WO2021082624A1

WO2021082624A1 - Climbing mechanism and cleaning robot

Info

Publication number: WO2021082624A1
Application number: PCT/CN2020/108757
Authority: WO
Inventors: 刘正权; 于吉苏; 王枫; 艾福强; 尹德海; 戴振东
Original assignee: 南京中科特检机器人有限公司; 南京溧航仿生产业研究院有限公司
Priority date: 2019-10-28
Filing date: 2020-08-13
Publication date: 2021-05-06
Also published as: CN110588825A; CN110588825B

Abstract

A climbing mechanism and a cleaning robot, the climbing mechanism comprising a base (100), a conveying assembly (200), and a driving assembly (300), the conveying assembly (200) comprises a plurality of synchronous wheels pivoted on the base (100) and a conveying member (210) connected to the multiple synchronous wheels, one synchronous wheel is in transmission connection with the driving assembly (300), the conveying member (210) is provided with a first free end and a second free end, the first free end can be clamped between the two synchronous wheels and can move relative to the synchronous wheels, and the second free end is used for connecting to a fixed main body. The cleaning robot comprises the climbing mechanism, belongs to the technical field of cleaning machinery, and can solve the technical problem that in the prior art, a climbing mechanism needs to be manually adjusted to ascend and descend in overhead operations.

Description

Climbing mechanism and cleaning robot

Technical field

The invention relates to the technical field of cleaning machinery, in particular to a climbing mechanism and a cleaning robot.

Background technique

At present, spider-man high-altitude operations are generally used for building curtain wall cleaning. Specifically, the spider man connects the aerial work hoisting plate to the work rope, and connects the safety belt to the safety rope for aerial work. The hoisting plate can be manually adjusted to realize the ascent and lower, and the work intensity is extremely high.

technical problem

The purpose of the present invention is to provide a climbing mechanism and a cleaning robot, so as to alleviate the technical problem that the climbing mechanism in high-altitude operations in the prior art requires manual adjustment of elevation.

Technical solutions

In the first aspect, an embodiment of the present invention provides a climbing mechanism, which includes a base, a transmission component, and a driving component.

The transmission assembly includes a plurality of synchronization wheels pivotally connected to the base and a transmission member connected to the plurality of synchronization wheels, and one of the synchronization wheels is drivingly connected with the drive assembly.

The transmission member has a first free end and a second free end, the first free end can be clamped between two synchronization wheels, and can move relative to the synchronization wheel, and the second free end is used for connection Fix the main body.

In an alternative embodiment, a plurality of the synchronization wheels are respectively a driving wheel, a rope winding wheel and a pinch wheel, and the first free end is wound once or around between the driving wheel and the rope winding wheel. After multiple turns, it is clamped between the driving wheel and the pressing wheel.

The driving wheel is in transmission connection with the driving assembly.

In an alternative embodiment, the pivot points at which the driving wheel, the rope winding wheel and the pressure wheel are located form a triangular structure.

In an alternative embodiment, the driving wheel includes a driving roller body and a retaining ring sleeved on the driving roller body, and the retaining ring divides the driving roller body into multiple sections for winding the conveying member的第一环槽 Body.

In an optional embodiment, multiple sets of racks are arranged at intervals in the circumferential direction of the active roller body, and the multiple sets of racks are used to increase the friction between the conveying member and the active roller body.

In an alternative embodiment, a second annular groove body that cooperates with the first annular groove body is provided on the rope winding wheel.

After the first free end is wound one or more turns between the first ring-shaped groove body and the second ring-shaped groove body, it can be located at the lower limit of the first ring under the pressure of the pressure wheel. Annular tank body.

In an alternative embodiment, the pressure wheel is connected with an elastic clamping component.

The elastic clamping assembly includes a swing arm and an elastic member, the swing arm includes a first hinge part and a second hinge part arranged at intervals, the first hinge part is hinged to the base, and the second hinge part is connected to the base. The pressing wheel is hinged, and one end of the elastic member is connected to the base, and the other end is connected to the swing arm.

The swing arm can rotate around the first hinge part under the action of external force, so that the pressing wheel is close to or away from the driving wheel.

In an alternative embodiment, it further includes a first limiting structure.

The first limiting structure includes a guide wheel and a stop pin, the guide wheel is pivotally connected to the base, the stop pin is connected to the base, and the stop pin is located on one side of the guide wheel, Moreover, a gap is formed between the guide wheel and the stop pin for passing the part of the transmission member that passes through the driving wheel and passes upwards.

In an alternative embodiment, it further includes a second limiting structure.

The second limiting structure includes a guide, the guide is connected to the base, the guide has a guide cavity, and the guide cavity is used for the transmission member to pass through the driving wheel and pass downward. The out part passed.

In a second aspect, an embodiment of the present invention provides a cleaning robot, including: the climbing mechanism according to any one of the foregoing embodiments; the transmission member is a rope, and the second free end of the rope is fixed to the building On the suspension.

Beneficial effect

The climbing mechanism and the cleaning robot provided by the invention have the beneficial effects.

When using the climbing mechanism to work, because the drive assembly is connected to one of the synchronous wheels, the drive assembly can provide power to one of the synchronous wheels, so that the drive assembly drives a synchronous wheel connected to it to rotate, and at the same time, under the action of the transmission member , The transmission member can make a plurality of synchronization wheels realize rotation; further, the first free end of the transmission member can be clamped between two of the synchronization wheels, the second free end of the transmission member is connected to the fixed main body, and the plurality of synchronization wheels While rotating, it can drive the conveying member to move. Specifically, under the premise of keeping the second free end of the conveying member fixed, the position of the first free end relative to the synchronization wheel is changed; for example, the climbing mechanism is rising. During the process, keeping the second free end fixed, the first free end will gradually move down with the rotation of the synchronizing wheel under the action of friction, that is, the distance between the first free end and the synchronizing wheel will gradually increase, So as to realize the ascending movement of the base along the conveying member; on the contrary, during the descending process of the climbing mechanism, the first free end will gradually move up with the rotation of the synchronizing wheel under the action of the friction force, so that the first free end is relatively The distance between the synchronizing wheels is gradually reduced, so as to realize the descending movement of the base along the conveying member.

It can be seen from the foregoing that the climbing mechanism drives the base to move up and down along the conveying member through the drive assembly. At the same time, the climbing and descending movement does not require manual operation, thereby reducing the difficulty of manual work, making the operation more convenient, and saving time and effort.

Description of the drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the specific embodiments or the description of the prior art. Obviously, the appendix in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a climbing mechanism provided by an embodiment of the present invention from a first perspective.

Fig. 2 is a schematic structural diagram of a climbing mechanism provided by an embodiment of the present invention, in which part of the plates and transmission parts of the base are not shown.

Fig. 3 is a schematic structural diagram from a second perspective of the climbing mechanism provided by the embodiment of the present invention, in which the transmission member is not shown.

Fig. 4 is a partial enlarged schematic diagram of A shown in Fig. 2.

Fig. 5 is a left side view of the climbing mechanism shown in Fig. 1.

icon.

100-base; 110-base plate; 120-first fixing plate; 130-second fixing plate.

200-transmission component; 210-transmission part; 220-driving wheel; 230-rope winding wheel; 240-pressing wheel; 221-driving roller body; 222-retaining ring; 223-rack.

300-drive assembly.

410-swing arm; 420-elastic part; 411-first hinge part; 412-second hinge part.

510-guide wheel; 520-block pin.

600-guide.

Embodiments of the present invention

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. The components of the embodiments of the present invention generally described and illustrated in the drawings herein may be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once a certain item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or The positional relationship is based on the position or positional relationship shown in the drawings, or the position or positional relationship that the product of the invention is usually placed in use, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the pointed device Or the element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

In addition, terms such as "horizontal" and "vertical" do not mean that the component is required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, “horizontal” only means that its direction is more horizontal than “vertical”, and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that the terms "set", "installation", "connected", and "connected" should be interpreted broadly unless otherwise clearly specified and limited. For example, they may be fixed connections. It can also be detachably connected or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Example

This embodiment provides a climbing mechanism. As shown in FIG. 1, the climbing mechanism includes a base 100, a transmission assembly 200, and a drive assembly 300; the transmission assembly 200 includes a plurality of synchronous wheels pivotally connected to the base 100 and A transmission member 210 connected to a plurality of synchronization wheels, one of which is in transmission connection with the drive assembly 300; the transmission member 210 has a first free end and a second free end, the first free end can be clamped between the two synchronization wheels, And it can move relative to the synchronous wheel, and the second free end is used to connect the fixed main body.

Wherein, the driving assembly 300 drives one of the synchronous wheels to rotate, so that the base 100 can move up and down along the conveying member 210.

When using the climbing mechanism to work, because the drive assembly 300 is connected to one of the synchronous wheels, the drive assembly 300 can provide power to one of the synchronous wheels, so that the drive assembly 300 drives a synchronous wheel connected to it to rotate, while transmitting parts Under the action of 210, the transmission member 210 can make a plurality of synchronous wheels rotate; in addition, the first free end of the transmission member 210 can be clamped between two of the synchronous wheels, and the second free end of the transmission member 210 is connected The fixed body is capable of driving the conveying member 210 to move while rotating the plurality of synchronous wheels. Specifically, under the premise of keeping the second free end of the conveying member 210 fixed, the position of the first free end relative to the synchronous wheel is changed; For example, the climbing mechanism keeps the second free end fixed during the ascent process, and the first free end will gradually move down with the rotation of the synchronizing wheel under the action of friction, that is, the first free end is relatively synchronized The distance between the wheels gradually increases, so as to realize the ascending movement of the base 100 along the transmission member 210; on the contrary, when the climbing mechanism is descending, the first free end will accompany the synchronizing wheel under the action of friction. The rotation gradually moves upward, so that the distance between the first free end and the synchronization wheel is gradually reduced, so as to realize the descending movement of the base 100 along the conveying member 210.

It can be seen from the foregoing that the climbing mechanism drives the base 100 to move up and down along the conveying member 210 through the drive assembly 300. At the same time, the climbing and descending movements do not require manual operation, thereby reducing the difficulty of manual work, making the operation more convenient and saving Save time and effort.

In this embodiment, with reference to Figures 2 and 3, the multiple synchronous wheels are respectively the driving wheel 220, the rope winding wheel 230 and the pressing wheel 240, and the first free end is wound once between the driving wheel 220 and the rope winding wheel 230. Or, after several turns, it is clamped between the driving wheel 220 and the pressing wheel 240; the driving wheel 220 is in transmission connection with the driving assembly 300.

In one embodiment, the pivot points of the driving wheel 220, the rope winding wheel 230 and the pinch wheel 240 form a triangular structure.

Specifically, as shown in FIG. 2, the base 100 includes a base plate 110, a first fixing plate 120 perpendicular to the base plate 110, and a second fixing plate 130 parallel to the first fixing plate 120. 2 and 3, the driving wheel 220 and the rope winding wheel 230 are both pivotally connected between the first fixed plate 120 and the second fixed plate 130, wherein the pressing wheel 240 is pivotally connected to the second fixed plate 130 and presses A space for clamping the transmission member 210 is left between the tightening wheel 240 and the driving wheel 220 (see FIG. 3 for details).

In a structural form, the compression wheel 240 can be selected as a compression bearing, where the outer ring of the compression bearing rotates but the inner ring does not rotate, the inner ring is connected to the second fixing plate 130 through a shaft, and the outer ring is used for compression Tight transfer member 210.

The rotation directions of the driving wheel 220 and the pressing wheel 240 are opposite to ensure that the transmission member 210 clamped between the driving wheel 220 and the pressing wheel 240 can move down and up.

On the basis of the foregoing embodiment, as shown in FIG. 4, the driving wheel 220 includes a driving roller body 221 and a retaining ring 222 sleeved on the driving roller body 221. The retaining ring 222 divides the driving roller body 221 into multiple sections for winding The first annular groove of the conveying member 210.

Please continue to refer to FIG. 4, multiple sets of racks 223 are arranged at intervals in the circumferential direction of the active roller body 221, and the multiple sets of racks 223 are used to increase the friction between the conveying member 210 and the active roller body 221.

It should be noted that the driving assembly 300 drives the driving wheel 220 to rotate. Due to friction, there is no relative sliding between the transmission member 210 and the driving wheel 220, thereby driving the base 100 to move up and down along the transmission member 210.

Correspondingly, as shown in FIG. 2, the rope winding wheel 230 is provided with a second annular groove body that cooperates with the first annular groove body; the first free end is at the first annular groove body and the second annular groove body. After one or more turns are wound between the bodies, the lower limit can be located in the first annular groove body under the pressing action of the pressing wheel 240.

Specifically, please continue to refer to FIG. 2, the number of the first ring-shaped tank is not limited to three, but can also be two or four, etc., and the second ring-shaped tank is not limited to two, but can also be One or three. Of course, under the premise of ensuring that the number of the first annular groove body is 1 more than the number of the second annular groove body, the winding operation of the conveying member 210 can be realized.

On the basis of the above-mentioned embodiment, as shown in Figure 1, Figure 2 or Figure 3, the pressure wheel 240 is connected with an elastic clamping assembly; the elastic clamping assembly includes a swing arm 410 and an elastic member 420, and the swing arm 410 includes an interval arrangement The first hinge part 411 and the second hinge part 412, the first hinge part 411 is hinged to the base 100, the second hinge part 412 is hinged to the pressing wheel 240, one end of the elastic member 420 is connected to the base 100, and the other end is connected to the base 100 Swing arm 410; under the action of external force, the swing arm 410 can rotate around the first hinge portion 411, so that the pressing wheel 240 is close to or away from the driving wheel 220.

Wherein, the elastic member 420 may be a spring.

When in use, as shown in FIG. 3, press the swing arm 410 downward, and the swing arm 410 rotates counterclockwise around the first hinge portion 411. At this time, the spring is stretched, and the pressing wheel 240 is lifted away from the driving wheel 220; When the swing arm 410 is released, the swing arm 410 will move to the initial position in the direction close to the driving wheel 220 under the pulling force of the spring.

Specifically, the first hinge part 411 is hinged to the second fixing plate 130, the second hinge part 412 is hinged to the pressing wheel 240, one end of the elastic member 420 is connected to the second fixing plate 130, and the other end is connected to the swing arm 410.

As shown in Figure 2, the climbing mechanism further includes a first limiting structure; the first limiting structure includes a guide wheel 510 and a stop pin 520. The guide wheel 510 is pivotally connected to the base 100, and the stop pin 520 is connected to the base 100. The stop pin 520 is located on one side of the guide wheel 510, and a gap is formed between the guide wheel 510 and the stop pin 520 for passing the part of the conveying member 210 that passes through the driving wheel 220 and passes upward.

Wherein, the first limiting structure can play a certain limiting effect on the conveying member 210 passing therethrough, and prevent the conveying member 210 from escaping from the guide wheel 510.

Specifically, the guide wheel 510 is pivotally connected to the first fixing plate 120, and the blocking pin 520 is connected to the first fixing plate 120.

In this embodiment, as shown in Figure 5, the climbing mechanism further includes a second limiting structure; the second limiting structure includes a guide 600 connected to the base 100, the guide has a guide cavity, and the guide cavity is used for The part where the conveying member 210 passes through the driving wheel 220 and penetrates downward.

Wherein, the second limiting structure can play a certain limiting effect on the conveying member 210 passing here, so as to ensure that the conveying member 210 can be confined in the first annular groove, so that the conveying member 210 will not be separated from the driving wheel 220 .

Specifically, as shown in FIG. 5, the guide is connected to the first fixing plate 120 or the second fixing plate 130.

In this embodiment, the driving assembly 300 includes a motor and a reducer, and the motor and the reducer are in transmission connection, and the output end of the reducer is in transmission connection with the driving wheel 220 to drive the driving wheel 220 to rotate.

In one embodiment, the speed reducer adopts a worm gear mechanism. Since the worm gear mechanism has a self-locking function, the climbing mechanism also has a self-locking function. When the motor is powered off, the power-off mechanism can be realized. Lock to prevent accidental fall.

The transmission member 210 in this embodiment can be selected as a flexible rope or other components with a certain strength and meeting load-bearing requirements; preferably, a flexible rope, such as a steel wire rope, can be selected.

Taking the transmission member 210 as a steel wire rope as an example, the winding method of the climbing mechanism is as follows.

The human hand rotates the swing arm 410 to move the pressing wheel 240 away from the driving wheel 220. The first free end of the wire rope held by the human hand passes through the gap between the guide wheel 510 and the stop pin 520, the driving wheel 220, the rope winding wheel 230, and then After the driving wheel 220 and the rope winding wheel 230 are wound, they are passed through the driving wheel 220, and the human hand rotates the swing arm 410 in the opposite direction, so that the pressing wheel 240 is close to the driving wheel 220, and the wire rope is compressed.

The working process of the climbing mechanism is.

The motor drives the reducer to work. After the speed of the reducer is adjusted, the reducer drives the driving wheel 220 to rotate. At the same time, the rope wheel 230, the pinch wheel 240 and the guide wheel 510 will rotate together. In this process, the wire rope The first free end will gradually move down with the rotation of the driving wheel 220 and the pressing wheel 240, and the ascending movement of the base 100 along the conveying member 210 can be realized; on the contrary, the first free end will be accompanied by the driving wheel 220 and the pressing wheel. The rotation of 240 is gradually moved upwards to realize the descending movement of the base 100 along the conveying member 210; when the motor stops working, the base 100 will stay at a certain height position.

This embodiment also provides a cleaning robot, including the aforementioned climbing mechanism; the transmission member 210 is a rope, and the second free end of the rope is fixed to the suspension of the building, which can reduce the complexity of the roof suspension of the building , Which reduces the requirements on the roof.

It should be noted that when the transmission member 210 is a rope, the two ends of the rope are the first free end and the second free end mentioned above, respectively.

The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still implement the foregoing various embodiments. The technical solutions recorded in the examples are modified, or some or all of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

A climbing mechanism, characterized by comprising: a base (100), a transmission component (200) and a driving component (300);

The transmission assembly (200) includes a plurality of synchronization wheels pivotally connected to the base (100) and a transmission member (210) connected to the plurality of synchronization wheels, one of the synchronization wheels and the drive assembly ( 300) Transmission connection;

The transmission member (210) has a first free end and a second free end. The first free end can be clamped between two synchronous wheels and can move relative to the synchronous wheels. The second free end Used to connect the fixed main body.
The climbing mechanism according to claim 1, wherein a plurality of the synchronization wheels are a driving wheel (220), a rope winding wheel (230) and a pinch wheel (240), and the first free end is at The driving wheel (220) and the rope winding wheel (230) are wound one or more times and then clamped between the driving wheel (220) and the pressure wheel (240);

The driving wheel (220) is drivingly connected with the driving assembly (300).
The climbing mechanism according to claim 2, wherein the pivot points of the driving wheel (220), the rope winding wheel (230) and the pinch wheel (240) form a triangular structure.
The climbing mechanism according to claim 2, characterized in that the driving wheel (220) comprises a driving roller body (221) and a retaining ring (222) sleeved on the driving roller body (221), so The retaining ring (222) divides the active roller body (221) into multiple sections of first annular grooves for winding the conveying member (210).
The climbing mechanism according to claim 4, characterized in that the active roller body (221) is circumferentially spaced with multiple sets of racks (223), and the multiple sets of racks (223) are used to increase the The friction force between the transmission member (210) and the active roller body (221).
The climbing mechanism according to claim 4, characterized in that, a second annular groove body that cooperates with the first annular groove body is provided on the rope winding wheel (230);

After the first free end is wound one or more turns between the first annular groove body and the second annular groove body, it can be located at the lower limit under the pressing action of the pressing wheel (240). The first annular groove body.
The climbing mechanism according to any one of claims 2-6, wherein the pressing wheel (240) is connected with an elastic clamping component;

The elastic clamping assembly includes a swing arm (410) and an elastic member (420). The swing arm (410) includes a first hinge part (411) and a second hinge part (412) arranged at intervals. The part (411) is hinged to the base (100), the second hinge part (412) is hinged to the pressing wheel (240), and one end of the elastic member (420) is connected to the base ( 100), the other end is connected to the swing arm (410);

The swing arm (410) can rotate around the first hinge part (411) under the action of an external force, so that the pinch wheel (240) is close to or away from the driving wheel (220).
The climbing mechanism according to any one of claims 2-6, further comprising a first limiting structure;

The first limiting structure includes a guide wheel (510) and a stop pin (520), the guide wheel (510) is pivotally connected to the base (100), and the stop pin (520) is connected to the base Seat (100), the stop pin (520) is located on one side of the guide wheel (510), and a gap is formed between the guide wheel (510) and the stop pin (520) for the The conveying member (210) passes through the driving wheel (220) and passes through the upward part.
The climbing mechanism according to claim 8, further comprising a second limiting structure;

The second limiting structure includes a guide (600) connected to the base (100), the guide (600) has a guide cavity, the guide cavity is used for The transmission member (210) passes through the driving wheel (220) and passes through the downwardly passing part.
A cleaning robot, characterized by comprising: the climbing mechanism according to any one of claims 1-9;

The transmission member (210) is a rope, and the second free end of the rope is fixed to the suspension of the building.