft is rotatably arranged on the left side above the bottom plate along the left-right horizontal direction, a right power output shaft is rotatably arranged on the right side above the bottom plate along the left-right horizontal direction, the right power output shaft and the left power output shaft are coaxially arranged, a right power output shaft gear is fixed at the left end of the right power output shaft, the front end of the right power output shaft gear is meshed with the rear end of a right gear of an intermediate outer sleeve, the right gear of the intermediate outer sleeve is fixed at the right end of the intermediate outer sleeve, the intermediate outer sleeve is rotatably arranged above the bottom plate along the left-right horizontal direction, an intermediate middle sleeve is rotatably inserted in the intermediate outer sleeve by adopting clearance fit, the left and right ends of the intermediate middle outer sleeve extend out of the intermediate outer sleeve respectively, the left and right ends of the intermediate inner sleeve are rotatably inserted into the intermediate outer sleeve by adopting clearance fit, the intermediate middle shaft is rotatably inserted into the intermediate middle outer sleeve respectively, and the left and right ends of the intermediate inner sleeve extend out of the intermediate outer sleeve respectively;
The left end of the middle outer sleeve is fixedly provided with a middle outer sleeve left gear, the rear end of the middle outer sleeve left gear is meshed with the front end of the left power output shaft gear, the left power output shaft gear is fixedly arranged at the right end of the left power output shaft, the middle part of the outer side wall of the left power output shaft is rotatably sleeved with a left inner sleeve in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve is rotatably sleeved with a left middle sleeve in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve is rotatably sleeved with a left outer sleeve in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft is rotatably sleeved with a right inner sleeve in a clearance fit manner, the middle part of the outer side wall of the right inner sleeve is rotatably sleeved with a right middle sleeve in a clearance fit manner, and the middle part of the outer side wall of the right middle sleeve is rotatably sleeved with a right outer sleeve in a clearance fit manner;
the left end of the right inner sleeve is fixed with a right inner sleeve gear, the front end of the right inner sleeve gear is meshed with the rear end of the middle sleeve right gear, the middle sleeve right gear is fixed at the right end of the middle sleeve, the left end of the middle sleeve is fixedly provided with a middle sleeve left gear, the rear end of the middle sleeve left gear is meshed with the front end of the left inner sleeve gear, and the left inner sleeve gear is fixedly arranged at the right end of the left inner sleeve;
The left end of the right middle sleeve is fixedly provided with a right middle sleeve gear, the front end of the right middle sleeve gear is meshed with the rear end of the middle inner sleeve right gear, the middle inner sleeve right gear is fixedly arranged at the right end of the middle inner sleeve, the left end of the middle inner sleeve is fixedly provided with a middle inner sleeve left gear, the rear end of the middle inner sleeve left gear is meshed with the front end of the left middle sleeve gear, and the left middle sleeve gear is fixedly arranged at the right end of the left middle sleeve;
the left end of the right outer sleeve is fixedly provided with a right outer sleeve gear, the circumferential surface of the right outer sleeve gear is positioned in the front-back direction, the front end of the right outer sleeve gear is meshed with the rear end of the middle shaft right gear, the middle shaft right gear is fixedly arranged at the right end of the middle shaft, the left end of the middle shaft is fixedly provided with a middle shaft left gear, the circumferential surface of the middle shaft left gear is positioned in the front-back direction, the rear end of the middle shaft left gear is meshed with the front end of the left outer sleeve gear, and the left outer sleeve gear is fixedly arranged at the right end of the left outer sleeve;
the right end of the right power output shaft is a power output end, the power output end of the right power output shaft is sleeved with a right power output shaft belt pulley, the left end of the left power output shaft is a power output end, and the power output end of the left power output shaft is sleeved with a left power output shaft belt pulley;
The right power output shaft belt pulley is in transmission connection with a roller mop driving belt pulley of a mechanical arm arranged on the right side of the machine body through belt transmission, and the left power output shaft belt pulley is in transmission connection with a roller mop driving belt pulley of the mechanical arm arranged on the left side of the machine body through belt transmission;
the right end of the right inner sleeve is a power output end, the power output end of the right inner sleeve is sleeved with a right inner sleeve belt pulley, the left end of the left inner sleeve is a power output end, and the power output end of the left inner sleeve is sleeved with a left inner sleeve belt pulley;
the right inner sleeve belt pulley is in transmission connection with a telescopic rod driving belt pulley of a mechanical arm arranged on the right side of the machine body through belt transmission, and the left inner sleeve belt pulley is in transmission connection with a telescopic rod driving belt pulley of the mechanical arm arranged on the left side of the machine body through belt transmission;
the right end of the right middle sleeve is a power output end, the power output end of the right middle sleeve is sleeved with a right middle sleeve belt pulley, the left end of the left middle sleeve is a power output end, and the power output end of the left middle sleeve is sleeved with a left middle sleeve belt pulley;
the right middle sleeve belt pulley is in transmission connection with a forearm rotating shaft driving belt pulley of a mechanical arm arranged on the right side of the machine body through belt transmission, and the left middle sleeve belt pulley is in transmission connection with a forearm rotating shaft driving belt pulley of the mechanical arm arranged on the left side of the machine body through belt transmission;
The right power output shaft gear or the left power output shaft gear is meshed with the power output shaft driving gear, the power output shaft driving gear is sleeved on a power output shaft of the power output shaft driving motor, and the power output shaft driving motor is connected with the bottom plate in a mounting way;
the right inner sleeve gear or the left inner sleeve gear is meshed with the inner sleeve driving gear, the inner sleeve driving gear is sleeved on a power output shaft of the inner sleeve driving motor, and the inner sleeve driving motor is connected with the bottom plate in an installation way;
the right middle sleeve gear or the left middle sleeve gear is meshed with the middle sleeve driving gear, the middle sleeve driving gear is sleeved on a power output shaft of the middle sleeve driving motor, and the middle sleeve driving motor is connected with the bottom plate in a mounting way;
the right outer sleeve gear or the left outer sleeve gear is meshed with the outer sleeve driving gear, the outer sleeve driving gear is sleeved on a power output shaft of the outer sleeve driving motor, and the outer sleeve driving motor is connected with the bottom plate in an installation way;
the walking and auxiliary mopping mechanism comprises a supporting plate, the plate surface of the supporting plate is positioned in the front-rear vertical direction, the supporting plate is fixedly connected with a machine body, a motor is arranged in the middle of the inner side of the supporting plate, a shell of the motor is arranged on the supporting plate, a driving shaft is arranged in the middle of the outer side of the supporting plate, the axis of the driving shaft is positioned in the left-right horizontal direction, the inner end of the driving shaft is rotatably arranged on the supporting plate, the inner end of the driving shaft is connected with a motor shaft of the motor in a transmission manner, and a rear wheel driving wheel and a motor crank wheel are sequentially sleeved on the driving shaft from inside to outside;
The front part of the inner side of the supporting plate is provided with a walking driving motor, a shell of the walking driving motor is arranged on the supporting plate, the front part of the outer side of the supporting plate is provided with a front wheel shaft, the axis of the front wheel shaft is positioned in the left-right horizontal direction, the inner end of the front wheel shaft is rotatably arranged on the supporting plate, the inner end of the front wheel shaft is in transmission connection with a motor shaft of the walking driving motor, and the front wheel shaft is sleeved with a front driving travelling wheel;
the rear wheel driving wheel is in transmission connection with a rear driven wheel positioned at the rear of the rear wheel driving wheel through belt transmission or chain transmission, the rear driven wheel is sleeved on a rear wheel shaft, the axis of the rear wheel shaft is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft is rotatably arranged on the supporting plate, and a rear crank rotating wheel is sleeved on the rear wheel shaft and positioned at the outer side of the rear driven wheel;
the edge of the rear crank rotating wheel is rotatably provided with a rear crank rotating shaft along the left-right horizontal direction, the rear crank rotating shaft outwards extends out of the outer end face of the rear crank rotating wheel, the outer end of the rear crank rotating shaft is connected with the front end of a backstop connecting rod in an installation mode, the backstop connecting rod is arranged along the front-back vertical face direction, the rear end of the backstop connecting rod is connected with the front end of a backstop sliding rod through a backstop connecting rod hinge pin shaft, the axis of the backstop connecting rod hinge pin shaft is positioned in the left-right horizontal direction, the backstop sliding rod is inserted into a slideway groove on a backstop guide block, the backstop guide block is fixedly connected with a supporting plate, the slideway groove on the backstop guide block is high in the front end and low in the rear end and is obliquely arranged along the front-back vertical face direction, the rear end of the backstop sliding rod is fixedly connected with the backstop block, and the downward end face of the backstop block can be attached to the ground;
The edge of the motor crank wheel is rotatably provided with a motor crank rotating shaft along the left-right horizontal direction, the motor crank rotating shaft outwards extends to penetrate through the outer end face of the motor crank wheel, the outer end of the motor crank rotating shaft is connected with the rear end of the mopping connecting rod in an installation mode, the mopping connecting rod is arranged along the front-back vertical face direction, the front end of the mopping connecting rod is connected with the rear end of the mopping sliding rod through a mopping connecting rod hinge pin shaft, the axis of the mopping connecting rod hinge pin shaft is positioned in the left-right horizontal direction, the mopping sliding rod is inserted into a mopping guiding chute on the mopping guiding block, the mopping guiding block is fixedly connected with the supporting plate, and a slideway groove on the mopping guiding block is arranged along the front-back horizontal direction;
the trigger rod mounting hole extends forwards to the front end face of the floor mopping slide rod, a trigger rod is inserted in the trigger rod mounting hole in a clearance fit manner, a trigger rod push-out pressure spring is arranged at the rear end in the trigger rod mounting hole, the rear end of the trigger rod push-out pressure spring is propped against the bottom in the trigger rod mounting hole, the front end of the trigger rod push-out pressure spring is propped against the rear end of the trigger rod, a trigger head is arranged at the front end of the trigger rod, the trigger head is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head is larger than the aperture of the trigger rod mounting hole, and the front end of the trigger rod is fixedly connected with the rear end of the trigger head;
The front end of the trigger rod is provided with a front end, a rear end of the trigger rod is fixedly connected with the front end of the trigger rod, the front end of the trigger rod is provided with a front end of the trigger rod, and the front end of the trigger rod is provided with a front end of the trigger rod;
the upper clamping jaw comprises an upper claw plate arranged along the front-back horizontal direction, the rear end of the upper claw plate is connected with the front end of an upper deflector rod into a whole, the front end of the upper deflector rod is high, the rear end of the upper deflector rod is low, the front end of the lower part of the upper deflector rod is obliquely arranged along the front-back direction, the front end of the upper deflector rod is attached to the upward surface of the trigger head, the rear end of the upper claw plate is sleeved on an upper claw plate rotating pin shaft in a clearance fit manner, two ends of the upper claw plate rotating pin shaft are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates in an installation manner, an upper claw plate poking spring is arranged above the upper claw plate, the rear end of the upper claw plate poking spring is fixedly connected with the upper ends of the corresponding positioning clamping plates, and the front part of the upper claw plate poking spring acts on the top end of the upper claw plate to enable the front end of the upper claw plate to perform upward overturning movement;
The lower clamping jaw comprises a lower claw plate arranged along the front-rear horizontal direction, the rear end of the lower claw plate is connected with the front end of a lower deflector rod into a whole, the front end of the lower deflector rod is low, the rear end of the lower deflector rod is high and is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod is attached to the downward surface of a trigger head, the rear end of the lower claw plate is sleeved on a lower claw plate rotating pin shaft in a clearance fit manner, two ends of the lower claw plate rotating pin shaft are respectively connected with the lower part of the front end of a corresponding positioning clamping plate in an installation manner, a lower claw plate poking spring is arranged below the lower claw plate, the rear end of the lower claw plate poking spring is fixedly connected with the lower end of the corresponding positioning clamping plate, the front part of the lower claw plate poking spring acts on the bottom end of the lower claw plate, and the lower claw plate poking spring enables the front end of the lower claw plate to perform downward overturning movement;
a rear wheel is rotatably arranged below the rear part of the supporting plate;
the upper portion at the rear part of the mopping slide bar is provided with an electromagnet adsorption device, the electromagnet adsorption device is installed and fixed on the mopping slide bar through a fixed support, the electromagnetic adsorption part of the electromagnet adsorption device is arranged downwards, an armature is arranged below the electromagnet adsorption device and fixed at the top end of a positioning pin shaft, the positioning pin shaft is arranged in the vertical direction, the middle lower part of the positioning pin shaft is inserted on the mopping slide bar by adopting clearance fit, the rear part of the triggering bar is provided with a pin shaft inserting clamping groove, and when the triggering bar is positioned at the position of pressing the triggering bar to push out a pressure spring, the positioning pin shaft downwards penetrates through the side wall of the mopping slide bar and is inserted into the pin shaft inserting clamping groove.
Preferably, the cross sections of the floor mopping slide bar and the retaining connecting rod are rectangular, the included angle between the slide groove on the retaining guide block and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod and the horizontal plane is 35-50 degrees.
Preferably, the rear wheel driving wheel is in transmission connection with the rear driven wheel through a toothed belt transmission.
Preferably, the retaining block is rectangular.
Preferably, the surface of the backstop block facing downwards is provided with a plurality of anti-slip convex edges along the left-right horizontal direction, and the backstop block is made of wear-resistant rubber.
Preferably, the right outer sleeve is connected with the bottom plate installation through a right sliding bearing seat, and the left outer sleeve is connected with the bottom plate installation through a left sliding bearing seat.
Preferably, the intermediate outer sleeve is connected to the floor mount by a plurality of intermediate slide bearing blocks.
Preferably, the cross section of the small arm is rectangular, and the small arm is made of steel.
Preferably, the tensioning device comprises a swinging arm frame, the middle part of the swinging arm frame is rotatably arranged on the upper support rod frame, the top end of the swinging arm frame is rotatably provided with the tensioning wheel, the bottom end of the swinging arm frame is connected with the front end of the tensioning tension spring, the tensioning tension spring extends backwards, and the rear end of the tensioning tension spring is connected with the small arm.
When the intelligent nurse robot is used, the front ends of the two large arms can be driven to do up-and-down swinging motion, and the driven bevel gears meshed with the driving bevel gears can be driven to rotate along with the driving bevel gears, so that the two small arms can be driven to rotate along with the screw nuts, the corresponding small arm rotating shafts can be used as centers to do swinging motion, the front ends of the two large arms and the two small arms can be driven to do swinging motion, the two large arms and the two small arms can be driven to lift or put down the roller mop, meanwhile, the roller mop can be moved a certain distance along the front-and-back direction in a certain range, the telescopic rod driving pulley is driven to rotate, the telescopic rod driving pulley can drive the driving bevel gears to rotate along with the driving bevel gears, the driven bevel gears can drive the screw nuts to rotate along with the driven bevel gears, and the screw nuts can enable the telescopic driving telescopic rod to do forward or backward motion along the small arm through holes, the telescopic rod can eject the small arm through holes, or enable the roller mop to move forwards, or enable the telescopic rod to move backwards along with the small arm through holes to do backward motion, and the telescopic rod driving pulley to drive the telescopic rod to move backwards along with the small arm through holes, and the roller can rotate along with the telescopic rod through the telescopic rod driving pulley, and the roller driving pulley can rotate along with the telescopic rod through hole. Therefore, the intelligent nurse robot has the characteristics of small volume, compact structure, capability of efficiently and rapidly completing mopping work, cleaner mopping and good mopping effect.
The intelligent nurse robot of the present invention will be further described with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of an intelligent nurse robot of the present invention from the rear to the front;
fig. 2 is a front view of the intelligent babysitter robot of the present invention;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a perspective view of a robotic arm portion of the intelligent babysitter robot of the present invention from the rear looking forward;
FIG. 5 is a perspective view of a robot arm portion of the intelligent babysitter robot of the present invention from front to back;
FIG. 6 is a front view of a robotic arm portion of the intelligent babysitter robot of the present invention;
FIG. 7 is a top view of FIG. 6;
fig. 8 is a perspective view of an arm driving mechanism part of the intelligent nurse robot of the present invention from the rear to the front;
fig. 9 is a perspective view of an arm driving mechanism part of the intelligent nurse robot of the present invention from front to back
Fig. 10 is a front view of an arm driving mechanism part of the intelligent babysitter robot of the present invention;
FIG. 11 is an enlarged top cross-sectional view of the right, left and intermediate shaft portions of FIG. 10;
FIG. 12 is a perspective view of a walking and mopping assistance mechanism portion of the intelligent babysitter robot of the present invention;
FIG. 13 is a front view of a walking and mopping assist mechanism portion of the intelligent babysitter robot of the present invention;
FIG. 14 is a perspective view of a single walking and mopping aid mechanism portion of the intelligent babysitter robot of the present invention;
FIG. 15 is an enlarged front cross-sectional view of the mopping slide bar portion of the walk-assist and mopping mechanism of the present invention;
FIG. 16 is a rear elevational view of the walking and mopping assistance mechanism of the present invention with the support plate partially removed;
FIG. 17 is a top view of a portion of the walk-assist mopping mechanism of the present invention;
FIG. 18 is an enlarged perspective view of the upper and lower jaw portions of the walk-assist mopping mechanism portion of the present invention;
fig. 19 is an enlarged view of the upper and lower jaw portions of the walk-behind and mopping mechanism portion of fig. 16.
Detailed Description
As shown in fig. 1, 2 and 3, the intelligent nurse robot of the invention comprises a machine body 31, wherein mechanical arms 33 are respectively arranged at the middle lower parts of the left side and the right side of the machine body 31, the two mechanical arms 33 are respectively arranged along the front and rear vertical surface directions, an arm driving mechanism is arranged at the middle part in the machine body 31, a walking and auxiliary mopping mechanism 32 is respectively arranged at the left side and the right side of the bottom of the machine body 31, and the two walking and auxiliary mopping mechanisms 32 are respectively arranged along the front and rear directions and are symmetrically arranged on the machine body 31;
When the robot is used, the two walking and auxiliary mopping mechanisms work together and are used for enabling the intelligent robot to make various movements such as forward, backward, mopping and the like.
As shown in fig. 4, 5, 6 and 7, the mechanical arm 33 of the invention comprises a big arm 1, the big arm 1 is arranged along the front and back vertical surface direction, the front end of the big arm 1 is provided with a small arm rotating shaft 2, the axis of the small arm rotating shaft 2 is positioned in the left and right horizontal direction, the inner end of the small arm rotating shaft 2 is rotatably inserted and mounted at the front end of the big arm 1, the outer side of the small arm rotating shaft 2 positioned at the front end of the big arm 1 is sleeved and fixed with a small arm rotating shaft driving pulley 3, the outer side of the small arm rotating shaft 2 positioned at the small arm rotating shaft driving pulley 3 is sleeved and fixed with an inner ear plate 4 for connecting the small arm, the front end of the inner ear plate 4 is fixedly connected with the rear end of the small arm 10, the surface of the inner ear plate 4 is positioned in the front and back vertical direction, the outer side of the small arm rotating shaft 2 is sleeved and rotatably provided with a telescopic rod driving pulley 5, the outer side of the small arm rotating shaft 4 is fixedly provided with a driving bevel gear 6, the axis of the driving bevel gear 6 is positioned in the left and right horizontal direction, the driving bevel gear 6 is meshed with a driven bevel gear 7, the driving bevel gear 7 is positioned at the outer side of the small arm rotating shaft 2 and the small arm rotating shaft 2 is positioned at the outer side of the small arm rotating shaft 2 and is fixedly connected with the middle pulley 20, the middle pulley 20 is fixedly sleeved and fixedly connected with the front end of the small arm 2 through the middle pulley 20, the front end of the small arm rotating pulley 2 is positioned at the front end of the small arm rotating shaft 2 and the inner ear plate 4 is fixedly connected with the middle pulley 20, and the middle pulley 20 is fixedly connected with the front end of the small ear drum 20;
The "inside" of the inner end of the forearm shaft 2 refers to: if the forearm shaft 2 is on the left side of the robot bottom, the inner side is the right side of the forearm shaft 2; if the forearm shaft 2 is on the right side of the robot bottom, the inner side here is the left side of the forearm shaft 2;
the small arm 10 is arranged along the front-rear vertical surface direction, a small arm through hole 11 is axially arranged in the small arm 10, a lead screw nut 12 is inserted into the rear end in the small arm through hole 11, the lead screw nut 12 can rotate in the small arm through hole 11 but cannot move along the axial direction of the small arm through hole 11, the rear end of the lead screw nut 12 extends out of the small arm through hole 11 and is fixedly connected with the front end of the driven bevel gear 7, the lead screw nut 12 is rotatably arranged on a telescopic driving lead screw 13, the telescopic driving lead screw 13 can move along the axial direction of the small arm through hole 11, the front end of the telescopic driving lead screw 13 is attached to the rear end of a telescopic rod end cap 14, the front end of the telescopic rod end cap 14 is fixedly connected with the rear end of a small arm telescopic rod 15, the small arm telescopic rod 15 extends forwards to extend out of the small arm through hole 11, the front end of the small arm telescopic rod 15 is fixedly provided with a sliding bearing sleeve 18, the middle part of the mop rotating shaft 19 is fixedly sleeved with a roller mop 37, the small arm telescopic rod 15 is sleeved with a small arm telescopic rod reset 16, the rear end cap 16 is sleeved with a compression spring, the rear end cap 16 is connected with the front end of the telescopic rod 16 at the front end cap 17 through the telescopic rod, and the front end cap 17 is connected with the front end of the telescopic rod 17;
The middle belt pulley 21 of the roller mop is connected with the roller mop belt pulley 23 through an annular roller mop driving belt 22, the roller mop belt pulley 23 is sleeved on the end part of the roller mop rotating shaft 19, which is positioned on the outer side of the sliding bearing sleeve 18, the middle part of the roller mop driving belt 22 is matched with a tensioning wheel 24 of a tensioning device, and the tensioning device is arranged on the small arm 10;
the small arm 10 is positioned in the ring of the roller mop driving belt 22, an upper supporting belt roller 25 is arranged above the small arm 10, the axis of the upper supporting belt roller 25 is positioned in the left-right horizontal direction, the upper supporting belt roller 25 is rotatably arranged on an upper supporting roller frame 26, the top end of the upper supporting belt roller 25 is attached to the roller mop driving belt 22, a lower supporting belt roller 28 is arranged below the small arm 10, the axis of the lower supporting belt roller 28 is positioned in the left-right horizontal direction, the lower supporting belt roller 28 is rotatably arranged on a lower supporting roller frame 27, and the bottom end of the lower supporting belt roller 28 is attached to the roller mop driving belt 22;
when the intelligent nurse robot is used, the front ends of the two large arms 1 can be driven to do up-and-down swinging motion, the two small arm rotating shafts are driven to drive the belt pulleys 3 to rotate, and then the two small arm rotating shafts 2 are driven to rotate, so that the two small arms 10 can do swinging motion by taking the corresponding small arm rotating shafts 2 as the center, the front ends of the two large arms 1 and the swinging motion of the two small arms 10 can enable the two large arms 1 and the two small arms 10 to lift or put down the roller mop 37, meanwhile, the roller mop 37 can be moved for a certain distance along the front-back direction within a certain range, the telescopic rod driving belt pulley 5 is driven to rotate, the telescopic rod driving belt pulley 5 can drive the driving bevel gear 6 to rotate together, the driven bevel gear 7 meshed with the driving bevel gear 6 rotates along with the driven bevel gear 7 and rotates together with the screw nut 12, when the screw nut 12 rotates, the telescopic driving screw 13 can move forwards or backwards along the small arm through hole 11, the telescopic driving screw 13 moving forwards can push the small arm telescopic rod 15 out of the small arm through hole 11 and enable the roller mop 37 to move forwards, or after the telescopic driving screw 13 moves backwards, the small arm telescopic rod reset pressure spring 16 can push the small arm telescopic rod 15 back into the small arm through hole 11 and enable the roller mop 37 to move backwards, and the roller mop middle belt pulley 21, the roller mop driving belt 22 and the roller mop belt pulley 23 are driven to rotate, so that the roller mop 37 can be driven to rotate, and the mopping work can be completed.
As shown in fig. 8, 9, 10 and 11, the arm driving mechanism of the present invention comprises a bottom plate 80, the plate surface of the bottom plate 80 is located in the horizontal direction, the bottom plate 80 is fixed in the middle part in the machine body 31, the left side above the bottom plate 80 is rotatably provided with a left power output shaft 81 along the left-right horizontal direction, the right side above the bottom plate 80 is rotatably provided with a right power output shaft 82 along the left-right horizontal direction, the right power output shaft 82 and the left power output shaft 81 are coaxially arranged, the left end of the right power output shaft 82 is fixed with a right power output shaft gear 83, the front end of the right power output shaft gear 83 is meshed with the rear end of an intermediate outer sleeve right gear 113, the intermediate outer sleeve right gear 113 is fixed at the right end of an intermediate outer sleeve 84, the intermediate outer sleeve 84 is rotatably mounted above the bottom plate 80 along the left-right horizontal direction, the intermediate outer sleeve 84 is rotatably inserted with an intermediate inner sleeve 85 by clearance fit, the left and right ends of the intermediate inner sleeve 85 are respectively extended out of the intermediate inner sleeve 85 by clearance fit, the left and right ends of the intermediate inner sleeve 86 are rotatably inserted with an intermediate inner sleeve 87 by clearance fit, the intermediate inner sleeve 86 is respectively extended from the left and right ends of the intermediate inner sleeve 85;
The left end of the middle outer sleeve 84 is fixedly provided with a middle outer sleeve left gear 114, the rear end of the middle outer sleeve left gear 114 is meshed with the front end of a left power output shaft gear 115, the left power output shaft gear 115 is fixedly arranged at the right end of the left power output shaft 81, the middle part of the outer side wall of the left power output shaft 81 is rotatably sleeved with a left inner sleeve 88 in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve 88 is rotatably sleeved with a left middle sleeve 89 in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve 89 is rotatably sleeved with a left outer sleeve 90 in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft 82 is rotatably sleeved with a right inner sleeve 91 in a clearance fit manner, the middle part of the outer side wall of the right inner sleeve 91 is rotatably sleeved with a right middle sleeve 92 in a clearance fit manner, and the middle part of the outer side wall of the right middle sleeve 92 is rotatably sleeved with a right outer sleeve 93 in a clearance fit manner;
a right inner sleeve gear 94 is fixed at the left end of the right inner sleeve 91, the front end of the right inner sleeve gear 94 is meshed with the rear end of a middle sleeve right gear 95, the middle sleeve right gear 95 is fixed at the right end of the middle sleeve 85, a middle sleeve left gear 96 is fixed at the left end of the middle sleeve 85, the rear end of the middle sleeve left gear 96 is meshed with the front end of a left inner sleeve gear 97, and the left inner sleeve gear 97 is fixed at the right end of the left inner sleeve 88;
A right middle sleeve gear 98 is fixed at the left end of the right middle sleeve 92, the front end of the right middle sleeve gear 98 is meshed with the rear end of a middle inner sleeve right gear 99, the middle inner sleeve right gear 99 is fixed at the right end of the middle inner sleeve 86, a middle inner sleeve left gear 100 is fixed at the left end of the middle inner sleeve 86, the rear end of the middle inner sleeve left gear 100 is meshed with the front end of a left middle sleeve gear 101, and the left middle sleeve gear 101 is fixed at the right end of the left middle sleeve 89;
a right outer sleeve gear 102 is fixed at the left end of the right outer sleeve 93, the circumferential surface of the right outer sleeve gear 102 is positioned in the front-back direction, the front end of the right outer sleeve gear 102 is meshed with the rear end of an intermediate shaft right gear 103, the intermediate shaft right gear 103 is fixed at the right end of the intermediate shaft 87, an intermediate shaft left gear 104 is fixed at the left end of the intermediate shaft 87, the circumferential surface of the intermediate shaft left gear 104 is positioned in the front-back direction, the rear end of the intermediate shaft left gear 104 is meshed with the front end of a left outer sleeve gear 105, and the left outer sleeve gear 105 is fixed at the right end of the left outer sleeve 90;
the right end of the right power output shaft 82 is a power output end, the power output end of the right power output shaft 82 is sleeved with a right power output shaft belt pulley 106, the left end of the left power output shaft 81 is a power output end, and the power output end of the left power output shaft 81 is sleeved with a left power output shaft belt pulley 107;
The right power output shaft belt pulley 106 is in transmission connection with the roller mop driving belt pulley 9 of the mechanical arm 33 arranged on the right side of the machine body 31 through belt transmission, and the left power output shaft belt pulley 107 is in transmission connection with the roller mop driving belt pulley 9 of the mechanical arm 33 arranged on the left side of the machine body 31 through belt transmission;
the right end of the right inner sleeve 91 is a power output end, the power output end of the right inner sleeve 91 is sleeved with a right inner sleeve belt pulley 112, the left end of the left inner sleeve 88 is a power output end, and the power output end of the left inner sleeve 88 is sleeved with a left inner sleeve belt pulley 125;
the right inner sleeve belt pulley 112 is in transmission connection with the telescopic rod driving belt pulley 5 of the mechanical arm 33 arranged on the right side of the machine body 31 through belt transmission, and the left inner sleeve belt pulley 125 is in transmission connection with the telescopic rod driving belt pulley 5 of the mechanical arm 33 arranged on the left side of the machine body 31 through belt transmission;
the right end of the right middle sleeve 92 is a power output end, the power output end of the right middle sleeve 92 is sleeved with a right middle sleeve belt pulley 110, the left end of the left middle sleeve 89 is a power output end, and the power output end of the left middle sleeve 89 is sleeved with a left middle sleeve belt pulley 111;
the right middle sleeve belt pulley 110 is in transmission connection with the forearm rotating shaft driving belt pulley 3 of the mechanical arm 33 arranged on the right side of the machine body 31 through belt transmission, and the left middle sleeve belt pulley 111 is in transmission connection with the forearm rotating shaft driving belt pulley 3 of the mechanical arm 33 arranged on the left side of the machine body 31 through belt transmission;
The right power output shaft gear 83 or the left power output shaft gear 115 is meshed with a power output shaft driving gear 116, the power output shaft driving gear 116 is sleeved on a power output shaft of a power output shaft driving motor 117, and the power output shaft driving motor 117 is connected with the bottom plate 80 in a mounting way;
the right inner sleeve gear 94 or the left inner sleeve gear 97 is meshed with the inner sleeve driving gear 118, the inner sleeve driving gear 118 is sleeved on a power output shaft of the inner sleeve driving motor 119, and the inner sleeve driving motor 119 is connected with the bottom plate 80 in an installation way;
the right middle sleeve gear 98 or the left middle sleeve gear 101 is meshed with the middle sleeve driving gear 120, the middle sleeve driving gear 120 is sleeved on a power output shaft of the middle sleeve driving motor 121, and the middle sleeve driving motor 121 is connected with the bottom plate 80 in a mounting way;
the right outer sleeve gear 102 or the left outer sleeve gear 105 is meshed with the outer sleeve driving gear 108, the outer sleeve driving gear 108 is sleeved on a power output shaft of the outer sleeve driving motor 109, and the outer sleeve driving motor 109 is connected with the bottom plate 80 in an installation way;
when the intelligent nurse robot is used, the power output shaft driving motor 117 is started, the right power output shaft gear 83 can be driven to rotate through the power output shaft driving gear 116, the right power output shaft 82 and the middle outer sleeve 84 are driven to rotate, the middle outer sleeve 84 drives the left power output shaft gear 115 to rotate through the middle outer sleeve left gear 114 and drives the left power output shaft 81 to rotate, and further power is output through the left power output shaft belt pulley 107 at the left end of the left power output shaft 81, so that the mopping roller of the intelligent nurse robot is driven to rotate, and power is output through the right power output shaft belt pulley 106 at the right end of the right power output shaft 82, so that the mopping roller of the intelligent nurse robot is driven to rotate;
The power output shaft driving motor 117 may also drive the left power output shaft gear 115 to rotate through the power output shaft driving gear 116, and finally realize that the power output is output through the left power output shaft pulley 107 at the left end of the left power output shaft 81, so as to drive the mopping roller of the intelligent babysitter robot to perform a rotational motion, and the power output is output through the right power output shaft pulley 106 at the right end of the right power output shaft 82, so as to drive the mopping roller of the intelligent babysitter robot to perform a rotational motion.
Starting the inner sleeve driving motor 119, the inner sleeve driving gear 118 drives the left inner sleeve gear 97 to rotate and drives the left inner sleeve 88 and the middle sleeve 85 to rotate, the middle sleeve 85 drives the right inner sleeve gear 94 to rotate and drives the right inner sleeve 91 to rotate through the middle sleeve right gear 95, and further power output is achieved through a left inner sleeve belt pulley 125 at the left end of the left inner sleeve 88, the power output is achieved through a right inner sleeve belt pulley 112 at the right end of the right inner sleeve 91, and the power output is achieved through a left small arm of the intelligent nurse robot;
The inner sleeve driving motor 119 may also drive the right inner sleeve gear 94 to rotate through the inner sleeve driving gear 118, and finally realize that the power output is performed through the left inner sleeve pulley 125 at the left end of the left inner sleeve 88 for driving the left forearm of the intelligent nurse robot to perform the telescopic motion for changing the length, and the power output is performed through the right inner sleeve pulley 112 at the right end of the right inner sleeve 91 for driving the right forearm of the intelligent nurse robot to perform the telescopic motion for changing the length.
The middle sleeve driving motor 121 is started, namely the right middle sleeve gear 98 is driven to rotate through the middle sleeve driving gear 120, the right middle sleeve 92 and the middle inner sleeve 86 are driven to rotate, the middle inner sleeve 86 drives the left middle sleeve gear 101 to rotate through the middle inner sleeve left gear 100, and the left middle sleeve 89 is driven to rotate, so that power output is realized through a left middle sleeve belt pulley 111 at the left end of the left middle sleeve 89, the left forearm of the intelligent nurse robot is driven to swing up and down, and power output is realized through a right middle sleeve belt pulley 110 at the right end of the right middle sleeve 92, and the right forearm of the intelligent nurse robot is driven to swing up and down;
the middle sleeve driving motor 121 may also drive the left middle sleeve gear 101 to rotate through the middle sleeve driving gear 120, and finally realize that the power output is performed through the left middle sleeve pulley 111 at the left end of the left middle sleeve 89, so as to drive the left forearm of the intelligent nurse robot to perform the up-and-down swinging motion, and the power output is performed through the right middle sleeve pulley 110 at the right end of the right middle sleeve 92, so as to drive the right forearm of the intelligent nurse robot to perform the up-and-down swinging motion.
The outer sleeve driving motor 109 is started, namely the outer sleeve driving gear 108 can drive the right outer sleeve gear 102 to rotate and drive the right outer sleeve 93 and the middle shaft 87 to rotate, the middle shaft 87 drives the left outer sleeve gear 105 to rotate and drive the left outer sleeve 90 to rotate through the middle shaft left gear 104, so that power output is realized through the left end of the left outer sleeve 90 and is used for driving the left big arm of the intelligent nurse robot to do up-and-down swinging motion, and power output is realized through the right end of the right outer sleeve 93 and is used for driving the right big arm of the intelligent nurse robot to do up-and-down swinging motion;
the outer sleeve driving motor 109 may also drive the left outer sleeve gear 105 to rotate through the outer sleeve driving gear 108, and finally output power through the left end of the left outer sleeve 90 for driving the left big arm of the intelligent babysitter robot to swing up and down, and output power through the right end of the right outer sleeve 93 for driving the right big arm of the intelligent babysitter robot to swing up and down.
As shown in fig. 12, 13, 14, 15, 16 and 17, the walking and auxiliary mopping mechanism 32 comprises a supporting plate 40, the plate surface of the supporting plate 40 is located in the front-rear vertical direction, the supporting plate 40 is fixedly connected with the machine body 31, a motor 41 is arranged in the middle of the inner side of the supporting plate 40, a shell of the motor 41 is mounted on the supporting plate 40, a driving shaft 42 is arranged in the middle of the outer side of the supporting plate 40, the axis of the driving shaft 42 is located in the left-right horizontal direction, the inner end of the driving shaft 42 is rotatably mounted on the supporting plate 40, the inner end of the driving shaft 42 is in transmission connection with a motor shaft of the motor 41, and a rear wheel driving wheel 44 and a motor crank wheel 45 are sequentially sleeved on the driving shaft 42 from inside to outside; in use, the motor 41 is activated to rotate the drive shaft 42 and to synchronize rotation of the rear wheel drive sprocket 44 with the motor crank wheel 45.
The "inside" of the inner side of the support plate 40, including the inner end of the driving shaft 42, etc., means: if the support plate 40 is on the left side of the robot bottom, the inside here is the right side of the support plate 40; if the support plate 40 is on the right side of the robot bottom, the inside here is the left side of the support plate 40;
the front part of the inner side of the supporting plate 40 is provided with a traveling driving motor 43, a shell of the traveling driving motor 43 is arranged on the supporting plate 40, the front part of the outer side of the supporting plate 40 is provided with a front wheel shaft 46, the axis of the front wheel shaft 46 is positioned in the left-right horizontal direction, the inner end of the front wheel shaft 46 is rotatably arranged on the supporting plate 40, the inner end of the front wheel shaft 46 is in transmission connection with a motor shaft of the traveling driving motor 43, and a front driving traveling wheel 47 is sleeved on the front wheel shaft 46; when the intelligent nurse robot is used, the two walking driving motors 43 are respectively started, and the steering or rotating speed of the two walking driving motors 43 is regulated and controlled, so that the intelligent nurse robot can do the motions of forward movement, backward movement, left and right turning, on-site rotation and the like.
The rear wheel driving wheel 44 is in transmission connection with a rear driven wheel 48 positioned at the rear of the rear wheel driving wheel 44 through belt transmission or chain transmission, the rear driven wheel 48 is sleeved on a rear wheel shaft 49, the axis of the rear wheel shaft 49 is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft 49 is rotatably arranged on the supporting plate 40, and a rear crank rotating wheel 50 is sleeved on the rear wheel shaft 49 and positioned at the outer side of the rear driven wheel 48; when the rear wheel drives the driving wheel 44 to rotate, the rear driven wheel 48 and the rear crank wheel 50 are driven to rotate by a belt transmission or a chain transmission.
The edge of the rear crank rotating wheel 50 is rotatably provided with a rear crank rotating shaft 51 along the left-right horizontal direction, the rear crank rotating shaft 51 extends outwards to penetrate through the outer end face of the rear crank rotating wheel 50, the outer end of the rear crank rotating shaft 51 is connected with the front end of a stop connecting rod 52 in a mounting manner, the stop connecting rod 52 is arranged along the front-back vertical surface direction, the rear end of the stop connecting rod 52 is connected with the front end of a stop sliding rod 53 through a stop connecting rod hinge pin 74, the axis of the stop connecting rod hinge pin 74 is positioned in the left-right horizontal direction, the stop sliding rod 53 is inserted into a slideway groove on the stop guiding block 54, the stop guiding block 54 is fixedly connected with the supporting plate 40, the slideway groove on the stop guiding block 54 is in a shape that the front end is high, the rear end is low and is obliquely arranged along the front-back vertical surface direction, the rear end of the stop sliding rod 53 is fixedly connected with a stop block 55, and the downward end face of the stop sliding rod 55 can be attached to the ground; when the rear crank wheel 50 rotates, the front end of the retaining link 52 rotates along with the rear end of the retaining link 52, the retaining link hinge pin 74 pushes the retaining slide rod 53 to reciprocate along the slide groove on the retaining guide block 54 in a front-rear inclined manner, the retaining block 55 moves along with the retaining slide rod, the lower end surface of the retaining block 55 is in a state of being propped against the ground in most of the time period in the moving process of the retaining block 55, at the moment, the rear wheel 75 is overhead, so that the intelligent nurse robot tilts forward, a part of the weight of the intelligent nurse robot presses the front roller mop 37 forwards and downwards, the roller mop 37 generates a force pressing the ground, the mopping effect of the roller mop 37 is better, the mopping is cleaner, and the robot can efficiently and quickly finish mopping work.
The edge of the motor crank wheel 45 is rotatably provided with a motor crank rotating shaft 56 along the left-right horizontal direction, the motor crank rotating shaft 56 extends outwards to penetrate through the outer end face of the motor crank wheel 45, the outer end of the motor crank rotating shaft 56 is fixedly connected with the rear end of a mopping connecting rod 57, the mopping connecting rod 57 is arranged along the front-back vertical surface direction, the front end of the mopping connecting rod 57 is connected with the rear end of a mopping sliding rod 58 through a mopping connecting rod hinge pin 73, the axis of the mopping connecting rod hinge pin 73 is positioned in the left-right horizontal direction, the mopping sliding rod 58 is inserted into a mopping guiding chute on the mopping guiding block 59, the mopping guiding block 59 is fixedly connected with the supporting plate 40, and a slideway groove on the mopping guiding block 59 is arranged along the front-back horizontal direction; when the motor crank wheel 45 rotates, the floor mopping slide rod 58 can be pushed to reciprocate back and forth by the floor mopping link 57.
The floor mopping slide rod 58 is internally provided with a trigger rod mounting hole along the axial direction, the trigger rod mounting hole extends forward to the front end face of the floor mopping slide rod 58, a trigger rod 61 is inserted in the trigger rod mounting hole in a clearance fit manner, the rear end in the trigger rod mounting hole is provided with a trigger rod push-out pressure spring 60, the rear end of the trigger rod push-out pressure spring 60 is propped against the bottom in the trigger rod mounting hole, the front end of the trigger rod push-out pressure spring 60 is propped against the rear end of the trigger rod 61, the front end of the trigger rod 61 is provided with a trigger head 62, the trigger head 62 is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head 62 is larger than the aperture of the trigger rod mounting hole, and the front end of the trigger rod 61 is fixedly connected with the rear end of the trigger head 62;
As shown in fig. 18 and 19, the inner and outer sides of the front end of the trigger rod 61 are respectively provided with a positioning clamping plate 63, the plate surfaces of the two positioning clamping plates 63 are respectively positioned in the front-rear vertical direction, the rear ends of the two positioning clamping plates 63 are fixedly connected with the front end of the trigger rod 61, the plate surfaces of the two positioning clamping plates 63 are provided with a mopping roller clamping groove 64, the opening of the mopping roller clamping groove 64 is positioned in the middle of the front end of the positioning clamping plate 63, the upper part between the front ends of the two positioning clamping plates 63 is provided with an upper clamping jaw, and the lower part between the front ends of the two positioning clamping plates 63 is provided with a lower clamping jaw;
the upper clamping jaw comprises an upper clamping jaw plate 65 arranged along the front-back horizontal direction, the rear end of the upper clamping jaw plate 65 is connected with the front end of an upper deflector rod 66 into a whole, the front end of the upper deflector rod 66 is high, the rear end of the upper deflector rod 66 is low, the front end of the lower part of the upper deflector rod 66 is obliquely arranged along the front-back direction, the upper surface of the trigger head 62 is attached to the front end of the upper clamping jaw plate, the rear end of the upper clamping jaw plate 65 is sleeved on an upper clamping jaw plate rotating pin shaft 67 in a clearance fit manner, two ends of the upper clamping jaw plate rotating pin shaft 67 are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates 63 in an installation manner, an upper clamping jaw plate deflector spring 68 is arranged above the upper clamping jaw plate 65, the rear end of the upper clamping jaw plate deflector spring 68 is fixedly connected with the upper ends of the corresponding positioning clamping plates 63, and the front part of the upper clamping plate deflector spring 68 acts on the top end of the upper clamping jaw plate 65 to enable the front end of the upper clamping jaw plate 65 to perform upward overturning movement;
The lower clamping jaw comprises a lower jaw plate 69 arranged along the front-rear horizontal direction, the rear end of the lower jaw plate 69 is connected with the front end of a lower deflector rod 70 into a whole, the front end of the lower deflector rod 70 is low, the rear end of the lower deflector rod 70 is high and is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod 70 is attached to the downward surface of the trigger head 62, the rear end of the lower jaw plate 69 is sleeved on a lower jaw plate rotating pin shaft 71 in a clearance fit manner, two ends of the lower jaw plate rotating pin shaft 71 are respectively connected with the lower part of the front end of a corresponding locating clamping plate 63 in an installation manner, a lower jaw plate deflector spring 72 is arranged below the lower jaw plate 69, the rear end of the lower jaw plate deflector spring 72 is fixedly connected with the lower end of the corresponding locating clamping plate 63, the front part of the lower jaw plate deflector spring 72 acts on the bottom end of the lower jaw plate 69, and the lower jaw plate deflector spring 72 enables the front end of the lower jaw plate 69 to perform downward overturning movement;
when the mop is used, two ends of the roller mop 37 are respectively and correspondingly inserted into the two mopping roller clamping grooves 64, two ends of the roller mop 37 respectively push the corresponding two trigger heads 62 backwards, the two trigger rods 61 respectively press each trigger rod backwards to push the pressure spring 60 outwards and move backwards, and simultaneously the two trigger heads 62 respectively touch the corresponding upper deflector rod 66 and the corresponding lower deflector rod 70, so that the two groups of upper claw plates 65 and lower claw plates 69 do overturning motion against the blocking action of the upper claw plate poking springs 68 and the lower claw plate poking springs 72, and further the upper claw plates 65 and the lower claw plates 69 clamp the end parts of the roller mop 37.
As shown in fig. 12 and 13, a rear wheel 75 is rotatably installed under the rear portion of the support plate 40;
as shown in fig. 15, an electromagnet adsorption device 76 is disposed above the rear portion of the floor mopping slide bar 58, the electromagnet adsorption device 76 is mounted and fixed on the floor mopping slide bar 58 through a fixing bracket 78, the electromagnetic adsorption portion of the electromagnet adsorption device 76 is disposed downward, an armature 77 is disposed below the electromagnet adsorption device 76, the armature 77 is fixed at the top end of a positioning pin 79, the positioning pin 79 is disposed along the vertical direction, the middle lower portion of the positioning pin 79 is inserted on the floor mopping slide bar 58 by adopting clearance fit, a pin insertion slot is disposed at the rear portion of the trigger bar 61, and when the trigger bar 61 is positioned at a position for pressing the trigger bar to push out the compression spring 60, the positioning pin 79 penetrates through the side wall of the floor mopping slide bar 58 downward and is inserted into the pin insertion slot. When the trigger rod 61 moves backward and presses the trigger rod pushing compression spring 60, the positioning pin shaft 79 penetrates through the side wall of the mopping slide rod 58 downwards and is inserted into the pin shaft inserting clamping groove, so that the trigger rod 61 is locked, if the electromagnet adsorption device 76 is electrified to suck the armature 77 and the positioning pin shaft 79, the trigger rod pushing compression spring 60 can push the trigger rod 61 to move forward, and the two trigger heads 62 push the two ends of the roller mop 37 out of the corresponding mopping roller clamping grooves 64.
When the intelligent nurse robot is used, the two walking driving motors 43 are respectively started, and the steering or rotating speed of the two walking driving motors 43 is regulated and controlled, so that the intelligent nurse robot can do forward, backward, left and right turns, on-site rotation and other movements; when the rear crank wheel 50 rotates, the front end of the retaining connecting rod 52 rotates along with the rear end of the retaining connecting rod 52, the retaining connecting rod 53 is pushed to reciprocate along the slideway slot on the retaining guide block 54 in a front-rear inclined manner through the retaining connecting rod hinge pin 74, the retaining block 55 moves along with the retaining connecting rod, the lower end face of the retaining block 55 is in a state of propping against the ground in most of the time period in the moving process of the retaining block 55, at the moment, the rear wheel 75 is overhead, so that the intelligent type nursing robot tilts forward, a part of the weight of the intelligent type nursing robot is forwards and downwards pressed to the rotary shaft 19 of the roller mop 37, a force for pressing the roller mop 37 towards the ground is generated, and simultaneously, in order to offset the backward pushing force generated when the roller mop drags forwards, the robot is prevented from moving backwards due to the action of forwards, the robot can not move forwards in the place, the mopping effect of the roller mop 37 is better, the mopping effect of the roller mop can be achieved, the mopping robot can be more clean, and the robot can drag the mopping operation can be accomplished quickly and efficiently.
When mopping is needed, two ends of the rotary shaft 19 of the roller mop can be respectively inserted into the clamping grooves 64 of the two mopping rollers, two ends of the rotary shaft 19 of the roller mop can respectively push the corresponding two trigger heads 62 backwards, the two trigger rods 61 can respectively press each trigger rod backwards to push the pressure spring 60 outwards and move backwards, and simultaneously the two trigger heads 62 can respectively touch the corresponding upper deflector rod 66 and the corresponding lower deflector rod 70, so that the two groups of upper claw plates 65 and lower claw plates 69 can perform overturning motion against the blocking action of the upper claw plate deflector springs 68 and the lower claw plate deflector springs 72, and further the upper claw plates 65 and the lower claw plates 69 clamp the end parts of the rotary shaft 19 of the roller mop.
As a further improvement of the invention, the cross sections of the floor mopping slide bar 58 and the retaining connecting rod 52 are rectangular, the included angle between the slideway slot on the retaining guide block 54 and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod 66 and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod 70 and the horizontal plane is 35-50 degrees.
As a further development of the invention, the rear wheel drive driving wheel 44 is in driving connection with the rear driven wheel 48 by means of a toothed belt drive.
As a further improvement of the present invention, the stop block 55 is rectangular.
As a further improvement of the present invention, the downward surface of the stop block 55 is provided with a plurality of anti-slip ribs along the horizontal direction, and the stop block 55 is made of wear-resistant rubber.
As a further improvement of the present invention, the right outer sleeve 93 is mounted to the bottom plate 80 by a right sliding bearing block 122, and the left outer sleeve 90 is mounted to the bottom plate 80 by a left sliding bearing block 123.
As a further development of the invention, the intermediate outer sleeve 84 is mounted in connection with the base plate 80 by means of a plurality of intermediate slide bearing blocks 124.
As a further improvement of the present invention, the cross section of the small arm 10 is rectangular, and the small arm 10 is made of steel.
As a further improvement of the present invention, the tensioning device includes a swing arm frame 29, the middle part of the swing arm frame 29 is rotatably mounted on the upper roller frame 26, the top end of the swing arm frame 29 is rotatably mounted with the tensioning wheel 24, the bottom end of the swing arm frame 29 is connected with the front end of the tensioning tension spring 30, the tensioning tension spring 30 extends backwards, and the rear end of the tensioning tension spring 30 is connected with the forearm 10.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the design spirit of the present invention.

Claims (8)

1. Intelligent nurse robot, its characterized in that: the robot comprises a machine body (31), wherein mechanical arms (33) are respectively arranged at the middle lower parts of the left side and the right side of the machine body (31), the two mechanical arms (33) are respectively arranged along the front vertical surface direction and the rear vertical surface direction, an arm driving mechanism is arranged at the middle part in the machine body (31), a walking and auxiliary mopping mechanism (32) is respectively arranged at the left side and the right side of the bottom of the machine body (31), and the two walking and auxiliary mopping mechanisms (32) are respectively arranged along the front direction and the rear direction and are symmetrically arranged on the machine body (31) left and right;
the mechanical arm (33) comprises a big arm (1), the big arm (1) is arranged along the front and back vertical surface direction, the front end of the big arm (1) is provided with a small arm rotating shaft (2), the axis of the small arm rotating shaft (2) is positioned in the left and right horizontal direction, the inner end of the small arm rotating shaft (2) is rotatably inserted into the front end of the big arm (1), a small arm rotating shaft driving belt pulley (3) is fixedly sleeved on the outer side of the front end of the big arm (1) on the small arm rotating shaft (2), an inner ear plate (4) for connecting the small arm is fixedly sleeved on the outer side of the small arm rotating shaft driving belt pulley (3), the front end of the inner ear plate (4) is fixedly connected with the rear end of the small arm (10), the surface of the inner ear plate (4) is positioned in the front and back vertical direction, a telescopic rod driving belt pulley (5) is rotatably arranged on the outer side sleeve of the small arm rotating shaft (2), a driving bevel gear (6) is fixedly arranged on the outer end face of the telescopic rod driving shaft (5), the driving shaft (6) is fixedly arranged on the outer side of the driving shaft (6) and is meshed with the driving shaft (6) of the driving shaft (6), the outer end of the roller mop driving belt pulley (9) is fixedly connected with the inner end of the roller mop middle belt pulley (21) through a transmission sleeve (20), the transmission sleeve (20) and the roller mop middle belt pulley (21) are rotatably sleeved on the forearm rotating shaft (2), an outer ear plate (8) for connecting the forearm is fixedly sleeved on the outer side of the roller mop middle belt pulley (21) on the forearm rotating shaft (2), the plate surface of the outer ear plate (8) is positioned in the front-back vertical direction, and the front end of the outer ear plate (8) is fixedly connected with the rear end of the forearm (10);
The small arm (10) is arranged along the front and back vertical surface direction, a small arm through hole (11) is axially arranged in the small arm (10), a lead screw nut (12) is inserted into the rear end in the small arm through hole (11), the lead screw nut (12) can rotate in the small arm through hole (11), but can not move along the axial direction of the small arm through hole (11), the rear end of the lead screw nut (12) extends out of the small arm through hole (11) and then fixedly connected with the front end of the driven bevel gear (7), the lead screw nut (12) is rotatably arranged on a telescopic driving lead screw (13), the telescopic driving lead screw (13) can move along the axial direction of the small arm through hole (11), the front end of the telescopic driving lead screw (13) is attached to the rear end of a telescopic end cap (14), the front end of the telescopic end cap (14) is fixedly connected with the rear end of the small arm telescopic rod (15), the front end of the small arm telescopic rod (15) extends out of the small arm through hole (11), a sliding bearing sleeve (18) is fixedly arranged at the front end of the small arm telescopic rod (15), a compression spring (16) is sleeved at the middle part of a rotary shaft (16) of a mop (19), a compression spring (16) is sleeved on the middle part of the telescopic rod (16), the front end of the forearm telescopic rod reset pressure spring (16) is propped against the backward end face of the gland (17), and the gland (17) is arranged at the front end outlet of the forearm through hole (11) through threaded connection;
The middle belt pulley (21) of the roller mop is connected with the roller mop belt pulley (23) through an annular roller mop driving belt (22), the roller mop belt pulley (23) is sleeved on the end part of the roller mop rotating shaft (19) which is positioned at the outer side of the sliding bearing sleeve (18), the middle part of the roller mop driving belt (22) is matched with a tensioning wheel (24) of a tensioning device, and the tensioning device is arranged on the small arm (10);
the small arm (10) is positioned in a ring of the roller mop driving belt (22), an upper supporting belt roller (25) is arranged above the small arm (10), the axis of the upper supporting belt roller (25) is positioned in the left-right horizontal direction, the upper supporting belt roller (25) is rotatably arranged on an upper supporting roller frame (26), the top end of the upper supporting belt roller (25) is attached to the roller mop driving belt (22), a lower supporting belt roller (28) is arranged below the small arm (10), the axis of the lower supporting belt roller (28) is positioned in the left-right horizontal direction, the lower supporting belt roller (28) is rotatably arranged on a lower supporting roller frame (27), and the bottom end of the lower supporting belt roller (28) is attached to the roller mop driving belt (22);
the arm driving mechanism comprises a bottom plate (80), the plate surface of the bottom plate (80) is positioned in the horizontal direction, the bottom plate (80) is fixed in the middle of a machine body (31), a left power output shaft (81) is rotatably arranged on the left side above the bottom plate (80) along the left-right horizontal direction, a right power output shaft (82) is rotatably arranged on the right side above the bottom plate (80) along the left-right horizontal direction, the right power output shaft (82) and the left power output shaft (81) are coaxially arranged, a right power output shaft gear (83) is fixed at the left end of the right power output shaft (82), the front end of the right power output shaft gear (83) is meshed with the rear end of an intermediate outer sleeve right gear (113), the intermediate outer sleeve right gear (113) is fixed at the right end of the intermediate outer sleeve (84), the intermediate outer sleeve (84) is rotatably arranged above the bottom plate (80) along the left-right horizontal direction, the intermediate outer sleeve (84) is rotatably inserted with an intermediate middle sleeve (85) in a clearance fit manner, the left and the right ends of the intermediate middle sleeve (85) respectively extend out of the intermediate outer sleeve (84), the intermediate middle sleeve (86) is rotatably inserted with the intermediate sleeve (86) in a clearance fit manner, the intermediate sleeve (85) is rotatably inserted in the intermediate sleeve (85) respectively, the left end and the right end of the intermediate shaft (87) respectively extend out of the intermediate inner sleeve (86);
The left end of the middle outer sleeve (84) is fixedly provided with a middle outer sleeve left gear (114), the rear end of the middle outer sleeve left gear (114) is meshed with the front end of a left power output shaft gear (115), the left power output shaft gear (115) is fixedly arranged at the right end of a left power output shaft (81), the middle part of the outer side wall of the left power output shaft (81) is rotatably sleeved with a left inner sleeve (88) in a clearance fit manner, the middle part of the outer side wall of the left inner sleeve (88) is rotatably sleeved with a left middle sleeve (89) in a clearance fit manner, and the middle part of the outer side wall of the left middle sleeve (89) is rotatably sleeved with a left outer sleeve (90) in a clearance fit manner;
the middle part of the outer side wall of the right power output shaft (82) is rotatably sleeved with a right inner sleeve (91) in clearance fit, the middle part of the outer side wall of the right inner sleeve (91) is rotatably sleeved with a right middle sleeve (92) in clearance fit, and the middle part of the outer side wall of the right middle sleeve (92) is rotatably sleeved with a right outer sleeve (93) in clearance fit;
a right inner sleeve gear (94) is fixed at the left end of the right inner sleeve (91), the front end of the right inner sleeve gear (94) is meshed with the rear end of a middle sleeve right gear (95), the middle sleeve right gear (95) is fixed at the right end of the middle sleeve (85), the left end of the middle sleeve (85) is fixedly provided with a middle sleeve left gear (96), the rear end of the middle sleeve left gear (96) is meshed with the front end of a left inner sleeve gear (97), and the left inner sleeve gear (97) is fixedly arranged at the right end of the left inner sleeve (88);
The left end of the right middle sleeve (92) is fixedly provided with a right middle sleeve gear (98), the front end of the right middle sleeve gear (98) is meshed with the rear end of a middle inner sleeve right gear (99), the middle inner sleeve right gear (99) is fixedly arranged at the right end of the middle inner sleeve (86), the left end of the middle inner sleeve (86) is fixedly provided with a middle inner sleeve left gear (100), the rear end of the middle inner sleeve left gear (100) is meshed with the front end of a left middle sleeve gear (101), and the left middle sleeve gear (101) is fixedly arranged at the right end of the left middle sleeve (89);
the left end of the right outer sleeve (93) is fixedly provided with a right outer sleeve gear (102), the circumferential surface of the right outer sleeve gear (102) is positioned in the front-back direction, the front end of the right outer sleeve gear (102) is meshed with the rear end of an intermediate shaft right gear (103), the intermediate shaft right gear (103) is fixedly arranged at the right end of an intermediate shaft (87), the left end of the intermediate shaft (87) is fixedly provided with an intermediate shaft left gear (104), the circumferential surface of the intermediate shaft left gear (104) is positioned in the front-back direction, the rear end of the intermediate shaft left gear (104) is meshed with the front end of a left outer sleeve gear (105), and the left outer sleeve gear (105) is fixedly arranged at the right end of a left outer sleeve (90);
the right end of the right power output shaft (82) is a power output end, a right power output shaft belt pulley (106) is sleeved at the power output end of the right power output shaft (82), the left end of the left power output shaft (81) is a power output end, and a left power output shaft belt pulley (107) is sleeved at the power output end of the left power output shaft (81);
The right power output shaft belt pulley (106) is in transmission connection with the roller mop driving belt pulley (9) of the mechanical arm (33) arranged on the right side of the machine body (31) through belt transmission, and the left power output shaft belt pulley (107) is in transmission connection with the roller mop driving belt pulley (9) of the mechanical arm (33) arranged on the left side of the machine body (31) through belt transmission;
the right end of the right inner sleeve (91) is a power output end, the power output end of the right inner sleeve (91) is sleeved with a right inner sleeve belt pulley (112), the left end of the left inner sleeve (88) is a power output end, and the power output end of the left inner sleeve (88) is sleeved with a left inner sleeve belt pulley (125);
the right inner sleeve belt pulley (112) is in transmission connection with the telescopic rod driving belt pulley (5) of the mechanical arm (33) arranged on the right side of the machine body (31) through belt transmission, and the left inner sleeve belt pulley (125) is in transmission connection with the telescopic rod driving belt pulley (5) of the mechanical arm (33) arranged on the left side of the machine body (31) through belt transmission;
the right end of the right middle sleeve (92) is a power output end, the power output end of the right middle sleeve (92) is sleeved with a right middle sleeve belt pulley (110), the left end of the left middle sleeve (89) is a power output end, and the power output end of the left middle sleeve (89) is sleeved with a left middle sleeve belt pulley (111);
The right middle sleeve belt pulley (110) is in transmission connection with the forearm rotating shaft driving belt pulley (3) of the mechanical arm (33) arranged on the right side of the machine body (31) through belt transmission, and the left middle sleeve belt pulley (111) is in transmission connection with the forearm rotating shaft driving belt pulley (3) of the mechanical arm (33) arranged on the left side of the machine body (31) through belt transmission;
the right power output shaft gear (83) or the left power output shaft gear (115) is meshed with the power output shaft driving gear (116), the power output shaft driving gear (116) is sleeved on a power output shaft of the power output shaft driving motor (117), and the power output shaft driving motor (117) is connected with the bottom plate (80) in a mounting way;
the right inner sleeve gear (94) or the left inner sleeve gear (97) is meshed with the inner sleeve driving gear (118), the inner sleeve driving gear (118) is sleeved on a power output shaft of the inner sleeve driving motor (119), and the inner sleeve driving motor (119) is connected with the bottom plate (80) in an installation mode;
the right middle sleeve gear (98) or the left middle sleeve gear (101) is meshed with the middle sleeve driving gear (120), the middle sleeve driving gear (120) is sleeved on a power output shaft of the middle sleeve driving motor (121), and the middle sleeve driving motor (121) is connected with the bottom plate (80) in a mounting way;
The right outer sleeve gear (102) or the left outer sleeve gear (105) is meshed with the outer sleeve driving gear (108), the outer sleeve driving gear (108) is sleeved on a power output shaft of the outer sleeve driving motor (109), and the outer sleeve driving motor (109) is connected with the bottom plate (80) in an installation way;
the walking and auxiliary mopping mechanism (32) comprises a supporting plate (40), the plate surface of the supporting plate (40) is positioned in the front-rear vertical direction, the supporting plate (40) is fixedly connected with a machine body (31), a motor (41) is arranged in the middle of the inner side of the supporting plate (40), a shell of the motor (41) is arranged on the supporting plate (40), a driving shaft (42) is arranged in the middle of the outer side of the supporting plate (40), the axis of the driving shaft (42) is positioned in the left-right horizontal direction, the inner end of the driving shaft (42) is rotatably arranged on the supporting plate (40), the inner end of the driving shaft (42) is connected with a motor shaft of the motor (41) in a transmission manner, and a rear wheel driving wheel (44) and a motor crank wheel (45) are sequentially sleeved on the driving shaft (42) from inside to outside;
the front part of the inner side of the supporting plate (40) is provided with a walking driving motor (43), a shell of the walking driving motor (43) is arranged on the supporting plate (40), the front part of the outer side of the supporting plate (40) is provided with a front wheel shaft (46), the axis of the front wheel shaft (46) is positioned in the left-right horizontal direction, the inner end of the front wheel shaft (46) is rotatably arranged on the supporting plate (40), the inner end of the front wheel shaft (46) is in transmission connection with a motor shaft of the walking driving motor (43), and a front driving walking wheel (47) is sleeved on the front wheel shaft (46);
The rear wheel driving wheel (44) is in transmission connection with a rear driven wheel (48) positioned at the rear of the rear wheel driving wheel through belt transmission or chain transmission, the rear driven wheel (48) is sleeved on a rear wheel shaft (49), the axis of the rear wheel shaft (49) is positioned in the left-right horizontal direction, the inner end of the rear wheel shaft (49) is rotatably arranged on the supporting plate (40), and a rear crank runner (50) is sleeved on the rear wheel shaft (49) and positioned at the outer side of the rear driven wheel (48);
the edge of the rear crank rotating wheel (50) is rotatably provided with a rear crank rotating shaft (51) along the left-right horizontal direction, the rear crank rotating shaft (51) outwards extends to penetrate through the outer end face of the rear crank rotating wheel (50), the outer end of the rear crank rotating shaft (51) is connected with the front end of a backstop connecting rod (52), the backstop connecting rod (52) is arranged along the front-back vertical surface direction, the rear end of the backstop connecting rod (52) is connected with the front end of a backstop sliding rod (53) through a backstop connecting rod hinged pin shaft (74), the axis of the backstop connecting rod hinged pin shaft (74) is positioned in the left-right horizontal direction, the backstop sliding rod (53) is inserted into a slideway groove on a backstop guide block (54), the backstop guide block (54) is fixedly connected with a supporting plate (40), the slideway groove on the backstop guide block (54) is high in front end, low in rear end and is obliquely arranged along the front-back vertical surface direction, the rear end of the backstop sliding rod (53) is fixedly connected with a backstop block (55), and the end face of the backstop sliding rod (55) facing downwards can be attached to the ground;
The edge of the motor crank wheel (45) is rotatably provided with a motor crank rotating shaft (56) along the left-right horizontal direction, the motor crank rotating shaft (56) outwards extends to penetrate through the outer end face of the motor crank wheel (45), the outer end of the motor crank rotating shaft (56) is fixedly connected with the rear end of a mopping connecting rod (57), the mopping connecting rod (57) is arranged along the front-back vertical surface direction, the front end of the mopping connecting rod (57) is connected with the rear end of a mopping sliding rod (58) through a mopping connecting rod hinge pin shaft (73), the axis of the mopping connecting rod hinge pin shaft (73) is positioned in the left-right horizontal direction, the mopping sliding rod (58) is inserted into a mopping guide chute on a mopping guide block (59), the mopping guide block (59) is fixedly connected with a supporting plate (40), and a slideway groove on the mopping guide block (59) is arranged along the front-back horizontal direction;
the floor mopping slide bar (58) is internally provided with a trigger bar mounting hole along the axial direction, the trigger bar mounting hole extends forward to the front end face of the floor mopping slide bar (58), a trigger bar (61) is inserted in the trigger bar mounting hole in a clearance fit manner, the rear end in the trigger bar mounting hole is provided with a trigger bar push-out pressure spring (60), the rear end of the trigger bar push-out pressure spring (60) is propped against the bottom in the trigger bar mounting hole, the front end of the trigger bar push-out pressure spring (60) is propped against the rear end of the trigger bar (61), the front end of the trigger bar (61) is provided with a trigger head (62), the trigger head (62) is in a truncated cone shape with a large front end diameter and a small rear end diameter, the front end diameter of the trigger head (62) is larger than the aperture of the trigger bar mounting hole, and the front end of the trigger bar (61) is fixedly connected with the rear end of the trigger head (62);
The inner side and the outer side of the front end of the trigger rod (61) are respectively provided with a positioning clamping plate (63), the plate surfaces of the two positioning clamping plates (63) are respectively positioned in the front-back vertical direction, the rear ends of the two positioning clamping plates (63) are fixedly connected with the front end of the trigger rod (61), the plate surfaces of the two positioning clamping plates (63) are provided with a mopping roller clamping groove (64), the opening of the mopping roller clamping groove (64) is positioned in the middle of the front end of the positioning clamping plate (63), the upper part between the front ends of the two positioning clamping plates (63) is provided with an upper clamping jaw, and the lower part between the front ends of the two positioning clamping plates (63) is provided with a lower clamping jaw;
the upper clamping jaw comprises an upper claw plate (65) arranged along the front-back horizontal direction, the rear end of the upper claw plate (65) is connected with the front end of an upper deflector rod (66) into a whole, the front end of the upper deflector rod (66) is high, the rear end of the upper deflector rod (66) is low and is obliquely arranged along the front-back direction, the front end of the lower part of the upper deflector rod (66) is attached to the upward surface of a trigger head (62), the rear end of the upper claw plate (65) is sleeved on an upper claw plate rotating pin shaft (67) in a clearance fit manner, the two ends of the upper claw plate rotating pin shaft (67) are respectively connected with the upper parts of the front ends of corresponding positioning clamping plates (63), an upper claw plate poking spring (68) is arranged above the upper claw plate (65), the rear end of the upper claw plate poking spring (68) is fixedly connected with the upper ends of the corresponding positioning clamping plates (63), and the front part of the upper claw plate poking spring (68) acts on the top end of the upper claw plate (65) to enable the front end of the upper claw plate (65) to perform upward overturning movement;
The lower clamping jaw comprises a lower jaw plate (69) arranged along the front-rear horizontal direction, the rear end of the lower jaw plate (69) is connected with the front end of a lower deflector rod (70) into a whole, the front end of the lower deflector rod (70) is low, the rear end of the lower deflector rod (70) is obliquely arranged along the front-rear direction, the front end of the upper part of the lower deflector rod (70) is attached to the downward surface of a trigger head (62), the rear end of the lower jaw plate (69) is sleeved on a lower jaw plate rotating pin shaft (71) in a clearance fit manner, the two ends of the lower jaw plate rotating pin shaft (71) are respectively connected with the lower parts of the front ends of corresponding positioning clamping plates (63), a lower jaw plate poking spring (72) is arranged below the lower jaw plate (69), the rear end of the lower jaw plate poking spring (72) is fixedly connected with the lower end of the corresponding positioning clamping plate (63), the front part of the lower jaw plate poking spring (72) acts on the bottom end of the lower jaw plate (69), and the front end of the lower jaw plate poking spring (69) makes downward overturning movement;
a rear wheel (75) is rotatably mounted below the rear part of the support plate (40);
an electromagnet adsorption device (76) is arranged above the rear part of the mopping slide bar (58), the electromagnet adsorption device (76) is fixedly arranged on the mopping slide bar (58) through a fixed bracket (78), an electromagnetic adsorption part of the electromagnet adsorption device (76) is downwards arranged, an armature (77) is arranged below the electromagnet adsorption device (76), the armature (77) is fixed at the top end of a positioning pin (79), the positioning pin (79) is arranged in the vertical direction, the middle lower part of the positioning pin (79) is inserted on the mopping slide bar (58) in a clearance fit manner, a pin inserting clamping groove is formed in the rear part of the triggering rod (61), and when the triggering rod (61) is positioned at the position of a pressing triggering rod pushing pressure spring (60), the positioning pin (79) downwards penetrates through the side wall of the mopping slide bar (58) and is inserted into the pin inserting clamping groove;
The cross section of the small arm (10) is rectangular, and the small arm (10) is made of steel.
2. The intelligent babysitter robot as defined in claim 1, wherein: the cross sections of the floor mopping slide bar (58) and the retaining connecting rod (52) are rectangular, the included angle between a slide groove on the retaining guide block (54) and the horizontal plane is 20-40 degrees, the included angle between the upper deflector rod (66) and the horizontal plane is 35-50 degrees, and the included angle between the lower deflector rod (70) and the horizontal plane is 35-50 degrees.
3. The intelligent babysitter robot as defined in claim 2, wherein: the rear wheel driving wheel (44) is in transmission connection with the rear driven wheel (48) through a toothed belt transmission.
4. The intelligent babysitter robot as set forth in claim 3, characterized in that: the retaining block (55) is rectangular.
5. The intelligent babysitter robot as defined in any one of claims 1-4, characterized in that: the surface of the backstop block (55) facing downwards is provided with a plurality of anti-slip convex ridges along the left-right horizontal direction, and the backstop block (55) is made of wear-resistant rubber.
6. The intelligent babysitter robot as defined in claim 5, wherein: the right outer sleeve (93) is connected with the bottom plate (80) through a right sliding bearing seat (122), and the left outer sleeve (90) is connected with the bottom plate (80) through a left sliding bearing seat (123).
7. The intelligent babysitter robot as defined in claim 6, wherein: the intermediate outer sleeve (84) is mounted to the base plate (80) by a plurality of intermediate slide bearing blocks (124).
8. The intelligent babysitter robot as defined in claim 7, wherein: the tensioning device comprises a swing arm frame (29), the middle part of the swing arm frame (29) is rotatably arranged on the upper support rod frame (26), the top end of the swing arm frame (29) is rotatably provided with the tensioning wheel (24), the bottom end of the swing arm frame (29) is connected with the front end of a tensioning tension spring (30), the tensioning tension spring (30) extends backwards, and the rear end of the tensioning tension spring (30) is connected with the forearm (10).
CN201811093957.XA 2018-09-19 2018-09-19 Intelligent nurse robot Active CN109157170B (en)

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CN114476751B (en) * 2020-10-27 2024-03-22 广东美的白色家电技术创新中心有限公司 Winding and unwinding device and cleaning device
CN117206776B (en) * 2023-11-08 2024-02-20 中铁三局集团有限公司 Portable robot moving chassis with three-dimensional guide rail

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KR20120129192A (en) * 2011-05-19 2012-11-28 어수곤 robot cleaner
WO2013036054A2 (en) * 2011-09-09 2013-03-14 고려대학교 산학협력단 Torque-free robot arm
CN106041909A (en) * 2016-07-18 2016-10-26 佛山市联智新创科技有限公司 Six-axis universal robot with mechanical paws arranged on small arms

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Publication number Priority date Publication date Assignee Title
CN1619323A (en) * 2003-11-18 2005-05-25 中国科学院自动化研究所 High voltage electric transmission line automatic survey inspection robot monobody
WO2012059027A1 (en) * 2010-11-02 2012-05-10 Chen Zhizhong Mop squeezer
KR20120129192A (en) * 2011-05-19 2012-11-28 어수곤 robot cleaner
WO2013036054A2 (en) * 2011-09-09 2013-03-14 고려대학교 산학협력단 Torque-free robot arm
CN106041909A (en) * 2016-07-18 2016-10-26 佛山市联智新创科技有限公司 Six-axis universal robot with mechanical paws arranged on small arms

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