CN111631636B - Working head and stone material nursing robot - Google Patents
Working head and stone material nursing robot Download PDFInfo
- Publication number
- CN111631636B CN111631636B CN202010515470.7A CN202010515470A CN111631636B CN 111631636 B CN111631636 B CN 111631636B CN 202010515470 A CN202010515470 A CN 202010515470A CN 111631636 B CN111631636 B CN 111631636B
- Authority
- CN
- China
- Prior art keywords
- mounting
- shaft
- groove
- working
- mounting shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/10—Floor surfacing or polishing machines motor-driven
- A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
- A47L11/16—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes
- A47L11/161—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes with supply of cleaning agents
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/10—Floor surfacing or polishing machines motor-driven
- A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
- A47L11/16—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes
- A47L11/164—Parts or details of the brushing tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a working head and a stone nursing robot, and relates to the technical field of intelligent robots, wherein the working head comprises an installation shaft and a plurality of working assemblies, the plurality of working assemblies are sequentially sleeved on the installation shaft, and the working assemblies are provided with sliding blocks protruding inwards; the upper end of the mounting shaft is connected with an output shaft of the driving mechanism, and an inward-concave limiting sliding groove, a guide groove and an installing and detaching groove are sequentially arranged on the outer peripheral wall of the mounting shaft along the axial direction of the mounting shaft; the guide groove extends along the circumferential direction of the installation shaft, the guide groove is sequentially provided with a fixing position and an installing and detaching position in the extending direction, a first circumferential stopping part is arranged on one side, away from the installing and detaching position, of the guide groove, and a second circumferential stopping part is arranged on one side, away from the fixing position, of the installing and detaching position of the guide groove; the working assembly does not need manual disassembly and replacement, so that excessive manual intervention is not needed, the replacement is convenient and fast, the time consumption is short, and the replacement efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a working head and a stone nursing robot.
Background
The stone material nursing machine is also called as a stone material renewing machine, and is an ideal machine for stone material renewing grinding nursing engineering of factories, property management companies, cleaning and cleaning companies, stone material renewing nursing companies, building decoration companies and stone material decoration companies. Along with the development of automation technology and artificial intelligence, the intelligent robot for stone nursing comes along. Stone material nursing intelligent robot can nurse, work such as polishing, crystallization to the ground stone material automatically, and nursing effect is good, the cost of labor is low, and is low to artifical operation experience dependency, has extensive application prospect.
Generally, a motor for a stone nursing intelligent robot drives a corresponding nursing component (such as a polishing head) to be matched with a cleaning pad to nurse stones, the cleaning pad needs to be replaced after the stone nursing intelligent robot works for a period of time, the existing replacement modes are manual disassembly and replacement, and the stone nursing intelligent robot has the defects of long time consumption, low working efficiency, manual intervention and the like.
The same problem also exists in the replacement of working components on working heads which are driven to rotate by other similar driving mechanisms such as motors and the like.
Disclosure of Invention
The invention aims to provide a working head, which solves the technical problems that in the prior art, replacement of working components such as a cleaning pad of an intelligent stone nursing robot needs manual disassembly and replacement, so that the time consumption is long and the working efficiency is low.
The invention aims to provide a stone nursing robot, and aims to solve the technical problems that in the prior art, replacement of working components such as a cleaning pad of an intelligent stone nursing robot needs manual disassembly and replacement, so that time consumption is long and working efficiency is low.
The working head provided by the invention comprises an installation shaft and a plurality of working components, wherein the plurality of working components are sequentially sleeved on the installation shaft along the axial direction of the installation shaft, and the working components are provided with sliding blocks protruding inwards;
the upper end of the mounting shaft is used for being connected with an output shaft of the driving mechanism, and an inward-concave limiting sliding groove, a guide groove and an installing and detaching groove are sequentially arranged on the outer peripheral wall of the mounting shaft along the axial direction of the mounting shaft; the guide groove extends along the circumferential direction of the installation shaft, a fixing position and an installing and detaching position are sequentially arranged on the guide groove in the extending direction of the guide groove, a first circumferential stopping part is arranged on one side, away from the installing and detaching position, of the guide groove, and a second circumferential stopping part is arranged on one side, away from the fixing position, of the installing and detaching position of the guide groove;
the utility model discloses a safety protection device for a vehicle, including installation axle, spacing spout, installation groove, guide way, installation groove, spacing spout, installation groove, guide way, installation groove, installation.
Further, the width of the guide groove in the axial direction of the mounting shaft matches the axial width of the slider of one of the working assemblies.
Further, the fixed position is divided into a first fixed section and a second fixed section, the first fixed section corresponds to and is communicated with the lower end of the limiting sliding groove, the first fixed section is arranged between the mounting and dismounting position and the second fixed section, the second fixed section and the limiting sliding groove are arranged in a staggered mode in the axial direction of the mounting shaft, and the first circumferential stopping portion is arranged on one side, far away from the first fixed section, of the second fixed section.
Furthermore, the mounting shaft comprises a shaft body and a guide shaft block which are coaxially arranged and fixedly connected, the guide shaft block is arranged below the shaft body, and a reinforcing plate is arranged between the lower end of the shaft body and the guide shaft block;
the guide groove and the mounting and dismounting groove are arranged on the guide shaft block, and the reinforcing plate forms an upper side wall of the guide groove.
Furthermore, along the circumferential direction of the installation shaft, a plurality of guide grooves are arranged, and the number of the installation and removal grooves is in one-to-one correspondence with the number of the guide grooves;
the fixing positions and the mounting and dismounting positions of the guide grooves have the same position relation in the circumferential direction of the mounting shaft.
Further, the first circumferential stop of one of the guide grooves is the same as the second circumferential stop of the adjacent guide groove.
Further, the work assembly comprises a chuck and a functional piece, the chuck is sleeved on the installation shaft, the chuck protrudes inwards to form a sliding block, the chuck protrudes outwards to form a connecting part, and the functional piece is installed on the connecting part.
Further, the functional element comprises a cleaning pad; or
The functional part comprises a cleaning pad, a needle hook plate and a polishing plate, the cleaning pad is connected with the polishing plate into a whole through the needle hook plate, and the cleaning pad is detachably connected with the needle hook plate.
Further, the working head also comprises a counterweight plate, and the counterweight plate is installed on the installation shaft.
Further, be connected with the connecting block on the up end of installation axle, the connecting block is provided with the installation slot, the installation slot face is perpendicular to the axial direction of installation axle is provided with the socket, the socket is used for making the connector of actuating mechanism's output shaft insert in the installation slot to realize installing the axle and being connected with actuating mechanism's output shaft.
The stone nursing robot provided by the invention comprises a driving mechanism and the working head provided by the invention;
the output shaft of the driving mechanism is connected with the mounting shaft, and the driving mechanism can drive the mounting shaft to rotate positively and negatively.
The stone nursing robot further comprises a lifting mechanism, and the lifting mechanism is used for driving the driving mechanism and the working head to lift.
The working head provided by the invention comprises an installation shaft and a plurality of working components, wherein the plurality of working components are sequentially sleeved on the installation shaft along the axial direction of the installation shaft, and sliding blocks protruding inwards are arranged on the working components. When the working head works, the slide block of the lowest working assembly of the plurality of working assemblies is inserted and abutted on the fixing position of the guide groove, at the moment, the lowest working assembly is limited by the fixing position of the guide groove in the axial direction and cannot fall off, and other working assemblies on the lowest working assembly are supported above the lowest working assembly and cannot fall off. The driving mechanism drives the mounting shaft to rotate forward along the direction of the fixed position pointing to the mounting and dismounting position of the guide groove, under the circumferential limiting action of the first circumferential stopping part, the mounting shaft transmits power to the sliding block arranged in the guide groove and transmits the power to the sliding block of the working assembly arranged in the mounting and dismounting position through the side wall of the limiting sliding groove, so as to drive the working assembly to rotate synchronously with the mounting shaft, the lowest working assembly performs operation, when the working assembly performing the operation needs to be replaced, the driving mechanism drives the mounting shaft to rotate reversely along the direction of the mounting and dismounting position pointing to the fixed position, at the moment, because a stopping part is not arranged between the fixed position and the mounting and dismounting position, the sliding block of the lowest working assembly slides along the guide groove under the action of inertia and slides to the mounting and dismounting position from the fixed position, and when the mounting and dismounting position is moved, the sliding block of the lowest working assembly cannot move circumferentially continuously due to the stopping, at this moment, because the lower end of the mounting and dismounting position is communicated with the mounting and dismounting groove, under the action of gravity, the sliding block slides downwards along the mounting and dismounting groove, so that the working assembly at the bottom slides downwards, the sliding block is separated from the mounting and dismounting groove until the sliding block is detached from the mounting and dismounting groove, the dismounting of the working assembly at the bottom is completed, the working assembly above the dismounted working assembly slides into the guide groove from the limiting slide groove, and the driving mechanism drives the mounting shaft to rotate forwards so that the working assembly sliding into the guide groove can execute operation. For example, work subassembly is stone material nursing robot's cleaning pad, and the cleaning pad of below can realize dismantling fast under actuating mechanism's the effect of reversal, then the cleaning pad of top mends to be arranged in the guide way, continues to carry out clean operation through actuating mechanism's corotation, does not need artifical manual dismantlement to change to do not need artifical too much intervention, change convenient and fast, consuming time is short, and change efficiency improves.
The stone nursing robot provided by the invention comprises a driving mechanism and the working head provided by the invention; the output shaft of the driving mechanism is connected with the installation shaft, and the driving mechanism can drive the installation shaft to rotate forwards and backwards. Work assembly such as the clean pad of below can realize dismantling fast under actuating mechanism's the effect of reversal, then the clean pad of top mends to be arranged in the guide way, continues to carry out clean operation through actuating mechanism's corotation, does not need artifical manual dismantlement to change to do not need artifical too much intervention, change convenient and fast, consuming time is short, and change efficiency improves.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic axial view of a working head according to an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly of a mounting shaft of a working head and a chuck according to an embodiment of the present invention;
FIG. 3 is a schematic view of a mounting shaft of a working head according to an embodiment of the present invention;
FIG. 4 is a schematic axial side view of a guide shaft block of the working head according to an embodiment of the present invention;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a top view of FIG. 4;
FIG. 7 is an isometric view of a chuck for a working head provided in an embodiment of the present invention;
FIG. 8 is a schematic front view of a working head according to an embodiment of the present invention;
fig. 9 is a schematic view of a stone care robot according to an embodiment of the present invention.
Icon: 1-working head; 100-mounting the shaft; 101-a shaft body; 102-a guide shaft block; 1021-a docking station; 1022-a guide; 103-connecting block; 1031-mounting slot; 1032-a socket; 1033-perforation; 1034-a positioning section; 104-a reinforcing plate; 110-a limiting chute; 120-a guide groove; 121-fixed position; 1211 — a first stationary segment; 1212-a second fixed section; 1213-limiting hole; 122-mounting and dismounting position; 123-a first circumferential stop; 124-a second circumferential stop; 130-installing and detaching groove; 200-a working assembly; 210-a chuck; 211-a connecting portion; 220-a slide block; 230-a weight plate; 240-cleaning pad; 250-a needle hook plate; 260-polishing disk.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, the present embodiment provides a working head 1, which includes a mounting shaft 100 and a plurality of working assemblies 200, wherein the working assemblies 200 are sleeved on the mounting shaft 100, and sliding blocks 220 protruding inwards are disposed on the working assemblies 200.
The upper end of the mounting shaft 100 is used for connecting with an output shaft of a driving mechanism, and an inward-recessed limiting sliding groove 110, a guide groove 120 and an installing and detaching groove 130 are sequentially arranged on the outer peripheral wall of the mounting shaft 100 along the axial direction of the mounting shaft. The guide groove 120 extends along the circumferential direction of the mounting shaft 100, the guide groove 120 is sequentially provided with a fixing position 121 and an installation and removal position 122 in the extending direction thereof, the guide groove 120 is provided with a first circumferential stopping portion 123 on one side of the fixing position 121 away from the installation and removal position 122, and the guide groove 120 is provided with a second circumferential stopping portion 124 on one side of the installation and removal position 122 away from the fixing position 121.
When the working head 1 of the present embodiment works, the slide block 220 of the lowermost working assembly 200 of the plurality of working assemblies 200 is inserted and abutted on the fixing position 121 of the guide groove 120, at this time, the lowermost working assembly 200 is axially limited by the fixing position 121 of the guide groove 120 and does not fall off, and the other working assemblies 200 thereon are supported above the lowermost working assembly 200 and do not fall off. The driving mechanism drives the mounting shaft 100 to rotate forward along the direction (clockwise direction around the mounting shaft 100 shown in fig. 2 or 3) in which the fixing position 121 of the guide groove 120 points to the mounting and dismounting position 122, under the circumferential limiting action of the first circumferential stopping portion 123, the mounting shaft 100 transmits power to the sliding block 220 arranged in the guide groove 120, and transmits the power to the sliding block 220 of the working assembly 200 arranged in the mounting shaft through the side wall of the limiting sliding groove 110, so as to drive all the working assemblies 200 to rotate synchronously with the mounting shaft 100, and the lowermost working assembly 200 performs work. When the working assembly 200 for performing work needs to be replaced, the driving mechanism drives the mounting shaft 100 to rotate reversely in the direction (counterclockwise direction around the mounting shaft 100 shown in fig. 1 or fig. 2) in which the mounting position 122 points to the fixing position 121, at this time, because there is no stop member between the fixing position 121 and the mounting position 122, the sliding block 220 of the lowermost working assembly 200 slides along the guide groove 120 under the action of inertia and slides from the fixing position 121 to the mounting position 122, when moving to the mounting position 122, the sliding block 220 of the lowermost working assembly 200 is stopped by the second circumferential stop portion 124 and cannot move circumferentially continuously, at this time, because the lower end of the mounting position 122 is communicated with the mounting groove 130, and under the action of gravity, the sliding block 220 slides downwards along the mounting groove 130, so that the lowermost working assembly 200 slides downwards until the sliding block 220 is separated from the mounting groove 130, and the dismounting of the lowermost working assembly 200 is completed, the working assembly 200 above the detached working assembly 200 slides into the guide groove 120 from the limiting sliding groove 110, and at this time, the driving mechanism drives the mounting shaft 100 to rotate forward, so that the working assembly 200 sliding into the guide groove 120 can execute operation. For example, the working assembly 200 is the cleaning pad 240 of the stone nursing robot, the cleaning pad 240 at the bottom can be quickly detached under the reverse rotation effect of the driving mechanism, then the cleaning pad 240 at the top is supplemented to the guide groove 120, the cleaning operation is continuously executed through the forward rotation of the driving mechanism, manual detachment and replacement are not needed, so that excessive manual intervention is not needed, the replacement is convenient and fast, the time consumption is short, and the replacement efficiency is improved.
Wherein, a plurality of working assemblies 200 are pre-installed on the installation shaft 100, after all the working assemblies 200 are used up, the installation shaft 100 can be disassembled, and then a new working assembly 200 is installed again. In the present embodiment, the lowermost working unit 200 is the working unit 200 that performs the work as a default, and the other working units 200 are the working units 200 that are to be replaced in the standby mode.
Wherein the width of the guide groove 120 in the axial direction of the mounting shaft 100 matches the axial width of the slider 220 of one working assembly 200, so that the number of the working assemblies 200 to be replaced at one time is one.
Specifically, during the working process of the working head 1, the sliding blocks 220 of the lowermost working assembly 200 of the plurality of working assemblies 200 are inserted and abutted on the fixing positions 121 of the guide grooves 120, and the sliding blocks 220 of the other working assemblies 200 are inserted in the limiting sliding grooves 110. When the working assembly 200 needs to be disassembled, the driving mechanism drives the mounting shaft 100 to rotate reversely, the sliding block 220 of the lowermost working assembly 200 slides to the assembling and disassembling position 122 under the action of inertia, and then falls down and is disassembled through the assembling and disassembling groove 130 under the action of gravity. At this time, since the limiting sliding grooves 110 and the mounting and dismounting grooves 130 are arranged in a staggered manner in the axial direction of the mounting shaft 100, that is, the upper and lower portions are not in direct contact with each other, the sliding blocks 220 of the adjacent upper working assemblies 200 of the lowermost working assembly 200 cannot slide into the mounting and dismounting grooves 130, and only fall onto the fixing positions 121 of the guide grooves 120 after the lowermost working assembly 200 falls down and is dismounted from the mounting and dismounting grooves 130, and become the lowermost working assembly 200, which can perform work at the time of forward rotation of the driving mechanism. When the current working assembly 200 is used for a period of time and needs to be replaced, the driving mechanism is started again to drive the mounting shaft 100 to rotate reversely, the lowermost working assembly 200 at this time is dismounted by the same means, the adjacent upper working assembly 200 falls into the fixing position 121 of the guide groove 120 again, and the like. Each time, only the lowest working assembly 200 mounted on the working head 1 is dismounted, so that the working assemblies 200 can be dismounted and replaced one by one.
It should be noted that the number of the working modules 200 to be replaced at a time is mainly affected by the width of the guide groove 120 in the axial direction of the mounting shaft 100, and if it is desired to replace a plurality of working modules 200 at a time, the width of the guide groove 120 may be widened so that the guide groove can accommodate the sliders 220 of a plurality of working modules 200 at the same time.
In order to improve the stability of the working assembly 200 on the fixing portion 121 of the guide groove 120, the fixing portion 121 of the working head 1 of this embodiment is divided into a first fixing section 1211 and a second fixing section 1212, the first fixing section 1211 corresponds to and communicates with the lower end of the limiting sliding groove 110, the first fixing section 1211 is disposed between the mounting and dismounting portion 122 and the second fixing section 1212, the second fixing section 1212 and the limiting sliding groove 110 are disposed in a staggered manner in the axial direction of the mounting shaft 100, and the first circumferential stopping portion 123 is disposed on one side of the second fixing section 1212, which is far away from the first fixing section 1211.
As shown in fig. 2 to 5, the first circumferential stopper 123 and the second circumferential stopper 124 are respectively disposed at two ends of the guide groove 120, and the guide groove 120 is divided into a mounting and dismounting position 122, a first fixing section 1211 and a second fixing section 1212 at a position between the first circumferential stopper 123 and the second circumferential stopper 124 along the counterclockwise direction of the mounting shaft 100, the mounting and dismounting position 122 is disposed at one end of the guide groove 120, and the second fixing section 1212 is disposed at the other end of the guide groove 120. The limiting slide groove 110 is disposed above the first fixing section 1211, and the upper side of the second fixing section 1212 is not communicated with the limiting slide groove 110. During the working process of the working head 1, the sliding block 220 of the working assembly 200 located in the guide groove 120 can slide into the second fixing section 1212, and then rotate synchronously with the mounting shaft 100 under the action of the first circumferential stopping portion 123. Because the second fixing section 1212 is not communicated with the limiting sliding groove 110, the axial stability of the sliding block 220 is ensured when the driving mechanism drives the mounting shaft 100 to rotate forward, and the sliding block 220 can be stably mounted in the guide groove 120. Meanwhile, the second fixing section 1212 is disposed at an end of the first fixing section 1211 away from the mounting/dismounting position 122, which is equivalent to extending the distance from the fixing position 121 to the mounting/dismounting position 122 for the slider 220, so as to avoid the problem that the working assembly 200 falls off when the mounting shaft 100 is rotated forward and decelerated, and the slider 220 moves to the mounting/dismounting position 122.
It should be noted that, in order to further improve the position stability of the slider 220 at the second fixing section 1212, in this embodiment, a limiting hole 1213 may be further disposed at an end of the first fixing section 1211 of the guide groove 120, the end being close to the mounting/dismounting position 122, an elastic member may be disposed in the limiting hole 1213, the elastic member may be compressed into the limiting hole, such as a spring-connected marble, the spring is disposed in the limiting hole 1213, and the marble is clamped at an upper end of the limiting hole 1213 and may be partially exposed on an upper end face of the limiting hole 1213. When the driving mechanism drives the mounting shaft 100 to rotate forward, the slider 220 of the lowermost working assembly 200 is positioned at one side of the marble close to the second fixing section 1212, and the marble can play a certain limiting role to prevent the slider 220 of the lowermost working assembly 200 from sliding in the mounting and dismounting position 122; when the work assembly 200 of below needs are dismantled, can extrude the marble in the mounting hole through the manual work earlier, perhaps drive installation axle 100 through actuating mechanism and reverse fast and make the work assembly 200 of below strike the marble under great inertia effect, make the marble extrude spacing downthehole, can realize the dismantlement of work assembly 200 of below this moment. When the slide block 220 of the subsequent working assembly 200 falls into the first fixing section 1211, the marble can be extruded into the limiting hole, so that the marble does not influence the sliding of the upper working assembly 200 into the fixing position 121.
As a specific structure of the mounting shaft 100 of the working head 1 in this embodiment, the mounting shaft 100 includes a shaft body 101 and a guide shaft block 102 that are coaxially disposed and fixedly connected, the guide shaft block 102 is disposed below the shaft body 101, and a reinforcing plate 104 is disposed between a lower end of the shaft body 101 and the guide shaft block 102. The guide groove 120 and the attaching and detaching groove 130 are provided on the guide shaft block 102, and the reinforcing plate 104 forms an upper side wall of the guide groove 120.
Specifically, as shown in fig. 4 to 6, a mounting hole is formed at the lower end of the shaft body 101, an insertion portion 1021 is formed at the upper end of the guide shaft block 102, the cross section of the outer peripheral surface of the insertion portion 1021 is non-circular, and the insertion portion 1021 is inserted into the mounting hole of the shaft body 101, so that the guide shaft block 102 and the shaft body 101 are relatively fixed in the circumferential direction, and the insertion portion 1021 and the shaft body 101 are axially inserted through a fixing member such as a bolt or a pin shaft, so that the two are fixedly connected in the axial direction. A guide part 1022 is connected below the inserting part 1021, the cross section of the guide part 1022 is larger than that of the installation hole, that is, the guide part 1022 is exposed below the installation hole, the guide part 1022 is provided with a guide groove 120 and an installing and detaching groove 130, a reinforcing plate 104 is arranged between the upper edge of the guide part 1022 and the lower end surface of the shaft body 101, and the reinforcing plate 104 is fixedly connected with the shaft body 101.
The strength of the reinforcing plate 104 is higher than that of the shaft body 101 at least, the lower end of the shaft body 101 is connected with the guide shaft block 102 through the reinforcing plate 104, so that when the sliding block 220 of the working assembly 200 located in the guide groove 120 slides along the guide groove 120 under the action of inertia, the sliding block 220 rubs against the reinforcing plate 104 instead of being in direct contact with the shaft body 101, and abrasion of the shaft body 101 can be avoided.
In order to make the installation and removal of the working assembly 200 of the working head 1 smoothly performed, in the present embodiment, the number of the guide grooves 120 is provided in plurality along the circumferential direction of the mounting shaft 100, and the number of the installation and removal grooves 130 is provided in one-to-one correspondence with the guide grooves 120. The fixing positions 121 and the attaching/detaching positions 122 of the plurality of guide grooves 120 have the same positional relationship in the circumferential direction of the mounting shaft 100. The number of specific guide grooves 120 may be two, three, four or more.
As shown in fig. 2 and 3, in a specific implementation form, the number of the limiting sliding grooves 110 is three, the number of the guide grooves 120 is three, and the number of the mounting and dismounting grooves 130 is three; the number of the sliding blocks 220 of the corresponding working assembly 200 is three, and the three sliding blocks 220 are arranged in one-to-one correspondence with the grooves. When the three sliding blocks 220 of each working assembly 200 are arranged on the shaft body 101, the three sliding blocks are respectively arranged in the three limiting sliding grooves 110 in a one-to-one correspondence manner; when the working assembly 200 slides downwards, the three sliding blocks 220 can synchronously slide into the three guide grooves 120 in a one-to-one correspondence manner; when the driving mechanism drives the mounting shaft 100 to rotate forward, the three sliding blocks 220 can synchronously move to the fixing positions 121 of the guide grooves 120; when the driving mechanism drives the mounting shaft 100 to rotate reversely, the three sliding blocks 220 can synchronously move to the mounting and dismounting positions 122 of the guide grooves 120 and synchronously slide into the mounting and dismounting grooves 130 from the mounting and dismounting positions 122 in a one-to-one correspondence manner.
It can be understood that the cooperation of the plurality of guide grooves 120, the mounting and dismounting grooves 130 and the limiting slide grooves 110 with the plurality of slide blocks 220 can prevent the working assembly 200 from tilting when sliding downwards, so that the working assembly 200 can fall under the mounting shaft 100 in a substantially parallel posture to realize the dismounting.
Preferably, when the number of the guide grooves 120 is plural, the first circumferential stopper 123 of one of the guide grooves 120 is the same as the second circumferential stopper 124 of the adjacent guide groove 120. That is, adjacent guide grooves 120 share the circumferential stopper, and corresponding to the form of the three guide grooves 120 of the present embodiment, three circumferential stoppers may be provided at equal intervals in the circumferential direction of the mounting shaft 100. On both sides of each circumferential stop are two adjacent guide grooves 120, respectively, the clockwise facing side of the circumferential stop is a first circumferential stop 123 of the guide groove 120 on that side, and the counterclockwise facing side of the circumferential stop is a second circumferential stop 124 of the guide groove 120 on that side.
In a specific implementation manner, the working assembly 200 of the working head 1 of the embodiment includes a chuck 210 and a functional element, the chuck 210 is sleeved on the mounting shaft 100, the chuck 210 protrudes inward to form a sliding block 220, the chuck 210 protrudes outward to form a connecting portion 211, and the functional element can be mounted on the connecting portion 211 through a column-shaped element such as a bolt.
The functional elements may be the cleaning pad 240, the polishing pad 260, and the like. In one embodiment, the functional element is a member for caring stone, and includes a cleaning pad 240 and a polishing pad 260, the cleaning pad 240 is connected with the polishing pad 260 through a needle hook plate 250 as a whole and is connected with a chuck 210 to form a working head 1, the cleaning pad 240 is detachably connected with the needle hook plate 250, and the driving mechanism drives the polishing pad 260 and the cleaning pad 240 to rotate together during operation, so as to perform maintenance on stone. Specifically, the hook plate 250 may be a structure similar to a hook and loop fastener, one side of the hook plate 250, on which no hook surface is disposed, is a smooth surface, the smooth surface of the hook plate 250 is attached to the lower surface of the polishing plate 260 by glue, and the hook surface of the hook plate 250 is hooked with the cleaning pad 240 to be detachably connected.
In order to make the functional member perform the work better, the working head 1 of the present embodiment further includes a weight plate 230. As shown in fig. 1, the weight plate 230 is mounted on the mounting shaft 100 above the uppermost work module 200, the weight plate 230 is disposed coaxially with the mounting shaft 100, and the weight plate 230 is freely slidable up and down along the limit chute 110 on the mounting shaft 100. The weight plate 230 can increase the weight of the working head 1, so that the functional parts of the working head 1 can perform work more stably under the driving action of the driving mechanism.
In order to facilitate the connection between the mounting shaft 100 of the working head 1 and the output shaft of the driving mechanism, in this embodiment, the connecting block 103 is connected to the upper end surface of the mounting shaft 100 of the working head 1, the connecting block 103 is provided with a mounting slot 1031, the mounting slot 1031 is provided with a socket 1032 facing a direction perpendicular to the axial direction of the mounting shaft 100, and the socket 1032 is used for inserting the connector of the output shaft of the driving mechanism into the mounting slot 1031, so as to connect the mounting shaft 100 and the output shaft of the driving mechanism.
As shown in fig. 2 or fig. 3, in order to ensure that the mounting shaft 100 is coaxial with the output shaft of the driving mechanism, a through hole 1033 is disposed above the mounting slot 1031 in this embodiment, so as to facilitate the output shaft of the driving mechanism to pass through.
The cross section of the mounting slot 1031 of this embodiment is polygonal, specifically quadrilateral, and the corresponding connector of the output shaft of the driving mechanism is also a quadrilateral. It will be appreciated that the polygonal mounting slots 1031 cooperate with the polygonal connectors to limit the relative movement between the output shaft of the driving mechanism and the connecting block 103 in the circumferential direction, so that the two can rotate synchronously. Meanwhile, the upper end of the mounting slot 1031 extends inward to form a positioning portion 1034, the positioning portion 1034 can limit the connector of the output shaft of the driving mechanism to be separated from the mounting slot 1031, that is, the positioning portion 1034 enables the connector of the output shaft of the driving mechanism to be axially fixedly connected with the connecting block 103.
The process of mounting the working head 1 on the output shaft of the driving mechanism is roughly as follows: the connector of the output shaft of the driving mechanism is inserted into the mounting slot 1031 along the socket 1032 on the side surface, and the output shaft of the driving mechanism enters the through hole 1033 through the through hole 1033 and the socket 1032, so that the mounting can be realized. When the dismounting is performed, the connector of the output shaft of the driving mechanism is removed from the socket 1032. In consideration of the connection stability, a horizontal bolt or bolt may be further provided to penetrate through the side wall of the mounting slot 1031 and the connector of the output shaft of the driving mechanism, so as to reinforce the connection and achieve the purpose of preventing looseness.
The fit between the connecting head of the output shaft of the driving mechanism and the mounting slot 1031 of the connecting block 103 in this embodiment may be tapered, flat, or wedge, the mounting slot 1031 preferably being parallel in the circumferential direction to facilitate torque transmission, and tapered at the interface between the upper and lower surfaces and the connecting head to facilitate insertion of the connecting head into the mounting slot 1031.
The working head 1 is connected with an output shaft of the driving mechanism through the connecting block 103, and the socket 1032 is arranged on the side face of the connecting block 103, so that the connector of the output shaft of the driving mechanism is laterally installed and laterally removed, and the installation has the advantages of saving space and being convenient to install and detach. Particularly, the working head 1 is generally installed on a robot, the installation space of the robot corresponding to the working head 1 is usually very small, if the robot is vertically assembled and disassembled, the space position is difficult to meet the requirement, the lateral installation can not occupy the axial space, and the installation is convenient and rapid.
Generally, when the working head 1 of the present embodiment is mounted on a working device such as a stone care robot, it can be driven to ascend and descend by an elevating mechanism such as an elevating motor to realize the change of the working position.
The pad changing action of the cleaning pad 240 of the working head 1 of the embodiment is as follows: when the cleaning pad 240 needs to be replaced after the detection or the preset time, the lifting motor enables the working head 1 to be in a lifting state, the driving mechanism drives the mounting shaft 100 to rotate reversely, and the sliding block 220 of the inner ring rotates into the guide groove 120 and falls down under the action of inertia of the working assembly 200 at the lowest part; the last working assembly falls by gravity to complement the position. The driving mechanism drives the mounting shaft 100 to rotate forward, and then the pad changing work is completed; and so on.
Before cleaning, a plurality of groups of working assemblies 200 are required to be installed on the working head 1, and the specific operations are as follows: the mounting shaft 100 is taken down from the connecting head of the output shaft of the driving mechanism, the sliding blocks 220 of the plurality of working assemblies 200 are installed from the lower end (the lower end can be upwards in the mounting and dismounting process) of the mounting and dismounting groove 130 of the guide block, and the sliding blocks slide to the mounting and dismounting positions 122; then, the working assembly 200 is rotated to slide the sliding block 220 of the working assembly 200 into the fixing position 121 of the guide groove 120, and then the upper working assembly 200 is slid into the limiting sliding groove 110 through the fixing position.
The lower end of the mounting and dismounting groove 130 of the working head 1 of the embodiment may be provided with a flared section, and the width of the flared section in the circumferential direction of the mounting shaft 100 is gradually increased from top to bottom, so that the sliding block 220 of the working assembly 200 slides into the mounting and dismounting groove 130 from the lower end of the mounting and dismounting groove 130, and the mounting of the working assembly 200 is realized.
In summary, in the working head 1 of the embodiment, the cleaning pad 240 is replaced by the positive and negative rotation inertia in the process of lifting the cleaning head by the lifting mechanism, instead of using the friction force with the ground, so that the operation is simple and convenient, manual intervention is not required, and the replacement efficiency is improved.
As shown in fig. 9, the present embodiment further provides a stone nursing robot, which includes a driving mechanism and the working head 1 provided in the present embodiment. The output shaft of the driving mechanism is connected with the mounting shaft 100, and the driving mechanism can drive the mounting shaft 100 to rotate positively and negatively.
The specific driving mechanism may be a motor, the motor is connected to the mounting shaft 100 through an output shaft of the speed reducer, and the connection between the specific mounting shaft 100 and the output shaft may participate in the description of the content of the working head 1 in this embodiment.
Generally, in order to realize the lifting of the working head 1, the stone nursing robot of the embodiment further comprises a lifting mechanism, and the lifting mechanism is used for driving the driving mechanism and the working head 1 to lift. Specifically, the lifting mechanism may be a lifting motor.
The stone nursing robot of this embodiment also has the function of the intelligent robot of current conventional stone nursing, promptly, it still mainly includes control module, the universal wheel that is used for the walking, body frame, battery, medicament conveying system, hydrojet module etc. wherein still be equipped with the hole site that is used for installing other auxiliary assembly on the body frame, for example be used for cleaning dust and rubbish: dust push modules, roller brushes, disk brushes, etc., and the description herein is not limited to one. The medicament delivery system comprises a medicament tank, a delivery pump, a distribution valve, a pipeline and a plurality of nozzles; the delivery pump pumps the medicament from the medicament tank to the dispensing valve for delivery through a plurality of conduits and out a plurality of nozzles in a uniformly metered amount to provide the medicament to the cleaning pad 240 during operation. The liquid spraying module comprises a liquid storage box, a liquid spraying pump, a flow dividing valve, a pipeline and a spray head. Nursing agent, wax removing agent or sanitizer are stored in the liquid storage box, carry above-mentioned liquid to the flow divider through the hydrojet pump, and the flow divider is evenly distributed the back, evenly spouts from a plurality of shower nozzles, and required sanitizer or curing agent when providing the operation for the robot. For example: the total amount of the care agent of 10 ml is sprayed out at intervals of 30 seconds (the method is only an example and is actually selected according to actual conditions). The spray head is arranged at the front end of the working path of the working head, namely: after the nursing agent is sprayed, the polishing or crystallization is carried out by rotating the working head 1.
The control module can control the liquid amount pumped by the liquid spraying pump, and the spray heads are arranged in a plurality of numbers, such as 4, 6, 8, 10 and the like according to actual conditions, so that the liquid amount sprayed by the spray heads can be strictly controlled according to different operation modes, marble cleaning conditions and the like.
When the existing stone nursing robot works on site, because a cleaning pad 240 is difficult to completely clean a large area of stone, the existing stone nursing robot has to stop in the midway and manually replace the cleaning pad 240, so that the working efficiency is reduced, and the existing stone nursing robot cannot completely break away from manual intervention. The stone nursing robot of the embodiment pre-installs a plurality of groups of working assemblies 200 on the installation shaft 100, each working assembly 200 comprises a cleaning pad 240, and the pads can be automatically replaced, thereby thoroughly solving the problem of manual pad replacement when cleaning stones with large areas.
The working process of the stone nursing robot of the embodiment is as follows: the stone material nursing robot starts, and lifting motor drive working head 1 moves down, and cleaning pad 240 of work subassembly 200 laminates ground, and the work motor starts to drive cleaning pad 240 and rotates the friction stone material, and the medicine in the delivery pump passes through the distributing valve simultaneously and spouts ground from a plurality of shower nozzles, and the robot is independently planned the walking and is nursed ground stone material. When the cleaning pad 240 is detected to be incapable of being used continuously or within a preset time, the control module sends out an instruction, and the lifting motor and the working motor for driving complete pad replacement according to the pad replacement mode, so that continuous work can be achieved.
Other components of this embodiment stone material nursing robot can adopt current conventional technology, and it has functions such as independently walking, autonomous working path planning, automatic input of liquid medicine, can be autonomic to work such as waxing, polishing, crystallization, stone material pathological change processing/stone material renovation/ground surface hardening processing and ground washing to ground. Compared with the conventional intelligent robot for ground stone nursing, the stone nursing robot can automatically replace the cleaning pad 240, so that manual intervention is reduced, and the working efficiency is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A working head (1) is characterized by comprising a mounting shaft (100) and a plurality of working components (200), wherein the plurality of working components (200) are sequentially sleeved on the mounting shaft (100) along the axial direction of the mounting shaft (100), and the working components (200) are provided with sliding blocks (220) protruding inwards;
the upper end of the mounting shaft (100) is used for being connected with an output shaft of a driving mechanism, and an inward-concave limiting sliding groove (110), a guide groove (120) and an installing and detaching groove (130) are sequentially arranged on the outer peripheral wall of the mounting shaft (100) along the axial direction of the mounting shaft; the guide groove (120) extends along the circumferential direction of the mounting shaft (100), the guide groove (120) is sequentially provided with a fixing position (121) and an installing and detaching position (122) in the extending direction of the guide groove (120), a first circumferential stopping portion (123) is arranged on one side, away from the installing and detaching position (122), of the guide groove (120), and a second circumferential stopping portion (124) is arranged on one side, away from the fixing position (121), of the installing and detaching position (122) of the guide groove (120);
the limiting sliding groove (110) extends along the axial direction of the mounting shaft (100), the fixing position (121) is communicated with the lower end of the limiting sliding groove (110), the assembling and disassembling position (122) corresponds to and is communicated with the upper end of the assembling and disassembling groove (130), the assembling and disassembling groove (130) extends along the axial direction of the mounting shaft (100) and is communicated with the lower end of the mounting shaft (100), and the limiting sliding groove (110) and the assembling and disassembling groove (130) are arranged in a staggered mode in the axial direction of the mounting shaft (100); the sliding block (220) can be inserted into the limiting sliding groove (110), the guide groove (120) and the mounting and dismounting groove (130), the sliding block (220) can slide in the limiting sliding groove (110), the guide groove (120) and the mounting and dismounting groove (130), and can slide to a fixing position (121) of the guide groove (120) from the limiting sliding groove (110) and slide to the mounting and dismounting groove (130) from a mounting and dismounting position (122) of the guide groove (120).
2. The working head (1) according to claim 1, wherein the fixing portion (121) is divided into a first fixing section (1211) and a second fixing section (1212), the first fixing section (1211) corresponds to and communicates with a lower end of the limiting sliding groove (110), the first fixing section (1211) is disposed between the mounting and dismounting portion (122) and the second fixing section (1212), the second fixing section (1212) and the limiting sliding groove (110) are disposed in a staggered manner in an axial direction of the mounting shaft (100), and the first circumferential stopping portion (123) is disposed on a side of the second fixing section (1212) away from the first fixing section (1211).
3. The working head (1) according to claim 1 or 2, wherein the mounting shaft (100) comprises a shaft body (101) and a guide shaft block (102) which are coaxially arranged and fixedly connected, the guide shaft block (102) is arranged below the shaft body (101), and a reinforcing plate (104) is arranged between the lower end of the shaft body (101) and the guide shaft block (102);
the guide groove (120) and the attaching and detaching groove (130) are provided on the guide shaft block (102), and the reinforcing plate (104) forms an upper side wall of the guide groove (120).
4. The working head (1) according to claim 1 or 2, wherein a plurality of guide grooves (120) are arranged along the circumferential direction of the mounting shaft (100), and the number of the mounting and dismounting grooves (130) and the number of the limiting sliding grooves (110) are arranged in one-to-one correspondence with the guide grooves (120);
the fixing positions (121) and the mounting and dismounting positions (122) of the plurality of guide grooves (120) have the same positional relationship in the circumferential direction of the mounting shaft (100).
5. Working head (1) according to claim 4, characterized in that the first circumferential stop (123) of one of the guide slots (120) is the same stop as the second circumferential stop (124) of the adjacent guide slot (120).
6. The working head (1) according to claim 1 or 2, wherein the working assembly (200) comprises a chuck (210) and a functional member, the chuck (210) is sleeved on the mounting shaft (100), the slide block (220) protrudes inwards from the chuck (210), a connecting part (211) protrudes outwards from the chuck (210), and the functional member is mounted on the connecting part (211).
7. The working head (1) according to claim 6, wherein the functional elements comprise a cleaning pad (240); or
The functional piece comprises a cleaning pad (240), a needle hook plate (250) and a polishing plate (260), the cleaning pad (240) is connected with the polishing plate (260) into a whole through the needle hook plate (250), and the cleaning pad (240) is detachably connected with the needle hook plate (250).
8. The working head (1) according to claim 7, wherein the working head (1) further comprises a weight plate (230), the weight plate (230) being mounted on the mounting shaft (100).
9. A working head (1) according to claim 1 or 2, wherein a connection block (103) is connected to the upper end surface of the mounting shaft (100), the connection block (103) is provided with a mounting slot (1031), the mounting slot (1031) is provided with a socket (1032) facing in a direction perpendicular to the axis of the mounting shaft (100), the socket (1032) is used for inserting a connection head of an output shaft of a driving mechanism into the mounting slot (1031) to realize connection of the mounting shaft (100) and the output shaft of the driving mechanism.
10. Stone care robot, characterized in that it comprises a drive mechanism and a working head (1) according to any of claims 1-9;
the output shaft of the driving mechanism is connected with the mounting shaft (100), and the driving mechanism can drive the mounting shaft (100) to rotate positively and negatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515470.7A CN111631636B (en) | 2020-06-08 | 2020-06-08 | Working head and stone material nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010515470.7A CN111631636B (en) | 2020-06-08 | 2020-06-08 | Working head and stone material nursing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111631636A CN111631636A (en) | 2020-09-08 |
| CN111631636B true CN111631636B (en) | 2021-07-09 |
Family
ID=72324441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010515470.7A Active CN111631636B (en) | 2020-06-08 | 2020-06-08 | Working head and stone material nursing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111631636B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428124B (en) * | 2020-11-06 | 2022-03-04 | 上海高仙自动化科技发展有限公司 | Working head and stone material nursing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201058006Y (en) * | 2007-06-01 | 2008-05-14 | 王泉林 | Connecting mechanism for the brush disk and transmission shaft of floor-cleaning machine |
| CN103690108A (en) * | 2012-09-28 | 2014-04-02 | 芜湖爱瑞特环保科技有限公司 | A quick detachable disc brush device |
| WO2015071814A1 (en) * | 2013-11-13 | 2015-05-21 | Montaldi Bianca | Self-moving machine for washing and drying floors |
| CN204353955U (en) * | 2014-12-29 | 2015-05-27 | 福建富高利机械发展有限公司 | The high-performance polishing disk of stone polishing machine |
| EP3231321A1 (en) * | 2016-04-11 | 2017-10-18 | Weber Bürstensysteme GmbH | Circular broom and fastening device for circular broom |
| CN107650019A (en) * | 2017-10-31 | 2018-02-02 | 江苏科瑞欣机械有限公司 | A kind of floor grinding mill of quick-replaceable bistrique |
| CN110485342A (en) * | 2019-08-09 | 2019-11-22 | 安徽彩丰刷业有限公司 | A kind of scavenging vehicle combined type brush |
| CN210643646U (en) * | 2019-07-26 | 2020-06-02 | 周浩波 | Multi-adaptation juicer structure convenient for replacing cutter head and cutter head assembly |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7533435B2 (en) * | 2003-05-14 | 2009-05-19 | Karcher North America, Inc. | Floor treatment apparatus |
-
2020
- 2020-06-08 CN CN202010515470.7A patent/CN111631636B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201058006Y (en) * | 2007-06-01 | 2008-05-14 | 王泉林 | Connecting mechanism for the brush disk and transmission shaft of floor-cleaning machine |
| CN103690108A (en) * | 2012-09-28 | 2014-04-02 | 芜湖爱瑞特环保科技有限公司 | A quick detachable disc brush device |
| WO2015071814A1 (en) * | 2013-11-13 | 2015-05-21 | Montaldi Bianca | Self-moving machine for washing and drying floors |
| CN204353955U (en) * | 2014-12-29 | 2015-05-27 | 福建富高利机械发展有限公司 | The high-performance polishing disk of stone polishing machine |
| EP3231321A1 (en) * | 2016-04-11 | 2017-10-18 | Weber Bürstensysteme GmbH | Circular broom and fastening device for circular broom |
| CN107650019A (en) * | 2017-10-31 | 2018-02-02 | 江苏科瑞欣机械有限公司 | A kind of floor grinding mill of quick-replaceable bistrique |
| CN210643646U (en) * | 2019-07-26 | 2020-06-02 | 周浩波 | Multi-adaptation juicer structure convenient for replacing cutter head and cutter head assembly |
| CN110485342A (en) * | 2019-08-09 | 2019-11-22 | 安徽彩丰刷业有限公司 | A kind of scavenging vehicle combined type brush |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111631636A (en) | 2020-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2022514791A (en) | Cleaning robot and control method | |
| CN111631636B (en) | Working head and stone material nursing robot | |
| EP4327712A1 (en) | Cleaning apparatus | |
| CN111421411B (en) | Cleaning head and intelligent cleaning robot | |
| CN215650850U (en) | Cleaning device | |
| CN111557617A (en) | Pad changing device, ground stone nursing machine and pad changing method | |
| US20210008602A1 (en) | Autonomous traveling work machine, washing system, and method of controlling washing system | |
| CN115804546A (en) | A cleaning robot and cleaning system | |
| CN208739824U (en) | Pig house automatic intelligent descaling machine | |
| CN112428124B (en) | Working head and stone material nursing robot | |
| CN201056426Y (en) | Cleaning brush bed for belt type conveyor | |
| CN215427965U (en) | Constructional engineering is with spraying dust device | |
| CN208825039U (en) | A kind of solar panels cleaning device | |
| CN112545371B (en) | Connect liquid structure, nursing device and cleaning device | |
| CN110625795B (en) | Mixing plant is used in concrete production | |
| CN216321676U (en) | A lifting disperser for curing agent processing | |
| CN212307734U (en) | Liftable double-brush-head floor washing vehicle | |
| CN215030425U (en) | Double-component dynamic mixing valve assembly for automatic glue pouring machine | |
| CN218220134U (en) | Separation and reunion formula rotatory mop burnisher | |
| CN220713825U (en) | Spraying device for cleaning outer wall | |
| CN222712169U (en) | A mechanical and electrical equipment maintenance manipulator | |
| CN218574382U (en) | Cleaning device for digit control machine tool | |
| CN215877485U (en) | Titanium white powder processing is with mixing arrangement who has limit structure | |
| CN108080298A (en) | A kind of solar panels cleaning device | |
| CN217594729U (en) | Special grinding machine for water-based color paste |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20250418 Address after: 215000 dachangang village, Zhenze Town, Wujiang District, Suzhou City, Jiangsu Province Patentee after: Suzhou Gaoxian Robot Technology Co.,Ltd. Country or region after: China Address before: 3 / F, building a, Fenghuang science and Technology Pioneer Park, Fenghuang Town, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee before: Suzhou Gaozhixian Automation Technology Co.,Ltd. Country or region before: China |