CN114224230B - Dust pushing mechanism and floor sweeping robot - Google Patents
Dust pushing mechanism and floor sweeping robot Download PDFInfo
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- CN114224230B CN114224230B CN202111530261.0A CN202111530261A CN114224230B CN 114224230 B CN114224230 B CN 114224230B CN 202111530261 A CN202111530261 A CN 202111530261A CN 114224230 B CN114224230 B CN 114224230B
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- dust pushing
- assembly
- dust
- mounting seat
- seat
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- 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
- A47L11/24—Floor-sweeping machines, motor-driven
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- 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
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- 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
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- Cleaning In General (AREA)
Abstract
The invention discloses a dust pushing mechanism and a sweeping robot with the same, wherein the dust pushing mechanism comprises: the dust-pushing device comprises a chassis assembly, a dust-pushing assembly, a lifting assembly and a positioning assembly, wherein the chassis assembly comprises a fixed seat and a mounting seat, and the mounting seat is connected with the fixed seat; the dust pushing assembly is detachably arranged on the mounting seat; the lifting assembly comprises a driving device and a pull rope, the driving device is arranged on the fixed seat, the pull rope is connected with the driving device and penetrates through the mounting seat to be connected with the dust pushing assembly, and the driving device is used for driving the pull rope to tighten; the positioning assembly detachably positions the dust pushing assembly on the mounting seat. Through using above-mentioned technical scheme, can realize the separation that the dirt pushed the subassembly, can avoid the dirt to push subassembly and barrier hard contact to can push the subassembly through the dirt that lifting unit will separate and resume, thereby make things convenient for dirt to push the mechanism and cross the barrier.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a dust pushing mechanism and a sweeping robot comprising the same.
Background
With the rapid development of information technologies such as artificial intelligence, big data and internet of things, the smart city is continuously and deeply promoted, and the property clean-keeping smart construction in public places such as business super, airports, scenic spots and the like becomes a focus. It has become a mainstream trend to replace traditional manual cleaning with intelligent cleaning equipment. At present, the cleaning scheme of a commercial sweeping robot is mainly as follows: the garbage is gathered to the center through the sweeping discs on the two sides, the garbage is thrown into the suction nozzle through the rolling sweeping handle, the garbage is conveyed to the garbage can through the pipeline, and the residual floating dust is cleaned through dust pushing. The cleaning mechanism can be lifted so as to facilitate the transition of the robot.
In the related art, the dust pushing mechanism cannot adjust the angle between the dust pushing cloth and the ground. When the ground with a certain gradient is cleaned, the plane contact between the dust pushing cloth and the ground is changed into line contact, and the dust pushing effect is greatly reduced. And the existing unmanned technology can not effectively identify short obstacles. When the dust pusher touches unidentified obstacles such as ground plugs, wire harnesses and the like or turns and touches hard objects, effective obstacle avoidance can not be achieved.
Disclosure of Invention
One objective of the present invention is to provide a dust pushing mechanism, in which the dust pushing assembly is separable, so as to prevent the dust pushing assembly from being in hard contact with an obstacle, and the separated dust pushing assembly can be recovered by the lifting assembly, thereby facilitating the dust pushing mechanism to pass over the obstacle.
Another objective of the present invention is to provide a sweeping robot, which includes the aforementioned dust pushing mechanism.
According to the dust push mechanism of the embodiment of the invention, the dust push mechanism comprises: the dust-pushing device comprises a chassis assembly, a dust-pushing assembly, a lifting assembly and a positioning assembly, wherein the chassis assembly comprises a fixed seat and a mounting seat, and the mounting seat is connected with the fixed seat; the dust pushing assembly is detachably arranged on the mounting seat; the lifting assembly comprises a driving device and a pull rope, the driving device is arranged on the fixed seat, the pull rope is connected with the driving device and penetrates through the mounting seat to be connected with the dust pushing assembly, and the driving device is used for driving the pull rope to tighten; the positioning assembly can detachably position the dust pushing assembly on the mounting seat.
According to the dust pushing mechanism provided by the embodiment of the invention, the dust pushing component can be separated, so that the dust pushing component can be prevented from being in hard contact with an obstacle, and the separated dust pushing component can be recovered through the lifting component, so that the dust pushing mechanism can conveniently cross the obstacle.
In addition, the dust pushing mechanism according to the above embodiment of the present invention may further have the following additional technical features:
optionally, the mounting seat is rotatably connected to the fixing seat, and a rotating shaft of the mounting seat is disposed behind the pull rope, so as to drive the front end of the dust pushing assembly to turn upwards when the pull rope is tightened.
Optionally, be equipped with the groove of stepping down on the upper surface that the subassembly was pushed to dirt, the front end in the groove of stepping down runs through the leading flank that the subassembly was pushed to dirt, just the lower extreme of stay cord stretches into in the groove of stepping down.
Optionally, a matching portion is arranged on the dust pushing assembly, a detection piece is arranged on the mounting seat, the detection piece is opposite to the matching portion to detect the relative position of the dust pushing assembly and the chassis assembly, and the detection piece is in signal transmission with the driving device.
Optionally, the positioning assembly comprises a first magnetic part and a second magnetic part, the first magnetic part is arranged on the chassis assembly, the second magnetic part is arranged on the dust pushing assembly, and the first magnetic part and the second magnetic part are detachably attracted to position the dust pushing assembly on the mounting seat.
Optionally, the positioning assembly further comprises: the positioning ball is embedded on the mounting seat and protrudes downwards out of the mounting seat; the first elastic piece is abutted between the positioning ball and the mounting seat, wherein a positioning groove is formed in the upper surface of the dust pushing assembly, and the positioning ball is suitable for being embedded into the positioning groove.
Optionally, the chassis assembly further comprises: the guide rod extends along the vertical direction and is movably connected with the fixed seat along the vertical direction, the upper end of the guide rod penetrates through the fixed seat, and the end part of the upper end of the guide rod is also provided with a limiting part for stopping the fixed seat; the guide seat is connected to the lower end of the guide rod; the second elastic piece is supported between the fixed seat and the guide seat, wherein the installation seat is connected with the guide seat.
Optionally, the mounting seat is rotatably connected with the guide seat, one of the mounting seat and the guide seat is provided with a limiting post, and the other of the mounting seat and the guide seat is provided with a limiting groove, the limiting groove is arc-shaped and extends around a rotating shaft of the mounting seat, and the limiting post is slidably embedded into the limiting groove; wherein the pull rope penetrates through the guide rod along the vertical direction.
Optionally, the drive device comprises: the lifting structure is fixed on the fixed seat; the connecting rod extends along the left and right directions and is driven by the lifting structure to lift, pull ropes are connected to the left end and the right end of the connecting rod, the chassis assembly comprises two mounting seats which are arranged at left and right intervals and are connected with the two pull ropes respectively, and the left end and the right end of the dust pushing assembly are detachably mounted on the two mounting seats respectively.
The sweeping robot provided by the embodiment of the invention comprises the dust pushing mechanism.
Drawings
FIG. 1 is a schematic diagram of a dust pushing mechanism in some embodiments of the invention.
FIG. 2 is a schematic diagram of a dust pushing mechanism in some embodiments of the invention.
FIG. 3 is a side view of a dust push mechanism in some embodiments of the invention.
FIG. 4 is a cross-sectional view of a dust push mechanism in some embodiments of the invention.
FIG. 5 is a cross-sectional view of a dust push mechanism (shown with the dust push assembly separated from the mount) in some embodiments of the invention.
Fig. 6 is a schematic illustration of the structure of a chassis assembly in some embodiments of the invention.
FIG. 7 is a schematic view of a dust push assembly in accordance with some embodiments of the invention (showing the pull cord in a tightened state).
FIG. 8 is a partial schematic view of a dirt push assembly in some embodiments of the invention.
FIG. 9 is a partial schematic view of a dust push mechanism in some embodiments of the invention.
Figure 10 is an exploded view of a mount for a dust push mechanism in some embodiments of the invention.
Reference numerals are as follows:
the dust-pushing mechanism 100 is arranged on the frame,
the dust pushing component 1, the dust pushing plate 11, the abdicating groove 110, the matching part 111, the positioning hole 112, the positioning groove 113, the dust pushing cloth 12, the chamfer 13,
the chassis component 2, the fixing seat 21, the mounting seat 22, the first mounting plate 221, the second mounting plate 222, the fixing support 2221, the limiting groove 220, the detecting piece 221, the signal wire 2211, the guide rod 23, the guide seat 24, the limiting column 241, the second elastic piece 25, the guide bush 26, the limiting part 27 and the gasket 28.
The lifting component 3, the pull rope 31, the driving device 32, the connecting rod 321, the lifting structure 322,
the first magnetic member 41, the second magnetic member 42, the positioning ball 43, and the first elastic member 44.
Detailed Description
In view of some problems in the related art, the present invention provides a dust pushing mechanism 100, and the dust pushing mechanism 100 may be applied to a cleaning device, such as a road sweeper or a road sweeper, to solve the problem of collision avoidance of the dust pusher and improve the dust pushing effect.
Specifically, when the dust pushes through the ground with small slope, the dust pushing plate 11 can rotate around the rotating shaft by a certain angle along with the change of the slope of the ground so as to adapt to the ground. The dust pushing effect of uneven road surfaces is improved. Specifically, in order to cushion the robot in normal running when the dust pushes against a short obstacle, the dust pushing assembly 1 is designed to have a structure in which the dust pushes off and slides backward in collision. In order to ensure that the dust pushing assembly 1 can be automatically installed in place after falling off, the dust pushing assembly 1 and the lifting mechanism are connected by a steel wire. After the dust push component 1 falls off, the dust push component can be pulled by a steel wire to be installed again in place. Meanwhile, a sensor is designed on the dust pushing mechanism 100 to recognize the falling signal, so that the cleaning device stops moving forward. Then, the lifting component 3 of the dust pusher is started, and the dust pusher component 1 rotates anticlockwise to the maximum limit angle around the rotating shaft. This pivoting action will cause the dust pusher assembly 1 to disengage from the impact object by a certain distance to facilitate lifting of the dust pusher. When the dust push component 1 rotates anticlockwise to the maximum limit angle around the rotating shaft, the dust push continues to be lifted until the highest point stops. The lowest point of the dust push assembly 1 is now already above the bump. The cleaning device is then advanced a distance to push the dust over the obstacle. Then the dust push descends and the cleaning equipment continues to perform cleaning operation. The position points of the obstacles are recorded by the system, and the obstacles can be manually cleared subsequently or the obstacles can be avoided and cleaned by optimizing the path.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1 to 10, a dust pushing mechanism 100 according to an embodiment of the present invention includes: chassis subassembly 2, dirt push away subassembly 1, lifting unit 3 and locating component. Specifically, the chassis component 2 includes a fixed seat 21 and a mounting seat 22, and the mounting seat 22 is connected with the fixed seat 21; the dust pushing assembly 1 is detachably mounted on the mounting seat 22, the lifting assembly 3 comprises a driving device 32 and a pull rope 31, the driving device 32 is arranged on the fixing seat 21, the pull rope 31 is connected with the driving device 32, so that the driving device 32 can adjust the pull rope 31, the pull rope 31 penetrates through the mounting seat 22 to be connected with the dust pushing assembly 1, and the driving device 32 is used for driving the pull rope 31 to be tightened; the positioning assembly detachably positions the dust pushing assembly 1 on the mounting seat 22. Specifically, chassis component 2 can connect dirt and push away subassembly 1 and lifting unit 3, and the locating component can be with the detachable location of dirt and push away subassembly 1 on chassis component 2's mount pad 22, and from this, dirt pushes away subassembly 1 can separate with chassis component 2, and lifting unit 3 can push away subassembly 1 with the dirt of separation and resume to lift dirt and push away the subassembly and avoid the barrier. In practical application, use dirt to push away mechanism 100 and be applied to cleaning equipment as an example, when dirt pushed away subassembly 1 and met great barrier, dirt pushed away subassembly 1 receives the collision and separates with mount pad 22, locating component pushes away the back with dirt, can trigger lifting unit 3, tighten up like drive arrangement 32 drive stay cord 31, thereby push away subassembly 1 with the dirt that stay cord 31 links to each other and mention, make dirt push away subassembly 1 can avoid the barrier, behind dirt pushed away subassembly 1 crossed the barrier, lifting unit 3 release stay cord 31, dirt pushes away subassembly 1 descends, make locating component can be used for resuming dirt and pushes away the connected state that subassembly 1 and mount pad 22, so that dirt pushed away subassembly 1 and continue dirt and push away work. Also can be, when the ground slope that cleans equipment and clean is great, lifting unit 3 pushes away subassembly 1 with the dirt and promotes the take the altitude and push away subassembly 1 again down the dust fall to in the dirt push away the better laminating of subassembly 1 and ground, improve and clean the effect.
According to the dust pushing mechanism 100 provided by the embodiment of the invention, the dust pushing assembly 1 of the dust pushing mechanism 100 is arranged in a separable manner from the chassis assembly 2, so that the buffering effect is improved, the dust pushing assembly 1 can be prevented from being collided with an obstacle firmly, and the separated dust pushing assembly 1 can be recovered through the lifting assembly 3, so that the dust pushing mechanism 100 can conveniently pass through the obstacle, and the use flexibility of the mechanism is improved; the working state of the dust pushing assembly 1 can be adjusted through the lifting assembly 3, and the functionality of the dust pushing mechanism 100 is improved.
With reference to fig. 3 and 4, optionally, the mounting seat 22 is rotatably connected to the fixing seat 21, and a rotating shaft of the mounting seat 22 is disposed behind the pulling rope 31, so as to drive the front end of the dust pushing assembly 1 to turn upwards when the pulling rope 31 is tightened. That is to say, the rotation axis of mount pad 22 and stay cord 31 are dislocation set to drive the upset of dirt push assembly 1 when being favorable to stay cord 31 to tighten up, improve structural stability and equilibrium, and do benefit to the lift range that increases dirt push assembly 1, in order to improve and keep away the barrier effect.
With reference to fig. 2, optionally, an abdicating groove 110 is disposed on the upper surface of the dust pushing assembly 1, a front end of the abdicating groove 110 penetrates through a front side surface of the dust pushing assembly 1, and a lower end of the pulling rope 31 extends into the abdicating groove 110 to perform an abdicating effect, so that the pulling rope 31 can be accommodated in the abdicating groove 110 to protect the pulling rope 31. Specifically, as shown in fig. 5, when the front side of the dust pushing mechanism 100 hits an obstacle to separate the dust pushing assembly 1 from the mounting seat 22, the dust pushing assembly 1 is misaligned with the mounting seat 22, a part of the pull rope 31 will be accommodated between the dust pushing assembly 1 and the mounting seat 22, and by providing the avoiding groove 110, the pull rope 31 between the dust pushing assembly 1 and the mounting seat 22 can be embedded into the avoiding groove 110.
With reference to fig. 2, optionally, a matching portion 111 is disposed on the dust pushing assembly 1, a detecting element 221 is disposed on the mounting seat 22, the detecting element 221 is opposite to the matching portion 111 to detect a relative position between the dust pushing assembly 1 and the chassis assembly 2, and the detecting element 221 and the driving device 32 transmit signals to determine whether the dust pushing assembly 1 is separated from the mounting seat 22, so as to trigger the lifting assembly 3, which can improve intelligence of the dust pushing mechanism 100. Specifically, when the detecting member 221 is positioned opposite to the fitting portion 111, the dust pushing assembly 1 is connected to the mounting seat 22; when the detecting member 221 is misaligned with the engaging portion 111, the detecting member 221 detects that the position of the engaging portion 111 changes, and determines that the dust push assembly 1 collides, that is, the dust push assembly 1 is collided and separated from the mounting base 22. More specifically, the signal line 2211 may be connected to the detecting element 221 to facilitate signal transmission.
With reference to fig. 4, optionally, the positioning assembly includes a first magnetic member 41 and a second magnetic member 42, the first magnetic member 41 is disposed on the chassis assembly 2, the second magnetic member 42 is disposed on the dust pushing assembly 1, and the first magnetic member 41 and the second magnetic member 42 are detachably attracted to position the dust pushing assembly 1 on the mounting base 22, and the positioning assembly has good stability and is easy to construct. Specifically, when the lifting assembly 3 recovers the separated dust pushing assembly 1, the driving device 32 drives the pulling rope 31 to pull the dust pushing assembly 1 to the vicinity of the mounting point, and the dust pushing assembly 1 is automatically mounted and returned by utilizing the attraction of the upper and lower magnets and the alignment characteristic of the magnetic members with the same shape.
According to some embodiments of the present invention, the first magnetic member 41 and the second magnetic member 42 can be rectangular magnets with opposite magnetic poles, same size, and smooth surfaces. When the dust pushing component 1 is not affected by external force, the two magnets with the same size and smooth surfaces attract each other and can be always aligned and attracted, and by utilizing the characteristic, the auxiliary positioning function during installation of the dust pushing component 1 can be realized. In addition, one of the first and second magnetic members 41 and 42 may be provided in a structure of an iron block, an electromagnet, or the like.
With reference to fig. 4 and 5, optionally, the positioning assembly further includes: the positioning ball 43 is embedded on the mounting seat 22 and protrudes downwards from the mounting seat 22; the first elastic element 44 abuts between the positioning ball 43 and the mounting seat 22, wherein a positioning groove 113 is disposed on the upper surface of the dust pushing assembly 1, and the positioning ball 43 is adapted to be inserted into the positioning groove 113. Specifically, the mounting seat 22 protrudes the positioning ball 43 downwards, and the positioning ball 43 can be embedded into the positioning groove 113 of the dust pushing assembly 1, so that the mounting seat 22 and the dust pushing assembly 1 can perform positioning and limiting functions, the mounting seat 22 and the dust pushing assembly 1 are prevented from easily slipping, and the dust pushing assembly 1 and the positioning assembly can be prevented from rotating relatively. In addition, the first elastic element 44 is abutted between the positioning ball 43 and the mounting seat 22, so as to play a role of buffering, for example, when the dust pushing assembly 1 collides with an obstacle, the positioning ball 43 retracts, so that the first elastic element 44 is compressed, and when the positioning ball 43 retracts, the pull rope 31 loosens and is embedded in the avoiding groove 110. At this time, the dust pushing assembly 1 loses the limit and slides backwards, but is limited by the pull rope 31 and cannot fall off completely.
Referring to fig. 7 and 8, according to the dust pushing mechanism 100 of the embodiment of the present invention, the dust pushing assembly 1 includes a dust pushing plate 11 and a dust pushing cloth 12, and is used for cleaning up the bottom surface of the dust pushing plate 11, for example, the dust pushing plate 11 is attached by a hook and loop fastener or the dust pushing cloth 12 is wrapped under the dust pushing plate 11, and the long straight edge of the dust pushing plate 11 is close to the ground surface side, and may be provided with an arc chamfer 13 having a guiding function. When the dust pushing assembly 1 passes through the road surface with the height smaller than that of the arc chamfer 13, the chamfer 13 can play a role in guiding so as to adapt to the change of the road surface and enable the dust pushing assembly 1 to pass through smoothly. When the dust pushes away subassembly 1 through being greater than the road surface change of 13 heights of chamfer (touch the barrier promptly), chamfer 13 will lose effect, and the dust pushes away subassembly 1 will collide the back and automatic fall from the mounting point and backward slide a section distance, gives the collision in order to cushion, reserves certain time and space for whole car braking simultaneously. Further, an avoiding groove 110, a positioning hole 112 and a second magnetic member 42 are provided on the upper surface of the dust push plate 11, wherein the avoiding groove 110, the positioning hole 112 and the second magnetic member 42 are arranged collinearly on the dust push plate 11.
With reference to fig. 4 and 9, the positioning balls 43 are embedded in the positioning grooves 113 of the dust pushing plate 11 to perform a limiting function, the first magnetic member 41 and the second magnetic member 42 are attracted and fixed, the mounting seat 22 and the dust pushing plate 11 are provided with mounting holes, the two mounting holes are concentric, and the pull rope 31 passes through the mounting holes of the mounting seat 22 and the dust pushing plate 11.
For example, in combination with the above, the positioning balls 43 embedded in the dust pushing plate 11 are pushed out of the positioning grooves 113 by the impact force of the dust pushing assembly 1, so that the dust pushing assembly 1 loses its position limit and slides backwards. The pull cord 31 is bent and fitted into the recess groove 110 of the dust push plate 11, and the detector 221 and the engagement portion 111 are displaced, and the signal is recognized that the dust push assembly 1 is in a disengaged state. And then the whole machine control system starts collision braking and stops working. Further, the lifting assembly 3 is lifted, and the driving device 32 drives the pulling rope 31 to be tightened to pull the dust pushing assembly 1. The dust pushing assembly 1 is pulled by the pull rope 31 to drive the front end of the dust pushing assembly 1 to turn upwards, then the pull rope 31 continues to lift, and the dust pushing plate 11 is pulled to move towards the direction close to the positioning ball 43. At this time, the first magnetic member 41 and the second magnetic member 42 are still in engagement in a misaligned state. The installation and positioning of the dust push plate 11 are assisted by the attraction and aligning characteristics of the magnetic parts with the same shape and the traction of the pull rope 31. Further, when the edge of the positioning groove 113 moves to the center of the positioning ball 43, the positioning ball 43 slides into the positioning groove 113, the first magnetic member 41 and the second magnetic member 42 are completely aligned, and the dust push assembly 1 is completely reinstalled. At this time, the lifting assembly 3 can continue to lift, and drive the dust pushing assembly 1 and the chassis assembly 2 to lift synchronously until the highest point stops, the lowest point of the dust pushing plate 11 is higher than the collision object, and the cleaning device moves forward for a certain distance, so that the dust pushing assembly 1 crosses the obstacle. And the rear dust push component 1 descends, and the cleaning equipment continues to carry out cleaning operation. The position points of the obstacles are recorded by the system, and then the obstacles can be manually cleared, or the obstacles can be avoided and cleaned by optimizing the path, so that the intelligence of the cleaning equipment is improved.
With reference to fig. 6, optionally, the chassis assembly 2 further comprises: the guide rod 23 extends along the vertical direction and is movably connected with the fixed seat 21 along the vertical direction, the upper end of the guide rod 23 penetrates through the fixed seat 21, a limiting part 27 is further arranged at the end part of the upper end of the guide rod 23, and the limiting part 27 can be used for stopping the fixed seat 21; the guide seat 24 is connected to the lower end of the guide rod 23; the second elastic element 25 is supported between the fixed seat 21 and the guide seat 24, wherein the mounting seat 22 is connected with the guide seat 24. Specifically, the upper end of the guide rod 23 passes through the fixing seat 21 and is fixed by the limiting part 27, the lower end of the guide rod 23 is connected with the guide seat 24, for example, welding or screw connection is available, the second elastic part 25 is supported between the fixing seat 21 and the guide seat 24, the guide seat 24 is connected with the mounting seat 22, and the dust pushing component 1 is detachably connected with the mounting seat 22, so that the chassis component 2 can swing along with the dust pushing component 1, and the second elastic part 25 provides downward thrust for the dust pushing component 1, so as to improve the dust pushing effect, and when the dust pushing component 1 is collided, the dust pushing component 1 can be buffered.
Optionally, the chassis component 2 may further have a guide bushing 26, the guide bushing 26 is disposed at a position adjacent to the lower surface of the fixing seat 21, the guide bushing 26 is sleeved outside the guide rod 23 and functions to limit the guide rod 23 to slide axially, thereby, the limiting portion 27 is mounted at the upper end of the guide rod 23, the guide rod 23 is inside the guide bushing 26, and the guide rod 23 may reciprocate inside the guide bushing 26 without falling off, so as to improve the stability of the mechanism.
Referring to fig. 3 and 10, optionally, the mounting seat 22 is rotatably connected to the guide seat 24, one of the mounting seat 22 and the guide seat 24 is provided with a limiting post 241 and the other is provided with a limiting groove 220, the limiting groove 220 is in an arc shape extending around the rotation axis of the mounting seat 22, and the limiting post 241 is slidably inserted into the limiting groove 220 to limit the rotation angle of the mounting seat 22. Specifically, the limiting column 241 is fixed on the guide seat 24, the limiting groove 220 is arranged on the mounting seat 22, and the limiting column 241 moves in the limiting groove 220, so that the limiting hole can limit the rotation angle of the mounting plate relative to the guide seat 24, and the swing amplitude of the dust pushing assembly 1 is limited. When the dust pushing assembly 1 is lifted, the dust pushing plate 11 rotates counterclockwise around the rotating shaft to the limit position of the limit groove 220 along with the traction of the pulling rope 31, and the rotating action can separate the dust pushing plate 11 from the obstacle, so that the dust pushing assembly 1 can be lifted continuously.
Optionally, a pull cord 31 extends through the guide bar 23 in an up-and-down direction to facilitate assembly of the pull cord 31 to facilitate separation of the dirt push assembly 1. Specifically, when the dust pushing assembly 1 is connected with the mounting seat 22, the second elastic element 25 is always in a compressed state, and provides a downward pushing force for the guide seat 24; when the dust pushing assembly 1 is separated from the mounting seat 22, the pull rope 31 is contracted to lift the guide rod 23, so that the dust pushing assembly 1 can be directly lifted.
Referring to fig. 3 and 9, according to the dust pushing mechanism 100 of some embodiments of the present invention, the mounting seat 22 includes a first mounting plate 221 and a second mounting plate 222, the first mounting plate 221 is bent in an L shape, wherein a lower surface of a bottom surface of the first mounting plate 221 is magnetically connected to the dust pushing plate 11, and the guide seat 24 is connected to a middle edge of a side surface of the first mounting plate 221 by a shaft pin connection, so that the mounting seat 22 is rotatable relative to the guide seat 24. A gasket 28, such as a rubber pad, is provided at the connection between the guide seat 24 and the second mounting plate 222 to improve structural stability. One side of the first mounting plate 221, which is close to the pull rope 31, is provided with an arc-shaped limiting groove 220 extending around the rotating shaft, so as to improve the adjustment range of the dust pushing assembly 1. The second mounting plate 222 is L-shaped, a part of the second mounting plate 222 is overlapped with the upper surface of the bottom surface of the first mounting plate 221, and is connected with the upper surface of the bottom surface of the first mounting plate 221 through a bolt, a fixing support 2221 protruding upwards is arranged on one side of the second mounting plate 222 close to the pull rope 31, the first elastic element 44 and the positioning ball 43 are embedded in the fixing support 2221, and the positioning ball 43 protrudes downwards out of the second mounting plate 222; another portion of the second mounting plate 222 extending away from the guide housing 24 can be used to mount the detecting member 221 so that the detecting member 221 can be directly opposite the mating portion 111 on the dust push plate 11.
With reference to fig. 1, optionally, the driving device 32 comprises: the lifting structure 322 and the connecting rod 321, the lifting structure 322 is fixed on the fixed seat 21; the connecting rod 321 extends along the left-right direction and is driven to lift by the lifting structure 322, the pull ropes 31 are connected to the left end and the right end of the connecting rod 321, the chassis assembly 2 comprises two mounting seats 22 which are arranged at left and right intervals and are respectively connected with the two pull ropes 31, and the left end and the right end of the dust pushing assembly 1 are respectively detachably mounted on the two mounting seats 22. That is to say, elevation structure 322 sets up two stay cords 31, and corresponds and set up two sets of chassis component 2, can push away the left and right sides of subassembly 1 at dirt and install stay cord 31 and chassis component 2 respectively to push away subassembly 1, improve the stability of mechanism through two stay cords 31 pulling dirt simultaneously. Specifically, the lifting structure 322 may be fixed to a middle region of the upper surface of the fixing base 21, an upper end of the lifting structure 322 is connected to a middle position of the connecting rod 321, and left and right ends of the connecting rod 321 are connected to the pulling rope 31 to improve balance and stability. When the dust pushing assembly 1 is used, the lifting structure 322 moves up and down, and when the lifting structure 322 moves upwards, the connecting rod 321 drives the pull ropes 31 at the two ends to move upwards, so that the pull ropes 31 are tightened to pull the dust pushing assembly 1; when elevation structure 322 is downward, connecting rod 321 is downward, and the stay cord 31 at connecting rod 321 both ends loosens, and the locating component can push away on subassembly 1 location and the mount pad 22 with the dirt.
According to the dust pushing mechanism 100 of some embodiments of the present invention, the driving device 32 may be an electric push rod fixed on the fixing base 21 by a bolt to provide a lifting power. The connecting rod 321 is fixed on the lifting rod of the lifting structure 322 by a bolt and lifted together with the lifting rod. The upper end of the pull rope 31 is fixed to both ends of the link 321 by bolts. The pull rope 31 sequentially penetrates through the connecting rod 321, the inner cavity of the guide rod 23, the mounting seat 22 and the dust push plate 11 from top to bottom, and all the penetrating holes are arranged on the same straight line so as to reduce bending and friction of the pull rope 31, and therefore the pull rope 31 can synchronously lift the dust push assembly 1 and the chassis assembly 2. When the dust push component 1 collides and moves backwards, the dust push component is not completely fallen off, the dust push component 1 can be pulled to the vicinity of a mounting point by utilizing the traction of the pull rope 31 during lifting, and the dust push plate 11 is automatically mounted and reset by utilizing the attraction of the upper magnet and the lower magnet and the alignment characteristic of the magnets with the same shape. As shown in fig. 1, the dust pushing mechanism 100 is in a normal operating state after being lowered. At this time, the two pull ropes 31 are in a loose state, and the dust pushing mechanism 100 makes the dust pushing cloth 12 well contact with the ground by the self weight and the downward pushing force of the second elastic member 25, thereby realizing the dust pushing function. When the ground gradient changes, the chassis component 2 realizes the up-and-down movement of the dust pushing component 1 and the rotation of a certain angle around a rotating point, and the normal dust pushing operation is completed.
Further, the invention also provides a sweeping robot, the dust pushing mechanism 100 can be installed on the sweeping robot, and the sweeping robot cleans the ground through the contact between the dust pushing mechanism and the ground in the advancing process, so that the cleaning effect and the intelligence of the sweeping robot are improved.
A dust pushing mechanism 100 according to an embodiment of the present invention is described below with reference to the drawings.
Referring to fig. 1 to 10, a dust pushing mechanism 100 according to an embodiment of the present invention includes: chassis subassembly 2, dirt push away subassembly 1, lifting unit 3 and locating component. Specifically, the dust pushing assembly 1 includes a dust pushing plate 11 and a dust pushing cloth 12, the dust pushing cloth 12 is adhered to the lower surface of the dust pushing plate 11, and the matching portion 111 and the positioning groove 113 of the abdicating groove 110 are disposed on the upper surface of the dust pushing plate 11.
With reference to fig. 6, further, the chassis assembly 2 includes a fixing seat 21 and an installation seat 22, the fixing seat 21 is rotatably connected to the installation seat 22, the installation seat 22 is provided with an arc-shaped limiting groove 220 extending around a rotation axis of the installation seat 22 and a detection piece 221, the dust pushing plate 11 is provided with a matching portion 111, the detection piece 221 is opposite to the matching portion 111 to detect a relative position between the dust pushing assembly 1 and the chassis assembly 2, and the detection piece 221 is connected to a signal line 2211 for signal transmission. The detecting member 221 may be a proximity switch or other sensor with detecting or sensing functions, and the fitting portion 111 may be a round head screw. The chassis component 2 further includes a guide rod 23, a guide seat 24, a limiting column 241 and a second elastic member 25, wherein the guide rod 23 is connected between the fixing seat 21 and the guide seat 24, and the second elastic member 25 is supported between the fixing seat 21 and the guide seat 24. The guide seat 24 is provided with a limiting post 241, and the limiting post 241 is slidably inserted into the limiting groove 220, so that the limiting post 241 slides in the limiting groove 220 along the rotation direction of the rotation shaft.
Referring to fig. 1, further, the lifting assembly 3 includes a pulling rope 31 and a driving device 32, the driving device 32 includes a connecting rod 321 and a lifting structure 322, the lifting structure 322 is fixed on the fixing base 21, the connecting rod 321 is connected to the upper end of the lifting structure 322 and extends to the left and right, the pulling rope 31 is connected to the left and right ends of the connecting rod 321, and the pulling rope 31 is connected to the driving device 32 and connected to the dust pushing assembly 1 through the guiding rod 23 and the mounting base 22, so as to be suitable for the driving device 32 to tighten the pulling rope 31 and lift the dust pushing assembly 1. Wherein the pull rope 31 may be a rigid rope to improve structural strength.
Referring to fig. 4, the positioning assembly includes a first magnetic member 41 and a second magnetic member 42, wherein the first magnetic member 41 is disposed on the mounting base 22, the second magnetic member 42 is disposed on the dust pushing plate 11, and the first magnetic member 41 and the second magnetic member 42 are separately attracted to each other, so as to position the dust pushing assembly 1 on the mounting base 22. The positioning assembly further comprises a positioning ball 43 and a first elastic member 44, the positioning ball 43 is involved on the mounting seat 22, and the first elastic member 44 abuts between the positioning ball 43 and the mounting seat 22 to perform a limiting and positioning function between the mounting seat 22 and the dust push plate 11.
In actual use, the chassis component 2 and the lifting component 3 are in a bilaterally symmetrical structure. The proximity switch is installed on the corresponding mounting hole of the mounting seat 22, and when the dust push assembly 1 is installed in place, the proximity switch is right above the round head screw (the matching part 111). The first magnetic member 41 and the second magnetic member 42 are mounted on the mount 22 and the dust push plate 11 by screws. The second mounting plates 222 are fixed to the first mounting plates 221 by two screws, respectively. The first magnetic member 41 is embedded in a square hole formed on the first mounting plate 221, and the lower surface of the first magnetic member is flush with the lower surface of the first mounting plate 221. When the dust push component 1 is installed in place, the upper magnet and the lower magnet are completely attracted. The first elastic member 44 compresses the spring, and the positioning balls 43 are steel balls, and are mounted in the cavities of the hemispherical positioning grooves 113 on the first mounting plate 221 and the raised cylindrical fixing support 2221 on the second mounting plate 222. The positioning balls 43 protrude from the lower surface of the first mounting plate 221, but do not fall out. When the dust push assembly 1 is installed in place, the protruding part of the positioning ball 43 is embedded into the hemispherical positioning groove 113 of the dust push plate 11. In a normal operation state, the positioning balls 43 can play a role in positioning, so as to limit the dust pushing assembly 1 to slide backwards, and prevent the dust pushing assembly 1 and the mounting seat 22 from rotating relatively.
With reference to fig. 2, one end of two symmetrically disposed steel wire pulling ropes 31 is fixed on the dust pushing plate 11 for lifting the dust pushing assembly 1. When the dust pushing assembly 1 descends to the ground, the steel wire is in a loose state, and a certain length is reserved for falling and sliding of the dust pushing assembly 1 after collision. The dust push plate 11 has a rectangular relief groove 110. When the mounting seat 22 slides relative to the dust pushing assembly 1, the pulling rope 31 is pressed into the receding groove 110, so that the pulling rope 31 is prevented from being damaged by shearing. The matching part 111 is a round head screw, is installed in a corresponding threaded hole of the dust push plate 11, protrudes out of the upper surface of the dust push plate 11, and corresponds to the two proximity switches on the installation seat 22 to serve as collision sensing points. When the dust pushing assembly 1 collides and slides, the sensing point and the sensor are dislocated, and the collision signal is recognized, so that the automatic installation function of the dust pushing mechanism 100 is realized, namely, when the dust pushing assembly 1 is not installed in place, the automatic identification can be realized, and the automatic installation can be realized.
According to the dust pushing mechanism 100 provided by the embodiment of the invention, the dust pushing mechanism can rotate along with the change of the slope of the ground, so that the dust pushing mechanism can be always in good contact with the ground, and the cleaning effect of an uneven road surface is greatly improved. When the vehicle encounters a short barrier, collision buffering can be realized, and collision damage is slowed down. The dust pushing mechanism 100 can automatically identify obstacles and realize automatic obstacle crossing, and the lifting assembly 3 occupies a smaller space and is easier to arrange other mechanisms.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "bottom", "inner", "outer", "axial", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are used for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A dust pushing mechanism, comprising:
the chassis assembly comprises a fixed seat and a mounting seat, and the mounting seat is connected with the fixed seat;
the dust pushing assembly is detachably arranged on the mounting seat;
the lifting assembly comprises a driving device and a pull rope, the driving device is arranged on the fixed seat, the pull rope is connected with the driving device and penetrates through the mounting seat to be connected with the dust pushing assembly, and the driving device is used for driving the pull rope to tighten;
the positioning assembly detachably positions the dust pushing assembly on the mounting seat;
the mounting seat is rotatably connected with the fixing seat, and a rotating shaft of the mounting seat is arranged behind the pull rope so as to drive the front end of the dust pushing assembly to turn upwards when the pull rope is tightened.
2. The dust pushing mechanism according to claim 1, wherein a yielding groove is formed in the upper surface of the dust pushing component, the front end of the yielding groove penetrates through the front side surface of the dust pushing component, and the lower end of the pull rope extends into the yielding groove.
3. The dust pushing mechanism as claimed in claim 1, wherein the dust pushing assembly has a fitting portion, the mounting base has a detecting member, the detecting member is opposite to the fitting portion to detect a relative position between the dust pushing assembly and the chassis assembly, and the detecting member is in signal transmission with the driving device.
4. The dust pushing mechanism as claimed in claim 1, wherein the positioning assembly comprises a first magnetic member and a second magnetic member, the first magnetic member is disposed on the chassis assembly, the second magnetic member is disposed on the dust pushing assembly, and the first magnetic member and the second magnetic member are detachably engaged to position the dust pushing assembly on the mounting base.
5. A dust pushing mechanism as claimed in claim 1, wherein the positioning assembly further comprises:
the positioning ball is embedded on the mounting seat and protrudes downwards out of the mounting seat;
the first elastic piece is abutted between the positioning ball and the mounting seat,
the upper surface of the dust pushing assembly is provided with a positioning groove, and the positioning ball is suitable for being embedded into the positioning groove.
6. The dust pushing mechanism of claim 1, wherein the chassis assembly further comprises:
the guide rod extends along the vertical direction and is movably connected with the fixed seat along the vertical direction, the upper end of the guide rod penetrates through the fixed seat, and a limiting part for stopping the fixed seat is further arranged at the end part of the upper end of the guide rod;
the guide seat is connected to the lower end of the guide rod;
a second elastic member supported between the fixing base and the guide base,
wherein, the mount pad with the guide holder links to each other.
7. A dust pushing mechanism according to claim 6, wherein said mounting base is rotatably connected to said guide base, one of said mounting base and said guide base is provided with a stopper post and the other is provided with a stopper groove, said stopper groove is formed in an arc shape extending around a rotation axis of said mounting base, said stopper post is slidably fitted into said stopper groove,
wherein the pull rope penetrates through the guide rod along the vertical direction.
8. A dust pushing mechanism according to any one of claims 1-7, wherein the driving means comprises:
the lifting structure is fixed on the fixed seat;
the connecting rod extends along the left and right directions and is driven to lift by the lifting structure, the left end and the right end of the connecting rod are both connected with pull ropes,
the chassis component comprises two installation seats which are arranged at left and right intervals and are respectively connected with the two pull ropes, and the left end part and the right end part of the dust pushing component are respectively and separably installed on the two installation seats.
9. A sweeping robot comprising a dust pushing mechanism as claimed in any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111530261.0A CN114224230B (en) | 2021-12-14 | 2021-12-14 | Dust pushing mechanism and floor sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111530261.0A CN114224230B (en) | 2021-12-14 | 2021-12-14 | Dust pushing mechanism and floor sweeping robot |
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| CN114224230A CN114224230A (en) | 2022-03-25 |
| CN114224230B true CN114224230B (en) | 2023-02-07 |
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| CN104244795B (en) * | 2012-09-10 | 2017-05-03 | 卡彻北美股份有限公司 | Cable-actuated lift system |
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| JP2010035773A (en) * | 2008-08-04 | 2010-02-18 | Fuji Heavy Ind Ltd | Side brush support device for cleaning robot |
| JP2011045694A (en) * | 2009-07-31 | 2011-03-10 | Fuji Heavy Ind Ltd | Self-propelled cleaning robot equipped with side brush device |
| CN104328757A (en) * | 2014-11-27 | 2015-02-04 | 中国重汽集团柳州运力专用汽车有限公司 | Road sweeper |
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| CN114224230A (en) | 2022-03-25 |
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