CN105459131A - Cleaning brush driving device of window cleaning robot and window cleaning robot - Google Patents
Cleaning brush driving device of window cleaning robot and window cleaning robot Download PDFInfo
- Publication number
- CN105459131A CN105459131A CN201610040877.2A CN201610040877A CN105459131A CN 105459131 A CN105459131 A CN 105459131A CN 201610040877 A CN201610040877 A CN 201610040877A CN 105459131 A CN105459131 A CN 105459131A
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- China
- Prior art keywords
- cleaning brush
- driving wheel
- window wiping
- drive unit
- base
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Classifications
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- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses a cleaning brush driving device of a window cleaning robot and the window cleaning robot. The driving device comprises a driving piece, a driving wheel and a transmission piece, wherein the driving piece is connected with the driving wheel to drive the driving wheel to rotate, the transmission piece is connected with the driving wheel and can rotate around a first axis relative to the driving wheel, and the first axis is parallel to a rotary center axis of the driving wheel and deviates from the rotary center axis of the driving wheel. According to the cleaning brush driving device of the window cleaning robot, multiple cleaning brushes can be driven to rotate, the relative speed between the cleaning brushes and a cleaning surface is increased, and therefore the cleaning efficiency and the cleaning effect of the window cleaning robot are improved.
Description
Technical field
The present invention relates to robotics, especially relate to a kind of cleaning brush drive unit and window wiping robot of window wiping robot.
Background technology
Window wiping robot in correlation technique, usually rag planker is set in window wiping robot front bottom end, when robot moves forward, rag planker moves at glass surface, the relative motion of rag and glass surface is utilized to clean, but the cleaning mode of this kind of rag planker can only drive rag planker to clean the windows by the movement of window wiping robot itself, and window wiping robot is general comparatively slow in the translational speed of glass surface, and therefore cleaning effect is poor.
Summary of the invention
The present invention is intended at least to solve one of technical problem existed in prior art.For this reason, the invention reside in the cleaning brush drive unit proposing a kind of window wiping robot, described cleaning brush drive unit can improve cleaning efficiency and the cleaning effect of window wiping robot.
The present invention also proposes a kind of window wiping robot with above-mentioned cleaning brush drive unit.
The cleaning brush drive unit of window wiping robot according to a first aspect of the present invention, described drive unit comprises actuator, driving wheel and driving member, described actuator is connected with described driving wheel to drive described driving wheel to rotate, described driving member is connected with described driving wheel, and described driving member is rotatable around first axle relative to described driving wheel, described first axle is parallel with the rotary middle spindle of described driving wheel, and described first axle departs from the rotary middle spindle of described driving wheel.
According to the cleaning brush drive unit of window wiping robot of the present invention, multiple cleaning brush can be driven to rotate, improve the relative velocity between cleaning brush and clean face, thus improve cleaning efficiency and the cleaning effect of window wiping robot.
In some embodiments of the invention, described actuator comprises: motor, and the motor shaft of described motor is horizontally disposed with; Output shaft, described output shaft vertically extends; Turbine and worm screw, described turbine and described worm screw engage each other, described worm screw and described motor shaft coaxially affixed, and described turbine and described output shaft coaxially affixed, wherein, described output shaft is coaxially connected with described driving wheel.
In some embodiments of the invention, described actuator also comprises housing, motor container cavity and gear pair container cavity is formed in described housing, described motor is contained in described motor container cavity, and the shape adaptation of described motor container cavity and described motor, described turbine and described worm screw are contained in described gear pair container cavity, described motor shaft passes described motor container cavity and stretches in described gear pair container cavity and is connected with described worm screw, the two ends of described output shaft are all connected rotationally with described housing, and one end of described output shaft is stretched out described gear pair container cavity and is connected with described driving wheel.
Further, described housing comprises upper casing and lower casing, and described upper shell cover is on described lower casing, and described upper casing and the cooperation of described lower casing limit described motor container cavity and gear pair container cavity.
In some embodiments of the invention, the end of described output shaft is non-circular shape, and described driving wheel is formed with the first non-circular hole with the end adapter of described output shaft, and the end of described output shaft is inserted in described first non-circular hole.
In some embodiments of the invention, described driving wheel is connected with described output shaft interference fit or screw.
In some embodiments of the invention, described driving wheel is provided with the first driving handle of the rotary middle spindle departing from described driving wheel, and described driving member is provided with the first axis hole, and described first driving handle is plugged in described first axis hole rotationally.
Window wiping robot according to a second aspect of the present invention, comprising: base; Cleaning brush, described cleaning brush comprises that to be disposed on described base multiple, and described cleaning brush is connected rotationally with described base; Drive unit, described drive unit is located on described base, described drive unit is the cleaning brush drive unit of window wiping robot according to a first aspect of the present invention, the driving member of described drive unit is connected with multiple described cleaning brush, and described driving member is rotatable around the second axis relative to described cleaning brush, described second axis is parallel with the rotary middle spindle of described cleaning brush, and the rotary middle spindle of cleaning brush described in described second axis runout, rotate for being driven multiple described cleaning brush by described driving member.
According to window wiping robot of the present invention, by arranging the cleaning brush drive unit of the window wiping robot of above-mentioned first aspect, and drive unit is utilized to drive multiple cleaning brush spin-cleaning, thus can at the overall performance improving window wiping robot.
In some embodiments of the invention, distance between the rotary middle spindle and the rotary middle spindle of described driving wheel of described cleaning brush equals the distance between described first axle and described second axis, and the rotary middle spindle of described cleaning brush and the distance of described second axis equal the distance between the rotary middle spindle of described driving wheel and described first axle.
In some embodiments of the invention, described cleaning brush comprises: cleaning brush drive link, described cleaning brush drive link is located on described base rotationally, and described cleaning brush drive link is provided with the second driving handle of the rotary middle spindle departing from described cleaning brush drive link, described second driving handle is connected with described driving member; Cleaning brush base, described cleaning brush base and described cleaning brush drive link coaxially affixed; Cleaning cloth, described cleaning cloth is attached to the outside of described cleaning brush base, and wherein, described driving member is provided with the second axis hole, and described second driving handle is plugged in described second axis hole rotationally.
Further, described cleaning brush drive link comprises the first bar portion and the second bar portion, described first bar portion is connected with described second bar portion, and the side face protruding described second bar portion at least partially of the side face in described first bar portion, described first bar portion is located at the inner side of described base, and described second bar portion stretches out described base downwards and is connected with described cleaning brush base, described second driving handle to be connected in described first bar portion and to extend upward the upper surface in described first bar portion.
Preferably, described second bar portion is non-circular shaft-like, and described cleaning brush base is provided with the second non-circular hole with described second bar portion adaptation, and described second bar portion is inserted in described second non-circular hole.
In some embodiments of the invention, described cleaning brush drive link is connected with described cleaning brush base and described cleaning cloth screw.
In some embodiments of the invention, described drive unit is connected with described base screw.
In some embodiments of the invention, described driving member is direct rod shape, and the middle part of described driving member is connected with described driving wheel, and the two ends of described driving member are connected with described cleaning brush.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the cleaning brush drive unit of the window wiping robot of embodiment according to a first aspect of the present invention;
Fig. 2 is the explosive view of the cleaning brush drive unit of the window wiping robot shown in Fig. 1;
Fig. 3 is the schematic diagram of the turbine shown in Fig. 2;
Fig. 4 is the schematic diagram of the driving wheel shown in Fig. 2;
Fig. 5 is the schematic diagram of the driving member of the cleaning brush drive unit of the window wiping robot of embodiment according to a first aspect of the present invention;
Fig. 6 is the schematic diagram of an angle of the window wiping robot of embodiment according to a second aspect of the present invention;
Fig. 7 is the schematic diagram of another angle of the window wiping robot shown in Fig. 6;
Fig. 8 is the schematic diagram of the base of the window wiping robot shown in Fig. 7;
Fig. 9 is the schematic diagram of the base of the window wiping robot shown in Fig. 7 and an angle of drive unit;
Figure 10 is the schematic diagram of the base of the window wiping robot shown in Fig. 8 and another angle of drive unit;
Figure 11 is the schematic diagram of the base of the window wiping robot shown in Fig. 8, driving member and driving wheel;
Figure 12 is the schematic diagram of the cleaning brush shown in Fig. 7;
Figure 13 is the explosive view of the cleaning brush shown in Figure 12;
Figure 14 is the schematic diagram of the cleaning brush drive link shown in Figure 13;
Figure 15 is the schematic diagram of an angle of the cleaning brush shown in Fig. 7, driving member and driving wheel;
Figure 16 is the schematic diagram of another angle of the cleaning brush shown in Figure 15, driving member and driving wheel.
Reference numeral:
Window wiping robot 100,
Drive unit 1, driving wheel 11, the first non-circular hole 111, first driving handle 112,
Actuator 12, motor 121, output shaft 122, the first installing hole 1221, turbine 123, worm screw 124,
Housing 125, upper casing 1251, lower casing 1252, perforation 1253, motor container cavity 126, gear pair container cavity 127,
Driving member 13, the first axis hole 131, second axis hole 132, first screw 14,
Cleaning brush 2, cleaning brush drive link 21, second driving handle 211, first bar portion 212,
Second bar portion 213, second installing hole 2131,
Cleaning brush base 22, second non-circular hole 221, cleaning cloth 23, the second screw 24,
Base 3, mounting bracket 31, the 3rd installing hole 32, rotating hole 33, the 3rd screw 4.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.
The cleaning brush drive unit 1 of the window wiping robot 100 of embodiment is according to a first aspect of the present invention described below with reference to Fig. 1-Figure 15.
As shown in Figure 2 and Figure 5, the cleaning brush drive unit 1 of the window wiping robot 100 of embodiment according to a first aspect of the present invention, comprising: driving wheel 11, actuator 12 and driving member 13.
Particularly, actuator 12 is connected to drive driving wheel 11 to rotate with driving wheel 11, driving member 13 is connected with driving wheel 11, and driving member 13 is rotatable around first axle (central axis of the first driving handle 112 of the driving wheel 11 such as shown in Fig. 2) relative to driving wheel 11, first axle is parallel with the rotary middle spindle (central axis of the output shaft 122 such as shown in Fig. 2) of driving wheel 11, and first axle departs from the rotary middle spindle of driving wheel 11.Thus, actuator 12 can drive driving member 13 to move by driving wheel 11.
With reference to Figure 16, the driving member 13 of drive unit 1 is connected with multiple cleaning brush 2, and that is, drive unit 1 can drive multiple cleaning brush 2 to rotate by driving member 13 simultaneously, with cleaning glass, can improve the cleaning efficiency of window wiping robot 100 thus.As shown in figure 16, the driving member 13 of drive unit 1 is connected with two cleaning brush 2, and in the process of work, drive unit 1 can drive two of two ends cleaning brush 2 to rotate cleaning glass window by driving member 13.Certainly, the driving member 13 of drive unit 1 also can with three, four or more cleaning brush 2 is connected, and to realize driving multiple cleaning brush 2 to rotate by a drive unit 1 simultaneously, thus improves the cleaning efficiency of window wiping robot 100 further.
And driving member 13 is rotatable around the second axis (central axis of the second driving handle 211 of the cleaning brush drive link 21 such as shown in Figure 16) relative to cleaning brush 2, second axis is parallel with the rotary middle spindle (central axis of the cleaning brush such as shown in Figure 16) of cleaning brush 2, and the rotary middle spindle of the second axis runout cleaning brush 2, rotate for being driven multiple cleaning brush 2 by driving member 13.Thus, the cleaning effect of window wiping robot 100 can be improved.
According to the cleaning brush drive unit 1 of the window wiping robot 100 of the embodiment of the present invention, multiple cleaning brush 2 can be driven to rotate, improve the relative velocity between cleaning brush 2 and clean face, thus improve cleaning efficiency and the cleaning effect of window wiping robot 100.
In one embodiment of the invention, as shown in Figure 2, actuator 12 can comprise: motor 121, output shaft 122, turbine 123 and worm screw 124.Particularly, the motor shaft of motor 121 is horizontally disposed with; Output shaft 122 vertically (above-below direction such as shown in Fig. 2) extends; Turbine 123 and worm screw 124 engage each other, and worm screw 124 is coaxially affixed with motor shaft, and turbine 123 is coaxially affixed with output shaft 122, and wherein, output shaft 122 is coaxially connected with driving wheel 11.Thus, by turbine 123 and worm screw 124, motor 121 rotational speed decelerates can be passed to driving wheel 11.
Particularly, as shown in Figure 2, the kinetic energy transmission direction in actuator 12 is: motor shaft drives worm screw 124 to rotate, because turbine 123 engages with worm screw 124, worm screw 124 drives turbine 123 to rotate, now, worm screw 124 by motor 121 rotating speed according to a certain percentage deceleration transmission to turbine 123; Because driving wheel 11 is coaxially connected with the output shaft 122 of turbine 123, therefore turbine 123 drives driving wheel 11 coaxial rotation, thus realizes actuator 12 and drive driving wheel 11 to rotate.
In one embodiment of the invention, as shown in Figure 2, actuator 12 can also comprise housing 125, motor container cavity 126 and gear pair container cavity 127 can be formed with in housing 125, motor 121 can be contained in motor container cavity 126, and the shape adaptation of motor container cavity 126 and motor 121, turbine 123 and worm screw 124 can be contained in gear pair container cavity 127, motor shaft can pass motor container cavity 126 and stretch in gear pair container cavity 127 and be connected with worm screw 124, the two ends of output shaft 122 are all connected rotationally with housing 125, that is, output shaft 122 can rotate relative to housing 125, and one end of output shaft 122 (lower end of the output shaft 122 such as shown in Fig. 2) is stretched out gear pair container cavity 127 and is connected with driving wheel 11.Like this, in actuator 12, only output shaft 122 stretches out that housing 125 is outer to be connected with driving wheel 11, and motor 121, turbine 123 and worm screw 124 are all located in housing 125, dust, impurity etc. can be avoided thus to pollute motor 121, turbine 123 and worm screw 124, thus improve the service life of actuator 12.
Further, as shown in Figure 2, housing 125 can comprise upper casing 1251 and lower casing 1252, and upper casing 1251 covers on lower casing 1252, and upper casing 1251 and lower casing 1252 cooperation limit motor container cavity 126 and gear pair container cavity 127.Thus, not only can so that the machine-shaping of housing 125, also help the installation and removal of motor 121, turbine 123 and worm screw 124, improve efficiency of assembling.
Alternatively, with reference to Fig. 2, the end (lower end of the output shaft 122 such as shown in Fig. 2) of output shaft 122 can be non-circular shape, and driving wheel 11 can be formed with the first non-circular hole 111 with the end adapter of output shaft 122, the end of output shaft 122 is inserted in the first non-circular hole 111.Thus, can ensure that output shaft 122 is with under the prerequisite of driving wheel 11 synchronous axial system, simplifies the structure of output shaft 122 and driving wheel 11.
Such as in the illustrated example shown in fig. 2, the cross section of the lower end of output shaft 122 is formed as square, driving wheel 11 is formed with the square opening suitable with the square-section, lower end of output shaft 122, in the process of installing, the square-section section of the lower end of output shaft 122 is inserted in the square opening on driving wheel 11, thus, in the process that output shaft 122 drives driving wheel 11 to rotate, output shaft 122 and driving wheel 11 can be made to keep synchronous axial system.
In one embodiment of the invention, with reference to Fig. 2, driving wheel 11 and output shaft 122 can interference fit or screw be connected.Not only can improve the reliability be connected between driving wheel 11 with output shaft 122 thus, the assembling between driving wheel 11 and output shaft 122 can also be convenient to, improve efficiency of assembling.Such as in the illustrated example shown in fig. 2, composition graphs 3, the lower surface of output shaft 122 is formed with the first installing hole 1221, first screw 14 from the bottom up successively through driving wheel 11, lower casing 1252 and the first installing hole 1221, driving wheel 11 and output shaft 122 to be fastened together.
In one embodiment of the invention, as shown in Figure 2 and Figure 5, driving wheel 11 can be provided with the first driving handle 112 of the rotary middle spindle departing from driving wheel 11, driving member 13 can be provided with the first axis hole 131, first driving handle 112 and be plugged on rotationally in the first axis hole 131.Thus, when in the process that driving wheel 11 rotates, driving wheel 11 while the movement of drive driving member 13, and can rotate relative to driving member 13.Particularly, drive in the process of driving member 13 movement at driving wheel 11, driving wheel 11 rotates around the central axis of output shaft 122, and driving member 13 be along be the center of circle with the central axis of output shaft 122, with the circumferential translation of the first driving handle 112 circle that is radius with the distance of output shaft 122, namely driving member 13 itself is non-rotary.
As shown in Fig. 6-Figure 16, the window wiping robot 100 of embodiment according to a second aspect of the present invention, comprise: base 3, cleaning brush 2 and drive unit 1, wherein, drive unit 1 is the cleaning brush drive unit 1 of the window wiping robot 100 according to the above-mentioned first aspect embodiment of the present invention.
Particularly, as shown in Figure 7, cleaning brush 2 comprises that to be disposed on base 3 multiple, that is, base 3 can be provided with two, three, four or more cleaning brush 2, like this, when the clean area of single clearing brush 2 is constant, be equivalent to add the gross area clean in cleaning brush 2 unit interval, and the clean intensity to glass can also be improved, thus effectively can improve cleaning efficiency and the cleaning effect of window wiping robot 100.And multiple cleaning brush 2 is all connected rotationally with base 3, when window wiping robot 100 works, cleaning brush 2 can rotate by respect thereto 3, thus, the relative velocity between cleaning brush 2 and clean face (glass) can be improved, thus improve the cleaning effect of window wiping robot 100.
As shown in Fig. 9 and Figure 16, drive unit 1 is established on the base 3, the driving member 13 of drive unit 1 is connected with multiple cleaning brush 2, and driving member 13 is rotatable around the second axis (central axis of the second driving handle 211 of the cleaning brush drive link 21 such as shown in Figure 16) relative to cleaning brush 2, second axis is parallel with the rotary middle spindle of cleaning brush 2, and the rotary middle spindle of the second axis runout cleaning brush 2, rotate for being driven multiple cleaning brush 2 by driving member 13.The cleaning efficiency of window wiping robot 100 can be improved thus.
According to the window wiping robot 100 of the embodiment of the present invention, by arranging the cleaning brush drive unit 1 of the window wiping robot 100 of above-mentioned first aspect embodiment, and utilize drive unit 1 to drive multiple cleaning brush 2 spin-cleaning, thus the overall performance of window wiping robot 100 can be improved.
In one embodiment of the invention, with reference to Figure 15 and Figure 16, distance between the rotary middle spindle of cleaning brush 2 and the rotary middle spindle of driving wheel 11 can equal the distance between first axle and the second axis, and the rotary middle spindle of cleaning brush 2 and the distance of the second axis can equal the distance between the rotary middle spindle of driving wheel 11 and first axle.Like this, drive driving member 13 at driving wheel 11, in process that driving member 13 drives cleaning brush 2 to rotate, can just make cleaning brush 2 rotate around the central axis of himself, thus, can the structure of window wiping robot 100 compacter, reasonable.
In one embodiment of the invention, as shown in figures 7 and 12, cleaning brush 2 can comprise: cleaning brush drive link 21, cleaning brush base 22 and cleaning cloth 23, cleaning brush drive link 21 is established on the base 3 rotationally, and the second driving handle 211, second driving handle 211 that cleaning brush drive link 21 is provided with the rotary middle spindle departing from cleaning brush drive link 21 is connected with driving member 13; Cleaning brush base 22 is coaxially affixed with cleaning brush drive link 21; Cleaning cloth 23 is attached to the outside (downside of the cleaning brush base 22 such as shown in Figure 12) of cleaning brush base 22, wherein, as shown in Fig. 5 and Figure 16, driving member 13 is provided with the second axis hole 132, second driving handle 211 and is plugged into rotationally in the second axis hole 132.Thus, driving member 13 can drive cleaning brush 2 around the center axis thereof of cleaning brush 2 by the second driving handle 211.
Further, with reference to Fig. 9, Figure 12 in conjunction with Figure 14, cleaning brush drive link 21 can comprise the first bar portion 212 and the second bar portion 213, first bar portion 212 is connected with the second bar portion 213, and the side face protruding the second bar portion 213 at least partially of the side face in the first bar portion 212, first bar portion 212 is located at the inner side (upside of the base 3 such as shown in Fig. 9) of base 3, and the downward protuberate basic unit 3 in the second bar portion 213 is connected with cleaning brush base 22, thus, when the second bar portion 213 downward protuberate basic unit 3, the lower surface in the first bar portion 212 can be against on the upper surface of base 3, make the structure of cleaning brush drive link 21 more reasonable.Second driving handle 211 to be connected in the first bar portion 212 and to extend upward the upper surface in the first bar portion 212, so that be connected with driving member 13 through the second axis hole 132.
Preferably, as shown in figure 13, the second bar portion 213 can in non-circular shaft-like, and cleaning brush base 22 can be provided be inserted in the second non-circular hole 221 with the second non-circular hole 221, second bar portion 213 of the second bar portion 213 adaptation.Thus, under guarantee cleaning brush drive link 21 drives the prerequisite of cleaning brush base 22 and cleaning cloth 23 synchronous axial system, the structure of cleaning brush base 22 and cleaning brush drive link 21 can be simplified.
Such as in the example depicted in fig. 13, the cross section in the second bar portion 213 of cleaning brush drive link 21 is formed as square, the center of cleaning brush base 22 is formed with the square opening suitable with the second bar portion 213 cross section, by inserting in the square opening of cleaning brush base 22 by the second bar portion 213, cleaning brush base 22 and cleaning cloth 23 can be made to keep synchronous axial system with cleaning brush drive link 21.
In one embodiment of the invention, as shown in figure 13, cleaning brush drive link 21 can be connected by screw with cleaning brush base 22 and cleaning cloth 23, thus not only can so that the installation of cleaning brush base 22 and cleaning cloth 23, improve efficiency of assembling, can also be convenient to change cleaning cloth 23, improve the service life of window wiping robot 100.
Such as in the example depicted in fig. 13, the end face of the free end in the second bar portion 213 of cleaning brush drive link 21 is formed with the second installing hole 2131, in the process of assembling cleaning brush 2, cleaning brush base 22 and cleaning cloth 23 are set in successively in the second bar portion 213, recycle the second screw 24 successively through cleaning cloth 23, cleaning brush base 22 and the second installing hole 2131, thus cleaning cloth 23, cleaning brush base 22 and cleaning brush drive link 21 are fastened together.
In one embodiment of the invention, drive unit 1 can be connected with base 3 screw, so that the installation and removal of drive unit 1, can improve efficiency of assembling thus.
Such as in the example shown in Fig. 8 and Fig. 9, base 3 is provided with multiple mounting bracket 31, the center of the upper surface of each mounting bracket 31 is all formed with the 3rd installing hole 32, the periphery wall of the housing 125 of drive unit 1 is provided with bores a hole 1253 one to one with the 3rd installing hole 32, in the process that drive unit 1 is installed, 3rd installing hole 32 is corresponding with perforation 1253, recycle the 3rd screw 4 and tighten the 3rd screw 4 through perforation 1253 and the 3rd installing hole 32 successively from the top down, thus by drive unit 1 fixing on the base 3.
In one embodiment of the invention, as shown in Figure 15 and Figure 16, driving member 13 is in direct rod shape, and the middle part of driving member 13 is connected with driving wheel 11, and the two ends of driving member 13 are connected with cleaning brush 2.A motor 121 can be utilized thus to drive two cleaning brush 2 to rotate, thus improve the cleaning efficiency of window wiping robot 100.
Below with reference to Fig. 1-Figure 16, the window wiping robot 100 according to the present invention's specific embodiment is described.
With reference to Fig. 7 and Fig. 9, window wiping robot 100 comprises base 3, drive unit 1 and two cleaning brush 2.
Particularly, as shown in Figure 8, base 3 is formed with multiple mounting bracket 31 protruding upward, the center of the upper surface of each mounting bracket 31 is all formed with the 3rd installing hole 32, drive unit 1, through the 3rd installing hole 32 in the perforation 1253 of drive unit 1 and mounting bracket 31, is fixed on base 3 by the 3rd screw 4.Base 3 is provided with further two rotating holes 33 being suitable for cleaning brush drive link 21 and passing.
As shown in Figure 2, drive unit 1 comprises upper casing 1251, lower casing 1252, motor 121, output shaft 122, turbine 123, worm screw 124, driving wheel 11 and driving member 13.Upper casing 1251 covers and is located on lower casing 1252 and is formed with motor container cavity 126 and gear pair container cavity 127, motor 121 is located in motor container cavity 126, turbine 123 and worm screw 124 engage each other and are located in gear pair container cavity 127, motor shaft passes motor container cavity 126 and stretches in gear pair container cavity 127, and is coaxially connected with worm screw 124.Turbine 123 is coaxially affixed with output shaft 122, the lower end of output shaft 122 is stretched out gear pair container cavity 127 and is inserted in the first non-circular hole 111 of driving wheel 11, and the center of the lower surface of output shaft 122 is formed with the first installing hole 1221, first screw 14 is upward through the first non-circular hole 111, lower casing 1252 and the first installing hole 1221, and driving wheel 11 is fixedly attached to output shaft 122.
As shown in Figure 2, the lower surface of driving wheel 11 is protruded the central axis being formed with the center axis deviation output shaft 122 of the first driving handle 112, first driving handle 112 downwards.As shown in Figure 5, the center of driving member 13 is provided with the first axis hole 131, and two ends, left and right are respectively equipped with the second axis hole 132, first driving handle 112 and are suitable in insertion first axis hole 131, and the second driving handle 211 on cleaning brush drive link 21 is suitable in insertion second axis hole 132.
As shown in figure 12, cleaning brush 2 comprises cleaning brush drive link 21, cleaning brush base 22 and cleaning cloth 23.Wherein, cleaning brush drive link 21 comprises in the first bar portion 212 and the second bar portion 212 of bar portion 213, first and is formed with the second driving handle 211 protruding upward.The center of cleaning brush base 22 is formed with the second non-circular hole 221, second bar portion 213 is passed down through rotating hole 33 and second non-circular hole 221 of base 3, and be connected with cleaning brush base 22, cleaning cloth 23 is located at the bottom of cleaning brush base 22, the end face of the free end in the second bar portion 213 of cleaning brush drive link 21 is formed with the second installing hole 2131, cleaning brush drive link 21, cleaning brush base 22 and cleaning cloth 23 successively through second installing hole 2131 in cleaning cloth 23, cleaning brush base 22 and the second bar portion 213, and link together by the second screw 24.
In the process that window wiping robot 100 works, motor 121 in drive unit 1 is energized after running, by the drive path of " motor shaft-worm screw 124-turbine 123-output shaft 122-driving wheel 11 ", the rotating speed of motor 121 is slowed down by a certain percentage and is passed to driving wheel 11, as shown in figure 16, suppose that now driving wheel 11 does counterclockwise rotary motion, then driving wheel 11 is by driving member 13, just rotary motion drives to the second driving handle 211 of the cleaning brush drive link 21 of the left and right sides, second driving handle 211 of the left and right sides shakes the rotating hole 33 of cleaning brush 2 on base 3 again and does counterclockwise rotary motion, by the rotary motion of cleaning brush 2 entirety, the cleaning cloth 23 of cleaning brush 2 end face ceaselessly rotates wiping at glass surface, to reach the object of cleaning glass.
According to the window wiping robot 100 of the embodiment of the present invention, by arranging two cleaning brush 2 in the bottom of window wiping robot 100, and utilize a motor 121 to drive two cleaning brush 2 spin-cleanings simultaneously, cleaning efficiency and the cleaning effect of window wiping robot 100 can be improved thus.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection, can also be communication; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalents thereof.
Claims (15)
1. the cleaning brush drive unit of a window wiping robot, it is characterized in that, described drive unit comprises actuator, driving wheel and driving member, described actuator is connected with described driving wheel to drive described driving wheel to rotate, described driving member is connected with described driving wheel, and described driving member is rotatable around first axle relative to described driving wheel
Described first axle is parallel with the rotary middle spindle of described driving wheel, and described first axle departs from the rotary middle spindle of described driving wheel.
2. the cleaning brush drive unit of window wiping robot according to claim 1, is characterized in that, described actuator comprises:
Motor, the motor shaft of described motor is horizontally disposed with;
Output shaft, described output shaft vertically extends;
Turbine and worm screw, described turbine and described worm screw engage each other, described worm screw and described motor shaft coaxially affixed, and described turbine and described output shaft coaxially affixed,
Wherein, described output shaft is coaxially connected with described driving wheel.
3. the cleaning brush drive unit of window wiping robot according to claim 2, it is characterized in that, described actuator also comprises housing, motor container cavity and gear pair container cavity is formed in described housing, described motor is contained in described motor container cavity, and the shape adaptation of described motor container cavity and described motor, described turbine and described worm screw are contained in described gear pair container cavity, described motor shaft passes described motor container cavity and stretches in described gear pair container cavity and is connected with described worm screw, the two ends of described output shaft are all connected rotationally with described housing, and one end of described output shaft is stretched out described gear pair container cavity and is connected with described driving wheel.
4. the cleaning brush drive unit of window wiping robot according to claim 3, it is characterized in that, described housing comprises upper casing and lower casing, and described upper shell cover is on described lower casing, and described upper casing and the cooperation of described lower casing limit described motor container cavity and gear pair container cavity.
5. the cleaning brush drive unit of window wiping robot according to claim 2, it is characterized in that, the end of described output shaft is non-circular shape, and described driving wheel being formed with the first non-circular hole with the end adapter of described output shaft, the end of described output shaft is inserted in described first non-circular hole.
6. the cleaning brush drive unit of window wiping robot according to claim 2, is characterized in that, described driving wheel is connected with described output shaft interference fit or screw.
7. the cleaning brush drive unit of the window wiping robot according to any one of claim 1-6, it is characterized in that, described driving wheel is provided with the first driving handle of the rotary middle spindle departing from described driving wheel, described driving member is provided with the first axis hole, and described first driving handle is plugged in described first axis hole rotationally.
8. a window wiping robot, is characterized in that, comprising:
Base;
Cleaning brush, described cleaning brush comprises that to be disposed on described base multiple, and described cleaning brush is connected rotationally with described base;
Drive unit, described drive unit is located on described base, the cleaning brush drive unit that described drive unit is the window wiping robot according to any one of claim 1-7, the driving member of described drive unit is connected with multiple described cleaning brush, and described driving member is rotatable around the second axis relative to described cleaning brush, described second axis is parallel with the rotary middle spindle of described cleaning brush, and the rotary middle spindle of cleaning brush described in described second axis runout, rotate for being driven multiple described cleaning brush by described driving member.
9. window wiping robot according to claim 8, it is characterized in that, distance between the rotary middle spindle of described cleaning brush and the rotary middle spindle of described driving wheel equals the distance between described first axle and described second axis, and the rotary middle spindle of described cleaning brush and the distance of described second axis equal the distance between the rotary middle spindle of described driving wheel and described first axle.
10. window wiping robot according to claim 8, is characterized in that, described cleaning brush comprises:
Cleaning brush drive link, described cleaning brush drive link is located on described base rotationally, and described cleaning brush drive link is provided with the second driving handle of the rotary middle spindle departing from described cleaning brush drive link, and described second driving handle is connected with described driving member;
Cleaning brush base, described cleaning brush base and described cleaning brush drive link coaxially affixed;
Cleaning cloth, described cleaning cloth is attached to the outside of described cleaning brush base,
Wherein, described driving member is provided with the second axis hole, and described second driving handle is plugged in described second axis hole rotationally.
11. window wiping robots according to claim 10, it is characterized in that, described cleaning brush drive link comprises the first bar portion and the second bar portion, described first bar portion is connected with described second bar portion, and the side face protruding described second bar portion at least partially of the side face in described first bar portion, described first bar portion is located at the inner side of described base, and described second bar portion stretches out described base downwards and is connected with described cleaning brush base, described second driving handle to be connected in described first bar portion and to extend upward the upper surface in described first bar portion.
12. window wiping robots according to claim 11, it is characterized in that, described second bar portion is non-circular shaft-like, and described cleaning brush base is provided with the second non-circular hole with described second bar portion adaptation, and described second bar portion is inserted in described second non-circular hole.
13. window wiping robots according to any one of claim 10-12, it is characterized in that, described cleaning brush drive link is connected with described cleaning brush base and described cleaning cloth screw.
14. window wiping robots according to claim 8, is characterized in that, described drive unit is connected with described base screw.
15. window wiping robots according to claim 8, is characterized in that, described driving member is direct rod shape, and the middle part of described driving member is connected with described driving wheel, and the two ends of described driving member are connected with described cleaning brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040877.2A CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610040877.2A CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
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| CN105459131A true CN105459131A (en) | 2016-04-06 |
| CN105459131B CN105459131B (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610040877.2A Expired - Fee Related CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
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| CN105459131B (en) | 2017-12-01 |
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