CN202053254U - Service manipulator - Google Patents
Service manipulator Download PDFInfo
- Publication number
- CN202053254U CN202053254U CN2010206245090U CN201020624509U CN202053254U CN 202053254 U CN202053254 U CN 202053254U CN 2010206245090 U CN2010206245090 U CN 2010206245090U CN 201020624509 U CN201020624509 U CN 201020624509U CN 202053254 U CN202053254 U CN 202053254U
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- cleaning
- connecting rod
- movement
- gear
- service type
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Abstract
The utility model discloses a service manipulator and particularly relates to a service manipulator which can be used for cleaning instead of people. The service manipulator comprises a movement, various replaceable cleaning hands, a shell for containing the movement and a connecting rod, wherein the movement can provide the power and control the transmission; the cleaning hands can be used on different occasions; the connecting rod outputs left and right rocking motion; a universal joint and a moving joint for connecting the manipulators are arranged on the connecting rod; and a moistureproof box assembly for preventing the moistening of the movement is arranged outside the movement. The service manipulator has the beneficial effects that: 1, glass windows, doors and windows, ceilings and wall surfaces can be cleaned without building the stairs, and dust which cannot be cleaned by a dust collector and a cleaning robot can be completely cleaned by the service manipulator; 2, the labor intensity of the cleaning personnel can be reduced, and the cleaning work can be carried out by the elderly, children, the frail or the disabled; 3, the cleaning efficiency and the cleanliness of large floors and stairs of hotels, halls and production workshops are improved; and 4, the service manipulator has small size, light weight, low energy consumption and no secondary pollution.
Description
Technical field
The utility model relates to a kind of service type manipulator, is specially the service type manipulator that a kind of people of replacement cleans; And can the cleaning glass window, family expenses or public such as door and window, ceiling, metope, ground.This manipulator also can be used for wall plastering, sapin metope, daub of building trade etc.
Background technology
Existing burnisher except dust catcher, clean robot, is exactly manually to clean.Particularly clean furniture, windowpane and door and window and the finishing after metope, do not accomplish with dust catcher, clean robot, and also clean rubbish just of dust catcher, clean robot, can not clean dust fully, for this reason, people can only manually clean with rag.
The utility model content
The purpose of this utility model is the service type manipulator in order to provide a kind of people of replacement to clean.But family expenses or public places such as its cleaning glass window, door and window, ceiling, metope, ground.Also can be used for the work such as wall plastering, sapin metope, daub of building trade.
The purpose of this utility model can be achieved through the following technical solutions.
A kind of service type manipulator comprises the movement that power and control transmission are provided; The various interchangeable cleaning hands that use in different occasions; Accommodate the casing of movement; And the connecting rod that is output as side-to-side motion; Connecting rod is provided with Universal-head and the movable head that connects various manipulators; Described movement also is provided with the Damp-proof box assembly that prevents that movement from making moist outward.
Described movement comprises reductor, gear drive, electric machine assembly, connecting rod slider mechanism, movement mount pad, control system and various securing member; The output shaft of electric machine assembly is in transmission connection by the one-level reduction gearing of output shaft gear and reductor; The double-reduction gear and the gear drive of reductor are in transmission connection; The connecting rod of connecting rod slider mechanism is provided with the two sections chute, and gliding groove is socketed on the secondary slide block that is provided with on the connecting rod base, and connecting rod base is installed on the movement mount pad; Upper hopper chute is socketed on the master slider on the eccentric shaft of gear drive.
According to the quantity of speed reducer output shaft, and the position of connecting rod slider mechanism and master slider, secondary slide block, can be set to the relative weave mode of both arms, the relative weave mode of both arms and double-arm sway pattern.
Described electric machine assembly comprises motor, motor mounting plate, output shaft gear and securing member; Motor mounting plate is fixed on the movement mount pad, and motor is fixed on the motor mounting plate; Output shaft gear is installed on the motor output shaft.
Ball (or roller) is installed in the upper and lower chute of described connecting rod, and the top of connecting rod is a link end, and link end is connected with securing member.
Described reductor comprises one-level reduction gearing, double-reduction gear, reduction gearing axle, bearing and securing member; The reduction gearing axle is fixed on the movement mount pad, and one-level reduction gearing and double-reduction gear are coaxial, and is installed on the reduction gearing axle by bearing and securing member; The output shaft gear engagement of one-level reduction gearing and motor.
Engageable two groups of one-level reduction gearing, double-reduction gear reduction gearing axle, bearing and securing member on the output shaft gear of described motor.
Described gear drive comprises travelling gear, main shaft, bearing, bearing cap, eccentric shaft and securing member; Bearing and bearing cap are fixed in the main shaft of travelling gear on the movement mount pad; The double-reduction gear engagement of travelling gear and reductor; A distance apart from the travelling gear axle center is provided with eccentric shaft.
Described Damp-proof box comprises the box body and the seal of tape drum lid; Described movement is contained in the box body, the seal sealing.
Described cleaning hand comprises rag cleaning hand, cleaning ball cleaning hand, bar shaped brush cleaning hand, disc shaped brushes cleaning hand, drum cleaning hand and other types cleaning hand.Described cleaning hand is to make different shape.As adopt the flat of dress rag when cleaning the plane, adopt cleansing bar of strip or the like when adopting spherical cleaning ball, cleaning groove surface during the cleaning corner; The material of described cleaning hand is plastics, rubber, cleaning cotton, metal etc.
Described control system comprises master control borad, electrical part, control button, and described control button is installed on the cleaning attachment; Described cleaning attachment is shape and the different gripping members of material such as support bar (can make telescopic), handle or handle.
The beneficial effects of the utility model are;
1, need not build stair just energy cleaning glass window, door and window, ceiling, metope; For the dust that dust catcher, clean robot can not clean, can clean very totally; 2, can alleviate cleanup crew's labour intensity, I guess the elderly, child, weakling or disabled person (comprising the blind person) also can implement cleaning for those; 3, raise the efficiency and cleanliness factor for cleanings such as large-scale ground such as hotel, assembly hall, workshop and stair; 4, small and exquisite, in light weight, energy consumption is little, non-secondary pollution.
This manipulator also can be used for the wall plastering, sapin metope, daub of building trade etc., increases work efficiency and work quality, the labor strength that reduces, and non-secondary pollution reduces the generation of occupational disease.By changing the cleaning hand, be applicable to various types of cleanings.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model;
Fig. 2 a is the structural representation of the utility model core section (both arms are relative);
Fig. 2 b is the structural representation of the utility model core section (both arms are identical);
Fig. 2 c is the structural representation of the utility model core section (single armed);
Fig. 3 is the utility model connecting rod slider mechanism structure schematic diagram;
Fig. 4 is the structural representation of the utility model electric machine assembly part;
Fig. 5 a is the structural representation of the utility model reductor (single armed output);
Fig. 5 b asks the structural representation of the utility model reductor (both arms output);
Fig. 6 a is the structural representation of the utility model gear drive (single armed output);
Fig. 6 b is the structural representation of the utility model gear drive (both arms output);
Fig. 7 is the structural representation of the utility model Damp-proof box;
Among the figure; 10, shell 11, connecting rod 12, Universal-head 13, movable head 14, support bar 20, electric machine assembly 21, motor 22, motor mounting plate 23, output shaft gear 30, reductor 31, one-level reduction gearing 32, double-reduction gear 33, reduction gearing axle 34, bearing 40, gear drive 41, travelling gear 42, main shaft 43, eccentric shaft 50, connecting rod slider mechanism 51, connecting rod 52, upper hopper chute 53, gliding groove 54, master slider 55, secondary slide block 56, connecting rod base 57, link end 60, Damp-proof box assembly 61, box body 62, lid 70, cleaning hand 71, rag cleaning hand 72, cleaning ball cleaning hand 73, bar shaped brush cleaning hand 74, disc shaped brushes cleaning hand 75, drum cleaning hand 80, control system 81, control button 90, the movement mount pad.
The specific embodiment
Further set forth design feature of the present utility model below in conjunction with accompanying drawing and specific embodiment.
As shown in Figure 1, a kind of service type manipulator comprises the movement that power and control transmission are provided; The various interchangeable cleaning hands 70 that use in different occasions; Accommodate the casing 10 of movement; And the connecting rod 11 that is output as side-to-side motion; Connecting rod 11 is provided with Universal-head 12 and the movable head 13 that connects various cleaning hands 70; Described movement also is provided with the Damp-proof box assembly 60 that prevents that movement from making moist outward.
Shown in Fig. 1, Fig. 3 and Fig. 2 a, described movement comprises reductor 30, gear drive 40, electric machine assembly 20, connecting rod slider mechanism 50, movement mount pad 90, control system 80 and various securing member; The output shaft of electric machine assembly 20 is in transmission connection by the one-level reduction gearing 31 of output shaft gear 23 with reductor 30; The double-reduction gear 32 and the gear drive 40 of reductor 30 are in transmission connection; The connecting rod 51 of connecting rod slider mechanism 50 is provided with the two sections chute, and gliding groove 53 is socketed on the secondary slide block 55 that is provided with on the connecting rod base 56, and connecting rod base 56 is installed on movement mount pad 90; Upper hopper chute 52 is socketed on the master slider 54 on the eccentric shaft 43 of gear drive 40.
Shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, according to the quantity of reductor 30 output shafts, and the position of connecting rod slider mechanism 50 and master slider 54, secondary slide block 55, can be set to the relative weave mode of both arms, the relative weave mode of both arms and double-arm sway pattern.
As shown in Figure 3, described electric machine assembly 20 comprises motor 21, motor mounting plate 22, output shaft gear 23 and securing member; Motor mounting plate 22 is fixed on the movement mount pad 90, and motor 21 is fixed on the motor mounting plate 22; Output shaft gear 23 is installed on the output shaft of motor 21.
After energising, control system 80 is started working, and the output shaft of motor 21 rotates, and drives output shaft gear 23 and rotates in the lump, and rotating moment slowed down by reductor 30 and to the power special delivery; Speed after the deceleration and moment send gear drive 40 to, by the eccentric shaft on the gear drive 40 43 revolving force is flowed to connecting rod slider mechanism 50, after master slider 54 obtains the moment of eccentric shaft 43 transmission, rotatablely move as circumference with travelling gear 41, in the upper hopper chute 52 of connecting rod 51, slide up and down simultaneously, thereby make connecting rod 51 do reciprocating type swing.When the upper end of connecting rod 51 ran into the power of other directions, secondary slide block 55 can be done fine setting and slide in connecting rod 51 gliding grooves 53, make connecting rod 51 tops reach each position, to improve cleannes.At this moment, the power of master slider 54 produces connecting rod 51 and swings, and by Universal-head 12, movable head 13, connecting rod 11 connecting rod 51 and various cleaning hands 70 is connect, and has formed cleaning hand 70 and has swung synchronously with connecting rod 51.The action of this swing just, the imitation people have realized cleaning.
As shown in Figure 3, the upper and lower chute of described connecting rod 51 is equipped with ball (or roller) in (52,53), and the top of connecting rod 51 is a link end 57, and link end 57 is connected with securing member.(52,53) embed ball (or roller) in the upper and lower chute of connecting rod, and major and minor slide block (54,55) forms point with ball (or roller) and contacts to reduce friction, and is convenient to slide up and down freely.
Shown in Fig. 5 a, described reductor 30 comprises one-level reduction gearing 31, double-reduction gear 32, reduction gearing axle 33, bearing 34 and securing member; Reduction gearing axle 33 is fixed on the movement mount pad 90, and one-level reduction gearing 31 and double-reduction gear 32 are coaxial, and is installed on the reduction gearing axle 33 by bearing 34 and securing member; One-level reduction gearing 31 meshes with the output shaft gear 23 of motor.When the output shaft gear 23 of one-level reduction gearing 31 and motor meshes, rotating speed and driving force have just been obtained.One-level reduction gearing 31 and double-reduction gear 32 are coaxial, for this reason, and also corresponding rotating speed and the driving force of having obtained of double-reduction gear 32, the travelling gear 41 that rotating speed after simultaneously rotating speed being slowed down and will slowing down and moment send gear drive 40 to.Reductor 30 mainly plays a part to slow down and transmission torque.
Shown in Fig. 5 a and Fig. 5 b, engageable two groups of one-level reduction gearing 31, double-reduction gear 32, reduction gearing axle 33, bearing 34 and securing member on the output shaft gear 23 of described motor 20.
Shown in Fig. 6 a and Fig. 6 b, described gear drive 40 comprises travelling gear 41, main shaft 42, bearing, bearing cap, eccentric shaft 43 and securing member; Bearing and bearing cap are fixed in the main shaft 42 of travelling gear 41 on the movement mount pad 90; Travelling gear 41 meshes with the double-reduction gear 32 of reductor 30; Be provided with eccentric shaft 43 in a side on the travelling gear 41 near electric machine assembly.
As shown in Figure 7, described Damp-proof box assembly 60 comprises the box body 61 and the seal of tape drum lid 62; Described movement is contained in the box body 61, the seal sealing.With moistureproof and dustproof.
As shown in Figure 1, described cleaning hand 70 comprises rag cleaning hand 71, cleaning ball cleaning hand 72, bar shaped brush cleaning hand 73, disc shaped brushes cleaning hand 74, drum cleaning hand 75 and other types cleaning hand.Described cleaning hand 70 is to make different shape.As adopt the flat of dress rag when cleaning the plane, adopt cleansing bar of strip or the like when adopting spherical cleaning ball, cleaning groove surface during the cleaning corner; The material of described cleaning hand 70 is plastics, rubber, cleaning cotton, metal etc.
As shown in Figure 1, described control system 80 comprises master control borad, electrical part, control button 81, and described control button 81 is installed on the cleaning attachment; Described cleaning attachment is shape and the different gripping members of material such as support bar 14 (can make telescopic), handle or handle.
Claims (11)
1. a service type manipulator is characterized in that: comprise the movement that power and control transmission are provided; The various interchangeable cleaning hands that use in different occasions; Accommodate the casing of movement; And the connecting rod that is output as side-to-side motion; Connecting rod is provided with Universal-head and the movable head that connects various manipulators; Described movement also is provided with the Damp-proof box assembly that prevents that movement from making moist outward.
2. service type manipulator according to claim 1 is characterized in that: described movement comprises reductor, gear drive, electric machine assembly, connecting rod slider mechanism, movement mount pad, control system and various securing member; The output shaft of electric machine assembly is in transmission connection by the one-level reduction gearing of output shaft gear and reductor; The double-reduction gear and the gear drive of reductor are in transmission connection; The connecting rod of connecting rod slider mechanism is provided with the two sections chute, and gliding groove is socketed on the secondary slide block that is provided with on the connecting rod base, and connecting rod base is installed on the movement mount pad; Upper hopper chute is socketed on the master slider on the eccentric shaft of gear drive.
3. service type manipulator according to claim 2, it is characterized in that: according to the quantity of speed reducer output shaft, and the position of connecting rod slider mechanism and master slider, secondary slide block, connecting rod is set to both arms identical swings pattern, the relative weave mode of both arms and double-arm sway pattern.
4. service type manipulator according to claim 2 is characterized in that: described electric machine assembly comprises motor, motor mounting plate, output shaft gear and securing member; Motor mounting plate is fixed on the movement mount pad, and motor is fixed on the motor mounting plate; Output shaft gear is installed on the motor output shaft.
5. service type manipulator according to claim 2 is characterized in that: in the upper and lower chute of described connecting rod ball is installed, the top of connecting rod is a link end, and link end is connected with securing member.
6. service type manipulator according to claim 2 is characterized in that: described reductor comprises one-level reduction gearing, double-reduction gear, reduction gearing axle, bearing and securing member; The reduction gearing axle is fixed on the movement mount pad, and one-level reduction gearing and double-reduction gear are coaxial, and is installed on the reduction gearing axle by bearing and securing member; The output shaft gear engagement of one-level reduction gearing and motor.
7. service type manipulator according to claim 2 is characterized in that: engageable two groups of one-level reduction gearing, double-reduction gear reduction gearing axle, bearing and securing member on the output shaft gear of described motor.
8. service type manipulator according to claim 2 is characterized in that: described gear drive comprises travelling gear, main shaft, bearing, bearing cap, eccentric shaft and securing member; Bearing and bearing cap are fixed in the main shaft of travelling gear on the movement mount pad; The double-reduction gear engagement of travelling gear and reductor; A distance apart from the travelling gear axle center is provided with eccentric shaft.
9. service type manipulator according to claim 1 is characterized in that: described Damp-proof box comprises the box body and the seal of tape drum lid; Described movement is contained in the box body, the seal sealing.
10. service type manipulator according to claim 1 is characterized in that: described cleaning hand comprises rag cleaning hand, cleaning ball cleaning hand, bar shaped brush cleaning hand, disc shaped brushes cleaning hand and drum cleaning hand; Described cleaning hand comprises: adopt the flat of dress rag during the cleaning plane, adopt the cleansing bar of strip when adopting spherical cleaning ball, cleaning groove surface during the cleaning corner; The material of described cleaning hand is plastics, rubber, cleaning cotton or metal.
11. service type manipulator according to claim 2 is characterized in that: described control system comprises master control borad, electrical part, control button, and described control button is installed on the cleaning attachment; Described cleaning attachment is support bar, handle or handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206245090U CN202053254U (en) | 2010-11-25 | 2010-11-25 | Service manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206245090U CN202053254U (en) | 2010-11-25 | 2010-11-25 | Service manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202053254U true CN202053254U (en) | 2011-11-30 |
Family
ID=45013240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206245090U Expired - Fee Related CN202053254U (en) | 2010-11-25 | 2010-11-25 | Service manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202053254U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476381A (en) * | 2010-11-25 | 2012-05-30 | 上海领派机电科技有限公司 | Service-type manipulator |
| CN104055464A (en) * | 2014-05-09 | 2014-09-24 | 浙江理工大学 | Child sweeping and mopping machine |
| CN106793899A (en) * | 2015-03-09 | 2017-05-31 | 夏普株式会社 | Self-propelled electronic equipment |
| CN107386616A (en) * | 2017-08-21 | 2017-11-24 | 郑州大学 | A kind of construction pours car with concrete floor |
| CN107802204A (en) * | 2016-06-28 | 2018-03-16 | 汪红 | A kind of office building high-altitude glass curtain wall cleaning intelligent robot |
| CN108366707A (en) * | 2015-10-27 | 2018-08-03 | 三星电子株式会社 | Clean robot and its control method |
-
2010
- 2010-11-25 CN CN2010206245090U patent/CN202053254U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476381A (en) * | 2010-11-25 | 2012-05-30 | 上海领派机电科技有限公司 | Service-type manipulator |
| CN104055464A (en) * | 2014-05-09 | 2014-09-24 | 浙江理工大学 | Child sweeping and mopping machine |
| CN106793899A (en) * | 2015-03-09 | 2017-05-31 | 夏普株式会社 | Self-propelled electronic equipment |
| CN108366707A (en) * | 2015-10-27 | 2018-08-03 | 三星电子株式会社 | Clean robot and its control method |
| CN108366707B (en) * | 2015-10-27 | 2022-03-08 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN107802204A (en) * | 2016-06-28 | 2018-03-16 | 汪红 | A kind of office building high-altitude glass curtain wall cleaning intelligent robot |
| CN107802204B (en) * | 2016-06-28 | 2019-07-26 | 南通北外滩建设工程有限公司 | A kind of office building high-altitude glass curtain wall clears up intelligent robot |
| CN107386616A (en) * | 2017-08-21 | 2017-11-24 | 郑州大学 | A kind of construction pours car with concrete floor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111130 Termination date: 20141125 |
|
| EXPY | Termination of patent right or utility model |