Cleaning mechanical arm device under wind load

Abstract

The utility model relates to the technical field of cleaning devices, and discloses a cleaning mechanical arm device under wind load, which comprises a bottom plate and self-locking universal wheels mounted at the bottom of the bottom plate, the mechanical arm assembly is fixedly connected to the top of the bottom plate, the supporting assembly is fixedly connected to the bottom plate, the mounting plate is arranged on the mechanical arm assembly, the first flat nozzle nozzle is fixedly connected to the mounting plate, the fourth motor is mounted on the mounting plate, and the first gear is fixedly connected to the output end of the fourth motor; the second gear is meshed with the first gear, the two-way threaded rod is fixedly connected to the second gear, the sliding plate is in threaded connection to the two-way threaded rod, and the second flat nozzle nozzle is fixedly connected to the sliding plate. The first flat nozzle nozzle and the second flat nozzle nozzle which are arranged in a staggered mode can adjust the position of the second flat nozzle nozzle when working in a large range, so that the first flat nozzle nozzle is matched to enlarge the spraying range, the water pressure is not affected, and the cleaning effect and the working efficiency are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning devices, in particular to a cleaning mechanical arm device under wind load. Background Art

[0002] A cleaning robot arm is an automated device designed for efficient cleaning tasks. Its core advantages lie in precision and automation. Through program control, the robot arm can adapt to complex surfaces (such as automotive parts and pipe interiors) or high-risk environments (such as nuclear facilities and chemical equipment), eliminating the safety risks of manual operation.

[0003] In the existing technology, when a general cleaning robot arm is performing high-pressure water spray cleaning, the spray range of the nozzle is fixed. When faced with a large-scale cleaning task, this fixed spray range characteristic will lead to low cleaning efficiency. Specifically, since the nozzle cannot flexibly adjust the spray range according to the size of the actual cleaning area, when cleaning a large area, the robot arm needs to move repeatedly and cover the area multiple times to complete the cleaning of the entire area. Although there are some nozzles with adjustable spray ranges, in the process of expanding the spray range, the water flow needs to be dispersed to a larger area, resulting in a weakening of the water flow impact force per unit area, and low water pressure often makes it difficult to achieve an ideal cleaning effect. For some stubborn stains or tightly attached dirt, it may not be possible to clean them thoroughly, thereby affecting the cleaning quality. Therefore, it is necessary to improve the cleaning robot arm device under air load to solve the above problems. Utility Model Content

[0004] In order to overcome the problem that the nozzle has its own adjustable spray range, but the water pressure will be reduced after adjustment, and the expected cleaning effect cannot be achieved.

[0005] The technical solution of the present utility model is: a cleaning robot arm device under wind load, including a base plate and a self-locking universal wheel installed at the bottom of the base plate, and also including a robot arm assembly fixedly connected to the top of the base plate, a support assembly fixedly connected to the base plate, a mounting plate arranged on the robot arm assembly, a first flat-nozzle nozzle fixedly connected to the mounting plate, a fourth motor installed on the mounting plate, a first gear fixedly connected to the output end of the fourth motor, a second gear engaged with the first gear, a two-way threaded rod fixedly connected to the second gear, a slide board threadedly connected to the two-way threaded rod, and a second flat-nozzle nozzle fixedly connected to the slide board. The two-way threaded rod is rotatably connected to the mounting plate, and the positions of the first flat-nozzle nozzle and the second flat-nozzle nozzle are moved by the robot arm assembly. The fourth motor drives the two-way threaded rod to rotate, thereby staggering the positions of the second flat-nozzle nozzle and the first flat-nozzle nozzle through the slide board.

[0006] Preferably, the mounting plate is provided with a sliding groove at a corresponding position of the slide plate, and the slide plate slides inside the sliding groove.

[0007] Preferably, two second flat-nozzle nozzles are provided, and the two second flat-nozzle nozzles are both arranged on one side of the first flat-nozzle nozzle.

[0008] Preferably, the robotic arm assembly includes a fixed seat fixedly connected to the top of the base plate, a hinged seat fixedly connected to the fixed seat, a first motor fixedly connected to the hinged seat, a first rotating arm fixedly connected to the output end of the first motor, a second motor fixedly connected to the first rotating arm, a second rotating arm fixedly connected to the output end of the second motor, a third motor fixedly connected to the second rotating arm, and a third rotating arm fixedly connected to the output end of the third motor. The mounting plate is fixedly connected to the third rotating arm, the third rotating arm is rotatably connected to the second rotating arm, the second rotating arm is rotatably connected to the first rotating arm, and the first rotating arm is rotatably connected to the hinged seat. The first rotating arm, the second rotating arm and the third rotating arm are driven to rotate by the first motor, the second motor and the second rotating arm respectively.

[0009] Preferably, four fixing ears are arranged in a circumferential row on the fixing seat, and the fixing seat is installed on the top of the base plate through the fixing ears.

[0010] Preferably, the support assembly includes a fixed plate fixedly connected to the base plate, a first connecting seat fixedly connected to the fixed plate, a second connecting seat fixedly connected to the fixed plate, a rotating rod rotatably connected to the second connecting seat, a third connecting seat fixedly connected to an end of the rotating rod away from the second connecting seat, a support plate rotatably connected to the third connecting seat, and an electric telescopic rod rotatably connected between the first connecting seat and the third connecting seat, wherein the electric telescopic rod is extended and retracted to drive the support plate to rise and fall.

[0011] Preferably, the support plate is provided with anti-slip grooves.

[0012] Beneficial effects of the utility model:

[0013] 1. The staggered first and second flat nozzles can adjust the position of the second flat nozzle when working in a large range, so as to cooperate with the first flat nozzle to increase the spray range without affecting the water pressure, thereby ensuring the cleaning effect and work efficiency.

[0014] 2. The height of the support plate is adjusted by the electric telescopic rod. The support plate contacts the ground to increase friction, thereby ensuring the stability of the device and avoiding instability in strong winds. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of an embodiment of the cleaning robot arm device under wind load of the utility model;

[0016] Figure 2 This is a schematic diagram of the mounting plate structure of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the first flat nozzle and the second flat nozzle of the utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the robotic arm assembly of the utility model;

[0019] Figure 5 This is a schematic diagram of the support assembly structure of the utility model.

[0020] Explanation of the accompanying drawings: 1. Base plate; 21. Fixed seat; 22. Articulated seat; 23. First motor; 24. First rotating arm; 25. Second motor; 26. Second rotating arm; 27. Third motor; 28. Third rotating arm; 31. Mounting plate; 32. First flat-nozzle nozzle; 33. Fourth motor; 34. First gear; 35. Second gear; 36. Bidirectional threaded rod; 37. Slide plate; 38. Second flat-nozzle nozzle; 41. Fixed plate; 42. First connecting seat; 43. Second connecting seat; 44. Rotating rod; 45. Third connecting seat; 46. Support plate; 47. Electric telescopic rod; 5. Self-locking universal wheel. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] See also Figure 1-Figure 5The utility model provides an embodiment: a cleaning robot arm device under wind load, comprising a base plate 1 and a self-locking universal wheel 5 installed at the bottom of the base plate 1, and also comprising a robot arm assembly fixedly connected to the top of the base plate 1, a support assembly fixedly connected to the base plate 1, a mounting plate 31 arranged on the robot arm assembly, a first flat nozzle nozzle 32 fixedly connected to the mounting plate 31, a fourth motor 33 installed on the mounting plate 31, a first gear 34 fixedly connected to the output end of the fourth motor 33, a second gear 35 meshing with the first gear 34, a bidirectional threaded rod 36 fixedly connected to the second gear 35, a slide plate 37 threadedly connected to the bidirectional threaded rod 36, and a second flat nozzle nozzle 38 fixedly connected to the slide plate 37. The bidirectional threaded rod 36 is rotatably connected to the mounting plate 31, and the positions of the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 are moved by the robot arm assembly. The fourth motor 33 drives the bidirectional threaded rod 36 to rotate, thereby making the second flat nozzle nozzle 38 and the first flat nozzle nozzle 32 interlaced through the slide plate 37. Flexible water pipes are installed on the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 to deliver cleaning water to the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 without affecting the adjustment of the second flat nozzle nozzle 38. Flexible water delivery pipes can be installed along the robotic arm assembly to deliver water to the water pipe between the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 without affecting the operation of the robotic arm assembly. The positions of the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 can be adjusted by the robotic arm assembly to control the tilt range. The fourth motor 33 drives the first gear 34 and the second gear 35 to drive the bidirectional threaded rod 36 to rotate, thereby adjusting the position of the two second flat-nozzle nozzles 38 through the slide 37, so that the two second flat-nozzle nozzles 38 are staggered with the first flat-nozzle nozzle 32, thereby expanding the spray range. The line connection of the fourth motor 33, the first motor 23, the second motor 25, the third motor 27 and the electric telescopic rod 47, and the system control all belong to the existing technology, so they will not be described in detail. The friction with the ground is increased by the support component to increase the wind resistance.

[0023] See also Figure 1-Figure 3 In this embodiment, the mounting plate 31 is provided with a slide groove at the corresponding position of the slide plate 37, and the slide plate 37 slides inside the slide groove. The slide plate 37 is limited by the slide groove so that when the bidirectional threaded rod 36 drives the slide plate 37 to slide, the slide plate 37 will not deviate and cause jamming. There are two second flat nozzle nozzles 38, and the two second flat nozzle nozzles 38 are both arranged on one side of the first flat nozzle nozzle 32. The staggered arrangement can make the positions of the first flat nozzle nozzle 32 and the second flat nozzle nozzle 38 overlap, and can also be expanded.

[0024] See also Figure 1 、 Figure 2 、 Figure 5In this embodiment, the robotic arm assembly includes a fixed base 21 fixedly connected to the top of the base plate 1, an articulated base 22 fixedly connected to the fixed base 21, a first motor 23 fixedly connected to the articulated base 22, a first rotating arm 24 fixedly connected to the output end of the first motor 23, a second motor 25 fixedly connected to the first rotating arm 24, a second rotating arm 26 fixedly connected to the output end of the second motor 25, a third motor 27 fixedly connected to the second rotating arm 26, and a third rotating arm 28 fixedly connected to the output end of the third motor 27. The mounting plate 31 is fixedly connected to the third rotating arm 28, the third rotating arm 28 is rotatably connected to the second rotating arm 26, and the second rotating arm 26 rotates It is connected to the first rotating arm 24, and the first rotating arm 24 is rotatably connected to the hinged seat 22. The first rotating arm 24, the second rotating arm 26 and the third rotating arm 28 are driven to rotate respectively by the first motor 23, the second motor 25 and the second rotating arm 26. Through the cooperation between the first motor 23, the second motor 25 and the third motor 27, the positions of the first flat-nozzle nozzle 32 and the second flat-nozzle nozzle 38 can be flexibly controlled to flexibly respond to different cleaning positions and have a wider coverage range. Four fixing ears are arranged in a circular array on the fixed seat 21, and the fixed seat 21 is installed on the top of the base plate 1 through the fixing ears to stably install the position of the fixed seat 21 and avoid the center of gravity tilting when the robotic arm assembly is working.

[0025] See also Figure 1 、 Figure 5 In this embodiment, the support assembly includes a fixed plate 41 fixedly connected to the base plate 1, a first connecting seat 42 fixedly connected to the fixed plate 41, a second connecting seat 43 fixedly connected to the fixed plate 41, a rotating rod 44 rotatably connected to the second connecting seat 43, a third connecting seat 45 fixedly connected to the end of the rotating rod 44 away from the second connecting seat 43, a support plate 46 rotatably connected to the third connecting seat 45, and an electric telescopic rod 47 rotatably connected between the first connecting seat 42 and the third connecting seat 45. The electric telescopic rod 47 is extended and retracted to drive the support plate 46 to rise and fall. The height of the support plate 46 can be adjusted by the extension and retraction of the third motor 27. It can be flexibly adjusted according to the ground conditions. When it contacts the ground, it increases the friction between the ground and the ground, thereby ensuring the stability of the device during use. The support plate 46 is provided with anti-slip grooves to effectively increase friction and prevent sliding.

[0026] When working, the position of the entire movable device is moved to the appropriate position through the self-locking universal wheel 5, and the electric telescopic rod 47 at the corresponding position is started to push the third connecting seat 45. The third connecting seat 45 drives the support plate 46 to make the support plate 46 contact the ground. The rotating rod 44 is used to limit the third connecting seat 45. The first motor 23, the second motor 25 and the third rotating arm 28 can respectively drive the first rotating arm 24, the second rotating arm 26 and the third rotating arm 28 to rotate and adjust the position of the first flat-nozzle nozzle 32 and the second flat-nozzle nozzle 38. The fourth motor 33 drives the first gear 34, the first gear 34 drives the second gear 35, and the second gear 35 drives the two-way threaded rod 36 to rotate. The two-way threaded rod 36 drives the slide plate 37 to slide through the thread, so as to adjust the position of the second flat-nozzle nozzle 38, and then the water is transported through the water delivery pipe and sprayed out through the first flat-nozzle nozzle 32 and the second flat-nozzle nozzle 38.

[0027] Through the above steps, the position of the second flat-nozzle nozzle 38 can be adjusted when working in a large range, so as to cooperate with the first flat-nozzle nozzle 32 to increase the spray range without affecting the water pressure, so as to solve the problem that the nozzle has its own adjustable spray range, but the water pressure will be reduced after adjustment, and the expected cleaning effect cannot be achieved.

Claims

1. A cleaning robot arm device under wind load, comprising a base plate (1) and a self-locking universal wheel (5) mounted on the bottom of the base plate (1), characterized in that: The invention also includes a mechanical arm assembly fixedly connected to the top of the base plate (1), a support assembly fixedly connected to the base plate (1), a mounting plate (31) arranged on the mechanical arm assembly, a first flat nozzle (32) fixedly connected to the mounting plate (31), a fourth motor (33) mounted on the mounting plate (31), a first gear (34) fixedly connected to the output end of the fourth motor (33), a second gear (35) meshed with the first gear (34), a bidirectional screw fixedly connected to the second gear (35), and a second gear (35) fixedly connected to the second gear (35). A threaded rod (36), a slide plate (37) threadedly connected to the bidirectional threaded rod (36), and a second flat nozzle nozzle (38) fixedly connected to the slide plate (37); the bidirectional threaded rod (36) is rotatably connected to the mounting plate (31); the positions of the first flat nozzle nozzle (32) and the second flat nozzle nozzle (38) are moved by a mechanical arm assembly; a fourth motor (33) drives the bidirectional threaded rod (36) to rotate, thereby staggering the positions of the second flat nozzle nozzle (38) and the first flat nozzle nozzle (32) through the slide plate (37).

2. The cleaning robot arm device under wind load according to claim 1, characterized in that: The mounting plate (31) is provided with a sliding groove at a corresponding position of the slide plate (37), and the slide plate (37) slides inside the sliding groove.

3. The cleaning robot arm device under wind load according to claim 1, characterized in that: Two second flat nozzle nozzles (38) are provided, and the two second flat nozzle nozzles (38) are both provided on one side of the first flat nozzle nozzle (32).

4. The cleaning robot arm device under wind load according to claim 1, characterized in that: The robot arm assembly comprises a fixed seat (21) fixedly connected to the top of the base plate (1), an articulated seat (22) fixedly connected to the fixed seat (21), a first motor (23) fixedly connected to the articulated seat (22), a first rotating arm (24) fixedly connected to the output end of the first motor (23), a second motor (25) fixedly connected to the first rotating arm (24), a second rotating arm (26) fixedly connected to the output end of the second motor (25), a third motor (27) fixedly connected to the second rotating arm (26), and a second motor (28) fixedly connected to the output end of the second motor (28). The third rotating arm (28) at the output end of the third motor (27) and the mounting plate (31) are fixedly connected to the third rotating arm (28). The third rotating arm (28) is rotatably connected to the second rotating arm (26). The second rotating arm (26) is rotatably connected to the first rotating arm (24). The first rotating arm (24) is rotatably connected to the hinge seat (22). The first rotating arm (24), the second rotating arm (26) and the third rotating arm (28) are respectively driven to rotate by the first motor (23), the second motor (25) and the second rotating arm (26).

5. The cleaning robot arm device under wind load according to claim 4, characterized in that: Four fixing ears are arranged in a circular arrangement on the fixing seat (21), and the fixing seat (21) is mounted on the top of the base plate (1) via the fixing ears.

6. The cleaning robot arm device under wind load according to claim 1, characterized in that: The support assembly comprises a fixed plate (41) fixedly connected to the base plate (1), a first connecting seat (42) fixedly connected to the fixed plate (41), a second connecting seat (43) fixedly connected to the fixed plate (41), a rotating rod (44) rotatably connected to the second connecting seat (43), a third connecting seat (45) fixedly connected to an end of the rotating rod (44) away from the second connecting seat (43), a support plate (46) rotatably connected to the third connecting seat (45), and an electric telescopic rod (47) rotatably connected between the first connecting seat (42) and the third connecting seat (45), wherein the electric telescopic rod (47) is extended and retracted to drive the support plate (46) to rise and fall.

7. The cleaning robot arm device under wind load according to claim 6, characterized in that: The support plate (46) is provided with anti-skid patterns.

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