Chassis actuator of a driverless scrubber

Abstract

The application relates to the technical field of floor washing machines, in particular to a chassis execution mechanism of an unmanned floor washing machine, which comprises a machine shell, walking wheels, a driving motor, a steering wheel, a steering motor and a controller. The walking wheels are rotationally arranged at the bottom of the machine shell, the axial direction of the walking wheels is arranged in the horizontal direction, and the driving motor is arranged in the machine shell and used for driving the walking wheels. The steering wheel is arranged at the bottom of the machine shell through a steering frame, the steering frame is rotationally arranged at the bottom of the machine shell around the Z axis, the steering wheel is rotationally connected with the steering frame, and the axial direction of the steering wheel is arranged in the horizontal direction. The steering motor is arranged on the machine shell and used for driving the steering frame to rotate. The controller is arranged on the machine shell and connected with the steering motor. The application is based on the existing driving type floor washing machine and transforms the floor washing machine. The driving mechanism and the operation mechanism of the original floor washing machine are reserved, the controller and the steering control assembly are added, the automatic control of the floor washing machine is realized, the unmanned driving of the floor washing machine is realized, and the cleaning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of floor scrubber technology, and more particularly to a chassis actuator for an unmanned floor scrubber. Background Technology

[0002] Existing ride-on floor scrubbers rely on manual operation and control. A person's effective working time is within 8 to 10 hours per day. If 24-hour uninterrupted cleaning is required, multiple people need to take turns operating the floor scrubber. This cannot meet the needs of shopping malls, airports and other places that require deep cleaning at night or in the early morning, resulting in low operating efficiency. Utility Model Content

[0003] The technical problem this invention aims to solve is that existing floor scrubbers rely on manual operation, resulting in low work efficiency.

[0004] Therefore, this utility model provides a chassis actuator for an unmanned floor scrubber.

[0005] The technical solution adopted by this utility model to solve its technical problem is: A chassis actuator for an unmanned floor scrubber includes, casing, and The walking wheels are rotatably mounted at the bottom of the housing, and the axial direction of the walking wheels is horizontal. A drive motor for driving the walking wheels is installed inside the housing. The steering wheel is mounted on the bottom of the housing via a bogie. The bogie is rotatably mounted on the bottom of the housing about a vertical direction. The steering wheel is rotatably connected to the bogie. The axial direction of the steering wheel is set in the horizontal direction. A steering motor, which is mounted on the housing and is used to drive the bogie to rotate; A controller is mounted on the housing and connected to the steering motor.

[0006] Furthermore, the housing is provided with a mounting surface, the steering motor is mounted on the mounting surface via a support frame, the output shaft of the steering motor passes through the housing and is coaxially connected to a steering shaft, a transmission gear is coaxially connected to the steering shaft, the bogie is rotatably connected to the housing via a rotating shaft, a transmission gear is also coaxially connected to the rotating shaft, and the two transmission gears are driven by a chain.

[0007] Furthermore, it also includes a sweeping component and a squeegee component, both of which are mounted on the bottom of the housing via a mounting frame. The sweeping component is used to sweep and wash the ground, and the squeegee component is used to wipe away water from the ground. The housing is provided with a lifting control component for controlling the raising and lowering of the sweeping component and the squeegee component.

[0008] Furthermore, the lifting control assembly includes a mounting base, a lead screw, a slider, a guide rail, and a drive motor. The mounting base is mounted on the frame, the lead screw is arranged vertically and rotatably connected to the mounting base, the drive motor is mounted on the mounting base to drive the lead screw to rotate, the guide rail is arranged on both sides of the lead screw along its length, the slider is threadedly connected to the lead screw and slides with the guide rail, and both the cleaning assembly and the wiper assembly are connected to the slider.

[0009] Furthermore, the wiper assembly includes a mounting shaft and a wiper blade. The mounting shaft is rotatably connected to the bottom of the mounting frame via a bracket. The wiper blade is connected to the mounting shaft via a mounting rod. The bottom of the wiper blade is provided with a scraper for contacting the ground. The scraper is located behind the mounting rod. The mounting shaft passes through both ends of the bracket and is connected to a first connecting rod. One end of the first connecting rod is hinged to a second connecting rod. The end of the second connecting rod away from the first connecting rod is connected to a pull rope, which is connected to a slider.

[0010] Furthermore, two scraper blades are provided along the front-to-back direction. The scraper blades are configured as arcs protruding towards the rear side of the housing. The two scraper blades are arranged parallel to each other, and the scraper blade located on the front side has multiple notches.

[0011] Furthermore, a suction pipe is provided on the squeegee, and the suction pipe is connected to the bottom of the squeegee through a suction port provided on the squeegee. Along the forward direction of the chassis actuator of the unmanned floor scrubber, the suction port is located between the two squeegee blades, and the suction pipe is connected to a wastewater tank provided inside the machine casing. A suction pump is provided on the suction pipe.

[0012] Furthermore, the cleaning assembly includes a mounting plate, a chassis, a cleaning head motor, and a cleaning head. The cleaning head motor is mounted on the mounting plate, and the output shaft of the cleaning head motor passes through the mounting plate and connects to the chassis. The cleaning head is annular and is located at the bottom of the chassis. The mounting plate is connected to the mounting frame via a lifting rod. One end of the lifting rod is hinged to the mounting frame, and the other end is hinged to the mounting plate. The pull rope is connected to the mounting plate via a pull rod.

[0013] Furthermore, a spray plate is provided at the bottom of the chassis, the spray plate is located inside the cleaning head, the spray plate is provided with multiple spray nozzles facing the ground, a water inlet pipe is connected to the chassis and communicates with the spray plate, one end of the water inlet pipe is connected to the spray plate and the other end is connected to the water tank inside the machine casing, and a water supply pump is provided on the water inlet pipe.

[0014] Furthermore, the drive unit, drive motor, water pump, water supply pump, and sweeping head motor are all electrically connected to the controller.

[0015] The beneficial effects of this utility model are that this application modifies the existing ride-on floor scrubber by retaining the original drive mechanism and working mechanism, and adding a controller and steering control components to realize the automated control of the floor scrubber, thereby realizing the unmanned driving of the floor scrubber. This allows the floor scrubber to operate 24 hours a day without relying on manual shifts, thus improving cleaning efficiency. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the overall structure of the chassis actuator of the unmanned floor scrubber in this utility model.

[0018] Figure 2 This is a diagram showing the positional distribution of the traveling wheels and steering wheels of the chassis actuator of the unmanned floor scrubber in this utility model.

[0019] Figure 3 This is a schematic diagram of the cleaning component in this utility model.

[0020] Figure 4 This is a schematic diagram of the spray disc in this utility model.

[0021] Figure 5 This is a schematic diagram of the wiper assembly in this utility model.

[0022] Figure 6 This is a schematic diagram of the scraper in this utility model.

[0023] Figure 7 This is a schematic diagram of the operating mechanism in this utility model.

[0024] Figure 8 This is a schematic diagram of the chassis actuator of the unmanned floor scrubber in operation.

[0025] Figure 9 This is a schematic diagram of the chassis actuator of the unmanned floor scrubber in its non-operation state.

[0026] In the diagram: 1. Housing; 11. Mounting surface; 12. Mounting frame; 2. Operating mechanism; 21. Mounting bracket; 22. Controller; 23. Steering motor; 24. Steering shaft; 25. Mounting base; 26. Lead screw; 27. Slider; 28. Guide rail; 29. ​​Drive motor; 3. Working mechanism; 31. Sweeping assembly; 311. Mounting plate; 312. Chassis; 313. Sweeping head motor; 314. Spray nozzle; 315. Water inlet pipe 316. Lifting rod; 317. Support rod; 318. Pull plate; 319. Spray disc; 32. Wiper assembly; 321. Mounting shaft; 322. Wiper blade; 323. Bracket; 324. Mounting rod; 325. Scraper strip; 3251. Notch; 326. Auxiliary wheel; 327. Suction pipe; 328. First connecting rod; 329. Second connecting rod; 33. Pull rope; 4. Drive mechanism; 41. Travel wheel; 42. Steering wheel. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Reference Figure 1 , 2A chassis actuator for an unmanned floor scrubber includes a housing 1, an operating mechanism 2, a working mechanism 3, and a drive mechanism. The housing 1 has an internal mounting cavity, and the bottom of the housing 1 has an open structure that communicates with the outside. An mounting surface 11 is provided on the outer side wall of the housing 1.

[0031] The drive mechanism includes two traveling wheels 41 and two steering wheels 42. The two traveling wheels 41 are respectively located on both sides of the housing 1 and are rotatably connected to the bottom of the housing 1. A drive motor for driving the traveling wheels 41 to rotate is installed inside the housing 1. The steering wheel 42 is located on the front side of the bottom of the housing 1 and is located on the center line connecting the two traveling wheels 41. The steering wheel 42 is rotatably connected to the bottom of the housing 1 through a bogie. A rotating shaft is connected to the top of the bogie and is rotatably installed inside the housing 1. The rotation axis of the bogie is set in the vertical direction, and the steering wheel 42 is rotatably connected to the bogie. The rotation axis between the steering wheel 42 and the bogie is set in the horizontal direction.

[0032] A mounting frame 12 is fixedly mounted at the bottom of the mounting cavity inside the housing 1. The operating mechanism 3 is mounted on the mounting frame 12. The operating mechanism 3 includes a sweeping component 31 and a squeegee component 32. (See reference...) Figure 3 , 4 The cleaning assembly 31 includes a mounting plate 311, a chassis 312, a cleaning head motor 313, a cleaning head, and a spray disc 319. The cleaning head motor 313 is mounted on the mounting plate 311, and its output shaft passes through the mounting plate 311 and connects to the chassis 312 to drive the chassis 312 to rotate. The spray disc 319 is fixedly connected to the bottom of the chassis 312, and has multiple spray nozzles 314 at its bottom. A water inlet pipe 315 is connected to the chassis 312, with one end of the water inlet pipe 315 connected to the spray disc 319 and the other end connected to a water tank inside the housing 1. A water pump is installed on the water inlet pipe 315. The cleaning head is ring-shaped and is located at the bottom of the chassis 312 and outside the spray disc 319. Furthermore, the mounting plate 311 is connected to the mounting frame 12 via a lifting rod 316, one end of which is hinged to the mounting frame 12 and the other end is hinged to the mounting plate 311.

[0033] Reference Figure 5 , 6The wiper assembly 32 is located at the rear of the bottom of the housing 1. The wiper assembly 32 includes a mounting shaft 321 and a wiper blade 322. The mounting shaft 321 is rotatably connected to the bottom of the mounting frame 12 via a bracket 323. A mounting rod 324 is fixedly connected to the mounting shaft 321. The wiper blade 322 is connected to the end of the mounting rod 324 away from the mounting shaft 321. A wiper strip 325 is provided at the bottom of the wiper blade 322. The wiper strip 325 is made of rubber and is located behind the mounting rod 324. The wiper strip 325 is positioned facing the rear of the housing 1. The scraper has a side-protruding arc shape and two scraper blades 325. The two scraper blades 325 are arranged parallel to each other. The scraper blade 325 on the front side has lower rigidity than the scraper blade 325 on the rear side. Therefore, when the scraper blade 325 on the rear side contacts the ground, the scraper blade 325 on the front side can make close contact with the ground, thus improving the scraping effect. Furthermore, the scraper blade 325 on the front side has multiple notches 3251. The notches 3251 are located in the middle of the scraper blade 325 and penetrate through the end of the scraper blade 325 that is used to abut against the ground. Multiple auxiliary wheels 326 are rotatably connected to the squeegee 322. The auxiliary wheels 326 provide support for the squeegee 322 and enable the squeegee assembly 32 to move smoothly when the unmanned floor scrubber moves. Anti-collision wheels and anti-collision sensors can be set at both ends of the squeegee 322. A suction pipe 327 is set on the squeegee 322. The suction pipe 327 is connected to the bottom of the squeegee 322 through a suction port set on the squeegee 322. The suction port is located between two squeegee blades 325. The suction pipe 327 is connected to a wastewater tank set inside the housing 1. A suction pump is set on the suction pipe 327.

[0034] Reference Figure 7 The operating mechanism 2 is mounted on the mounting surface 11. The operating mechanism 2 includes a mounting frame 21, a controller 22, a steering control component, and a lifting control component. The steering control component includes a steering motor 23 and a steering shaft 24. The steering motor 23 is mounted on the mounting surface 11 via a support frame. The output shaft of the steering motor 23 is vertically oriented towards the mounting surface 11. The steering shaft 24 extends through the mounting surface 11 and into the housing 1. The steering shaft 24 is coaxially connected to the output shaft of the steering motor 23 via a coupling. A transmission gear is coaxially connected to the steering shaft 24, and a transmission gear is also coaxially connected to the rotating shaft. The two transmission gears are driven by a chain, thereby driving the steering motor 23 to rotate the steering shaft 24. Through the transmission of the chain and the transmission gear, the rotating shaft drives the bracket 323 and the steering wheel 42 to rotate in the vertical direction, thereby controlling the steering of the unmanned floor scrubber.

[0035] The lifting control assembly includes a mounting base 25, a lead screw 26, a slider 27, a guide rail 28, and a drive motor 29. The mounting base 25 is disposed within the mounting frame 21. The lead screw 26 is arranged vertically and is rotatably connected to the mounting base 25. The drive motor 29 is disposed on the mounting base 25 to drive the lead screw 26 to rotate. The guide rail 28 is arranged on both sides of the lead screw 26 along its length. The slider 27 is threadedly connected to the lead screw 26 and slides with the guide rail 28.

[0036] Furthermore, a Hall sensor is installed on the drive motor 29, which is connected to the controller 22 to provide feedback and monitor the rotation of the lead screw 26; micro switches are installed at the ends of the guide rails 28 to limit the stroke of the slider 27 and prevent damage to the equipment caused by excessive stroke.

[0037] It should be noted that the mounting shaft 321 is connected to a first connecting rod 328 at both ends of the bracket 323. A second connecting rod 329 is hinged to one end of the first connecting rod 328. A pull rope 33 is connected to the end of the second connecting rod 329 away from the first connecting rod 328. The pull rope 33 is connected to the slider 27. A support rod 317 is fixedly connected to the mounting plate 311. A pull plate 318 is hinged to the support rod 317. A pull rope 33 is also connected to the end of the pull plate 318 away from the support rod 317. The pull rope 33 is connected to the slider 27. When the slider 27 moves vertically, it simultaneously drives two pull ropes 33, causing the slider 27 to rise. One pull rope 33 pulls the second connecting rod 329, causing the first connecting rod 328 to rotate, which in turn rotates the mounting shaft 321. The rotation of the mounting shaft 321 causes the mounting rod 324 to tilt backward, and the scraper 325 to leave the ground, stopping the wiping operation. The other pull rope 33 pulls the mounting plate 311, causing the lifting rod 316 to rotate, and the cleaning head to leave the ground.

[0038] The controller 22 is mounted on the mounting bracket 21. The drive motor 29, drive motor, steering motor 23, water pump, water supply pump, and sweeping head motor 313 are all electrically connected to the controller 22, thereby realizing the automated control of the unmanned floor scrubber.

[0039] The implementation principle of this application is as follows: Commands are sent to the controller 22 via remote control or other means to control the operation of the chassis actuator of the unmanned floor scrubber. Specifically, the drive motor drives the walking wheels 41 to rotate, propelling the unmanned floor scrubber forward. The steering wheels 42 rotate passively. During forward movement, the steering motor 23 drives the steering shaft 24 to rotate, and through the chain and transmission wheel, drives the bogie and steering wheels 42 to rotate in the vertical direction, adjusting the steering of the unmanned floor scrubber.

[0040] During forward movement, the sweeping head in the sweeping assembly 31 contacts the ground, and the sweeping head motor 313 drives the chassis 312 to rotate, spraying water onto the ground through the water inlet pipe 315 and the spray nozzle 314. The sweeping head washes the ground, and the water stains and garbage remaining on the ground are cleaned by the squeegee assembly 32 located at the rear during the movement. Specifically, the water and garbage come into contact with the squeegee 325 located at the front first. The garbage is blocked by the squeegee 325, and the water enters between the two squeegees 325 through the notch 3251. The rear squeegee 325 prevents sewage from overflowing, and the sewage is sucked into the sewage tank by the suction pipe 327. The setting of the front squeegee 325 avoids a large amount of garbage entering the sewage tank and reduces the possibility of garbage clogging the suction pipe 327.

[0041] Furthermore, by controlling the start or stop of the sweeper head motor 313, the water pump, and the water supply pump, it is possible to achieve separate sweeping, separate scraping, or enter a non-operational state on the ground. Specifically: refer to... Figure 8 In operation, when scraping the floor alone, turn off the sweeper head motor 313 and the water pump; when sweeping alone, turn off the suction pump; refer to... Figure 9 When entering the non-operation state, the control drive motor 29 rotates the lead screw 26, the slider 27 rises and pulls the pull rope 33, and the two pull ropes 33 pull the second connecting rod 329 and the pull rod respectively, causing the wiper blade 322 to tilt backward, the wiper blade 325 to leave the ground, stop the wiping operation, the mounting plate 311 is lifted, and the sweeping head is removed from the ground.

[0042] This application modifies an existing ride-on floor scrubber by retaining its drive mechanism and working mechanism 3, and adding a controller 22 and a steering control component to achieve automated control and unmanned operation. This allows the floor scrubber to operate 24 hours a day without the need for manual shifts, improving cleaning efficiency. Furthermore, this application connects the sweeping component 31 and the squeegee component 32 to the slider 27 via a pull rope 33, enabling simultaneous lifting and lowering control of both components.

[0043] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A chassis actuator for an unmanned floor scrubber, characterized in that, include, Casing (1), and The walking wheel (41) is rotatably disposed at the bottom of the housing (1), and the axial direction of the walking wheel (41) is arranged in the horizontal direction. A drive motor for driving the walking wheel (41) is disposed inside the housing (1). Steering wheel (42), the steering wheel (42) is mounted at the bottom of the housing (1) via a bogie, the bogie is rotatably mounted at the bottom of the housing (1) around the vertical direction, the steering wheel (42) is rotatably connected to the bogie, and the axial direction of the steering wheel (42) is set along the horizontal direction; Steering motor (23), which is mounted on housing (1) for driving bogie rotation; A controller (22) is mounted on the housing (1) and connected to the steering motor (23); The cleaning assembly (31) and the wiping assembly (32) are provided. The wiping assembly (32) is mounted on the bottom of the housing (1) via a mounting frame (12). The housing (1) is provided with a lifting control assembly for controlling the lifting of the cleaning assembly (31) and the wiping assembly (32). The lifting control assembly includes a mounting base (25), a lead screw (26), a slider (27), a guide rail (28), and a drive motor (29). The mounting base (25) is mounted on the frame. The lead screw (26) is arranged vertically and is rotatably connected to the mounting base (25). The drive motor (29) is mounted on the mounting base (25) to drive the lead screw (26) to rotate. The guide rail (28) is arranged on both sides of the lead screw (26) along its length. The slider (27) is threadedly connected to the lead screw (26) and slides with the guide rail (28). The cleaning assembly (31) and the wiping assembly (32) are both connected to the slider (27). The wiper assembly (32) includes a mounting shaft (321) and a wiper blade (322). The mounting shaft (321) is rotatably connected to the bottom of the mounting frame (12) via a bracket (323). The wiper blade (322) is connected to the mounting shaft (321) via a mounting rod (324). The bottom of the wiper blade (322) is provided with a scraper strip (325) for contacting the ground. The scraper strip (325) is located behind the mounting rod (324). The shaft (321) passes through the bracket (323) and is connected to the two ends of the first connecting rod (328). The first connecting rod (328) is hinged to the second connecting rod (329). The end of the second connecting rod (329) away from the first connecting rod (328) is connected to the pull rope (33). The pull rope (33) is connected to the slider (27). The scraper (322) is provided with a water suction pipe (327). The water suction pipe (327) is provided with a water suction pump. The drive unit (29), drive motor, and water pump are all electrically connected to the controller (22).

2. The chassis actuator of the unmanned floor scrubber according to claim 1, characterized in that, The housing (1) is provided with a mounting surface (11). The steering motor (23) is mounted on the mounting surface (11) through a support frame. The output shaft of the steering motor (23) passes through the housing (1) and is coaxially connected to a steering shaft (24). A transmission gear is coaxially connected to the steering shaft (24). The bogie is rotatably connected to the housing (1) through a rotating shaft. A transmission gear is also coaxially connected to the rotating shaft. The two transmission gears are driven by a chain.

3. The chassis actuator of the unmanned floor scrubber according to claim 1, characterized in that, The cleaning component (31) is mounted on the bottom of the housing (1) via the mounting frame (12). The cleaning component (31) is used to sweep and clean the ground, and the squeegee component (32) is used to squeegee water off the ground.

4. The chassis actuator of the unmanned floor scrubber according to claim 3, characterized in that, Two scraper blades (325) are provided along the front-to-back direction. The scraper blades (325) are configured as arcs protruding toward the rear side of the housing (1). The two scraper blades (325) are arranged parallel to each other. The scraper blade (325) located on the front side is provided with multiple notches (3251).

5. The chassis actuator of the unmanned floor scrubber according to claim 3, characterized in that, The suction pipe (327) is connected to the bottom of the squeegee (322) through the suction port on the squeegee (322). Along the forward direction of the chassis actuator of the unmanned floor scrubber, the suction port is located between the two squeegee blades (325), and the suction pipe (327) is connected to the sewage tank set in the casing (1).

6. The chassis actuator of the unmanned floor scrubber according to claim 5, characterized in that, The cleaning assembly (31) includes a mounting plate (311), a chassis (312), a cleaning head motor (313), and a cleaning head. The cleaning head motor (313) is mounted on the mounting plate (311). The output shaft of the cleaning head motor (313) passes through the mounting plate (311) and is connected to the chassis (312). The cleaning head is ring-shaped and is located at the bottom of the chassis (312). The mounting plate (311) is connected to the mounting frame (12) via a lifting rod (316). One end of the lifting rod (316) is hinged to the mounting frame (12), and the other end is hinged to the mounting plate (311). The pull rope (33) is connected to the mounting plate (311) via a pull rod.

7. The chassis actuator of the unmanned floor scrubber according to claim 6, characterized in that, The bottom of the chassis (312) is provided with a spray plate (319), which is located inside the cleaning head. The spray plate (319) is provided with a plurality of spray nozzles (314) facing the ground. The chassis (312) is connected to a water inlet pipe (315) that communicates with the spray plate (319). One end of the water inlet pipe (315) is connected to the spray plate (319), and the other end is connected to the water tank inside the casing (1). A water pump is provided on the water inlet pipe (315).

8. The chassis actuator of the unmanned floor scrubber according to claim 7, characterized in that, The water pump and the sweeping head motor (313) are both electrically connected to the controller (22).

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