CN109199205A - The motion mode of clean robot and its cleaning unit - Google Patents
The motion mode of clean robot and its cleaning unit Download PDFInfo
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- CN109199205A CN109199205A CN201710524333.8A CN201710524333A CN109199205A CN 109199205 A CN109199205 A CN 109199205A CN 201710524333 A CN201710524333 A CN 201710524333A CN 109199205 A CN109199205 A CN 109199205A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 280
- 238000004140 cleaning Methods 0.000 title claims abstract description 146
- 150000001875 compounds Chemical class 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000000712 assembly Effects 0.000 claims description 22
- 238000000429 assembly Methods 0.000 claims description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 13
- 238000000926 separation method Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 abstract description 5
- 239000000428 dust Substances 0.000 abstract description 5
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Classifications
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides the motion mode of a kind of clean robot and its cleaning unit, the robot includes body, body is equipped with cleaning unit (400) and power source (110), a composite-motion mechanism is additionally provided on clean robot, power source does the compound motion in horizontal direction (x, y) and vertical direction (o, z) by composite-motion mechanism drive cleaning unit relative to body；If the direction of travel of clean robot over a surface to be cleaned is forward direction, cleaning unit is only just completely attached in counter motion with surface to be cleaned to execute cleaning.The present invention drives cleaning unit to do compound motion relative to body by composite-motion mechanism, it is ensured that clean robot leakage neither occurs and wipes, and the dust in corner is more easier to remove, and does not occur dirt accumulation phenomenon；The direction of travel that compound motion is formed by compound motion plane and clean robot can be parallel to each other or at an angle, to meet the needs of different operating environment.
Description
Technical field
The present invention relates to a kind of clean robot and its motion modes of cleaning unit, belong to small household appliances manufacturing technology neck
Domain.
Background technique
Clean robot is flexibly widely used with its compact, movement, especially automatic window-cleaning machine.But pass through
Retrieval discovery, exists in the prior art many shortcomings.Existing automatic window-cleaning machine according to the rag cleaning mode not
It is same to be divided into direct-push, roller brush type, tyre type and linear-type etc..Although direct-push window cleaning equipment rag is tightly attached to glass
Face, but due to rag compression deformation and its presence of outer fringe seal line, so that glass frame can not be cleaned thoroughly, there is leakage and wipe
Phenomenon, and corner portions can not also be wiped clean.Roller brush type window cleaning equipment by round brush shape itself limited and window cleaning equipment on install
The difference of rack form, the leakage that will also result in different conditions are wiped.Tyre type window cleaning equipment can equally have one section of width at frame
Leakage equal to round brush radius r is wiped.And linear-type window cleaning equipment, since linear rag is close to glass surface always, dirt only can be therewith
It rubs in glass surface, is not removed repeatedly but, not only will appear dirt accumulation, glass surface there is also and direct-push window cleaning equipment
Phenomenon is wiped in similar leakage.
Therefore, above-mentioned many disadvantages in the prior art are based on, it would be highly desirable to develop a kind of cleaning machine for capableing of high-efficiency cleaning
People.
Summary of the invention
Technical problem to be solved by the present invention lies in view of the deficiencies of the prior art, provide a kind of clean robot and its
The motion mode of cleaning unit drives cleaning unit to do horizontally and vertically relative to body by composite-motion mechanism
On compound motion, it is ensured that clean robot neither occur leakage wipe, the dust in corner is more easier to remove, and dirt does not occur
Packing phenomenon；Compound motion is formed by compound motion plane and the direction of travel of clean robot and can be parallel to each other or be in
Certain angle, to meet the needs of different operating environment.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
A kind of clean robot, including body, the body are equipped with cleaning unit and power source, the clean robot
On be additionally provided with a composite-motion mechanism, the power source drives cleaning unit to do relative to body by the composite-motion mechanism
Compound motion on horizontally and vertically；If the direction of travel of clean robot over a surface to be cleaned is forward direction, then
It with the consistent movement of the clean robot direction of travel is forward motion in the horizontal direction, the cleaning unit only exists
It just completely attaches to when counter motion with surface to be cleaned to execute cleaning.
It is described horizontally and vertically on the compound motion that is done form a compound motion plane, it is special in order to adapt to
Operating environment, the angle between the direction of travel of the clean robot and the compound motion plane is not zero.
Specifically, the body is equipped with pedestal, and the cleaning unit is installed in the pedestal by a kinematic nest
Lower section, is equipped with elastic component between the pedestal and the kinematic nest, the cleaning unit is detachably mounted to the kinematic nest
Lower section.
In order to make cleaning unit do compound motion, the compound motion in the horizontal direction and the vertical direction relative to body
Mechanism includes vertical motion assemblies and horizontal movement component, and the drive shaft of the two is coaxial or is mutually perpendicular to.
In one embodiment of the invention, the first transmission mechanism is equipped between the power source and composite-motion mechanism,
Make the different axis of the output shaft of vertical motion assemblies and horizontal movement component；First transmission mechanism is a pair of of helical gear, including phase
The first gear and second gear mutually engaged.
Specifically, the vertical motion assemblies mainly include the plane cam and correspondence that first gear output end is arranged in
Pressure containing part in kinematic nest is set, and the outer rim of plane cam and the top surface of pressure containing part compress；The horizontal movement component is main
Including the round constant breadth cam of second gear output end and the runway type groove being correspondingly arranged in kinematic nest, constant breadth cam is arranged in
It is tangent with runway type groove.
More specifically, the outer contour of the plane cam is combined by uplink section, downlink section and remote section of stopping and is formed closing
Figure, wherein the separation between the uplink section and downlink section is peri position point.
In yet another embodiment of the present invention, the output shaft of the power source is directly connected with composite-motion mechanism, makes
The output shaft of vertical motion assemblies and horizontal movement component is coaxial；The vertical motion assemblies mainly include that setting is defeated in power source
The eccentric cylinder cam of outlet and the pressure containing part being correspondingly arranged in kinematic nest, the lower surface of the eccentric cylinder cam and compression
The top surface of part mutually compresses, and the lower surface is formed by smooth section with tilting section；The horizontal movement component mainly includes setting
Round constant breadth cam in power source output terminal and the runway type groove that is correspondingly arranged in kinematic nest, constant breadth cam and runway type groove
It is tangent.
In another embodiment of the present invention, the eccentric cylinder cam that is correspondingly arranged in the vertical motion assemblies and by
Casting die is multiple groups, and the second transmission mechanism is equipped between power source output terminal and vertical motion assemblies, is outputed power to multiple inclined
Heart cylindrical cam.
As needed, the quantity that is correspondingly arranged of the eccentric cylinder cam and pressure containing part is three groups, in order to improve stability,
Setting position on pedestal and kinematic nest constitutes a triangle.
Second transmission mechanism is gear drive or synchronous belt drive mechanism or parallelogram lindage.
The present invention also provides a kind of clean robot, including body, the body is equipped with cleaning unit and power source, institute
It states and is additionally provided with a composite-motion mechanism on clean robot, the power source drives cleaning unit by the composite-motion mechanism
Do the movement on horizontally and vertically respectively relative to body；If the walking side of clean robot over a surface to be cleaned
It is then forward motion with the consistent movement of the clean robot direction of travel in the horizontal direction to for forward direction, it is described clear
Clean unit is only just completely attached in counter motion with surface to be cleaned to execute cleaning.
The present invention provides a kind of clean robot again, includes body, and the body is equipped with cleaning unit and driving unit,
Clean robot is walked over a surface to be cleaned, and the driving unit drives the cleaning unit to move and formed motion profile,
The motion profile includes the elevating movement of the plane motion track and surface lifting relatively to be cleaned along apparent motion to be cleaned
Track, and the plane motion track is one-way movement track.
The driving unit includes composite-motion mechanism, the composite-motion mechanism mainly include respectively work it is first convex
Wheel and the second cam, the first cam and the second cam are respectively used for driving the cleaning unit along the plane on surface to be cleaned
The elevating movement of movement and surface lifting relatively to be cleaned.
The present invention also provides a kind of motion mode of the cleaning unit of clean robot, the movement of the cleaning unit is multiple
Resultant motion, the compound motion are compound or the different motion stage compound on different motion direction；
The different motion direction includes: to go up and down along the plane motion direction on surface to be cleaned and surface relatively to be cleaned
Elevating movement direction；The cleaning unit prolongs the compound direction movement of above-mentioned two direction of motion；During the motion, described clear
Clean unit leaves motion profile over a surface to be cleaned, and the motion profile is one-way movement track；
The different motion stage includes: the cleaning unit along plane motion stage of apparent motion to be cleaned and opposite
The elevating movement stage of surface lifting to be cleaned；In the plane motion stage, the cleaning unit leaves fortune over a surface to be cleaned
Dynamic rail mark, and the motion profile is one-way movement track.
In conclusion the present invention provides the motion mode of a kind of clean robot and its cleaning unit, pass through compound motion
Mechanism drives cleaning unit to do the compound motion on horizontally and vertically relative to body, it is ensured that clean robot was both
There is not leakage to wipe, the dust in corner is more easier to remove, and does not occur dirt accumulation phenomenon；Compound motion is formed by compound fortune
The direction of travel of dynamic plane and clean robot can be parallel to each other or at an angle, to meet the need of different operating environment
It asks.
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in detail.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention one；
Fig. 2 is the positional diagram of plane cam and pressure containing part in embodiment one；
Fig. 3 is the positional diagram of round constant breadth cam and runway type groove in embodiment one；
Fig. 4 is the compound motion schematic diagram of cleaning unit in embodiment one；
Fig. 5 is the positional relationship in embodiment one between the compound motion of cleaning unit and the direction of motion of clean robot
Schematic diagram；
Fig. 6 is the overall structure diagram of the embodiment of the present invention two；
Fig. 7 is the structural schematic diagram of eccentric cylinder cam in embodiment two；
Fig. 8 is the overall structure diagram of the embodiment of the present invention three；
Fig. 9 is the overall structure diagram of the embodiment of the present invention four；
Figure 10 is the compound motion schematic diagram of five cleaning unit of the embodiment of the present invention.
Specific embodiment
The invention discloses a kind of clean robots, on the basis of cleaning unit one direction linear movement, are added second
The purpose of the movement in direction, direction movement is that cleaning unit is lifted out to surface to be cleaned, so in two directions
Compound motion is formed, this compound motion may include the compound of reciprocating motion, suitable counterclockwise movement or multi-motion.It is this multiple
Resultant motion ensures that clean robot leakage neither occurs and wipes, and corner dust is more easier to remove, and does not occur dirt accumulation phenomenon.
Specifically, the present invention provides a kind of clean robot, including body, is equipped with cleaning unit and power source, institute in the body
It states and is additionally provided with a composite-motion mechanism on clean robot, the power source drives cleaning unit by the composite-motion mechanism
The compound motion in horizontal direction (x, y) and vertical direction (o, z) is done relative to body；If clean robot is on surface to be cleaned
On direction of travel be forward direction, then be positive fortune with the consistent movement of the clean robot direction of travel in the horizontal direction
Dynamic, the cleaning unit could only completely attach to surface to be cleaned in counter motion and execute cleaning.
Further, it is described horizontally and vertically on the compound motion that is done form a compound motion plane,
Angle between the direction of travel of the clean robot and the compound motion plane is not zero.That is, by compound fortune
Dynamic to be formed by compound motion plane and the direction of travel of clean robot be there are two types of positional relationship, the two is parallel or is in
Certain angle.Specifically, when the two is parallel, the direction of motion of cleaning unit is with respect to being straight up and down for body
, and when the two at an angle when, the direction of motion of cleaning unit with respect to be for body tiltedly on obliquely downward.
Technical solution of the present invention will be described in detail by specific embodiment below.
Embodiment one
Fig. 1 is the overall structure diagram of the embodiment of the present invention one；Fig. 2 is plane cam and pressure containing part in embodiment one
Positional diagram；Fig. 3 is the positional diagram of round constant breadth cam and runway type groove in embodiment one.Extremely such as Fig. 1
Shown in Fig. 3, a kind of clean robot, including body are provided in the present embodiment, and cleaning unit 400 is equipped in the body and is moved
Power source 110, a composite-motion mechanism is additionally provided on the clean robot, and the power source 110 passes through the compound motion machine
Structure drives cleaning unit 400 to do the compound motion on horizontally and vertically relative to body.Specifically, the body
Interior to be equipped with pedestal 100, the cleaning unit 400 is installed in the lower section of the pedestal 100 by a kinematic nest 300, passes through movement
Movement of the cleaning unit 400 relative to body is realized in movement of the seat 300 relative to pedestal 100.The composite-motion mechanism includes
The drive shaft of vertical motion assemblies and horizontal movement component, the two is coaxial or is mutually perpendicular to.The power source includes power source
110, the power source is arranged on the pedestal 100.In the present embodiment, in order to make vertical motion assemblies and horizontal movement group
The output shaft of part different axis is equipped with the first transmission mechanism 120 between the power source 110 and composite-motion mechanism.Described first passes
Motivation structure 120 is a pair of of helical gear, including intermeshing first gear 121 and second gear 122.In the present embodiment, institute
Stating vertical motion assemblies mainly includes that the plane cam 101 of first gear output end is arranged in and is correspondingly arranged at kinematic nest 300
On pressure containing part 301, and the elastic component 200 being arranged between kinematic nest 300 and pedestal 100.During the motion, plane is convex
The outer rim of wheel 101 is pressed against on the top surface of pressure containing part 301.In order to reduce the frictional force in motion process, the pressure containing part is preferred
Using by pinch roller, as shown in Figure 1.The horizontal movement component mainly include be arranged in second gear output end circle it is wide convex
Wheel 102 and the runway type groove 302 being correspondingly arranged in kinematic nest 300, and respectively correspond and be arranged in pedestal 100 and kinematic nest
Limiting slot 103 and limited post 303 on 300, round constant breadth cam 102 and runway type groove 302 are tangent.As shown in connection with fig. 2, described
The outer contour of plane cam 101 forms closed figure by uplink section A, downlink section B and the remote section C in combination that stops, wherein on described
Separation between row section A and downlink section B is peri position point P.
In conjunction with shown in Fig. 1 to Fig. 3, the course of work of the present embodiment is such that
Power source 110 provides driving force, is exported by the output shaft of power source 110 to the first transmission mechanism 120, first gear
Power is exported by first gear axis 1211 to plane cam 101 and drives its rotation by 121.Pressure containing part 301 is in elastic component
It is supported in the outer edge contour of plane cam 101 always under effect, with the change of the shape during rotation of plane cam 101
Change, height of the pressure containing part 301 apart from surface to be cleaned changes therewith, to realize the vertical movement of cleaning unit 400.When
Pressure containing part 301 support plane cam 101 far stop section C when, the holding of cleaning unit 400 is close to surface to be cleaned, uplink
Section A and downlink section B cooperates elastic component, respectively drives the uplink and downlink of cleaning unit 400, peri position point P be cam uplink section A and
The separation of downlink section B.
Power source 110 provides driving force, is exported by the output shaft of power source 110 to the first transmission mechanism 120, second gear
Power to round constant breadth cam 102 and is driven its rotation by the output of second gear axis 1221 by 122.Kinematic nest 300 is equipped with
One internal diameter runway type groove 302 equal with round 102 diameter of constant breadth cam, round constant breadth cam 102 in runway type groove 302
It cuts.When the rotation of round constant breadth cam 102, because its rotation center O point is eccentric setting, therefore runway type groove 302 can band
Dynamic kinematic nest 300 realizes the reciprocating motion in horizontal direction, as shown in the arrow direction in Fig. 3.Meanwhile in kinematic nest 300
Respectively there are two limited posts 303 for two sides, cooperate the limiting slot 103 being correspondingly arranged on pedestal 100, limitation kinematic nest 300 is transported in level
Freedom degree on dynamic direction guarantees that kinematic nest 300 can only move the situation without left and right play along front and rear direction,
Keep movement more stable.
Due to the first transmission mechanism 120 be by a pair of of bevel gear set at, the purpose is to guarantee first gear axis axis 1211
It is mutually perpendicular to the axial direction of second gear axis 1221 and timing synchronization moves, such horizontal movement just can be same in real time with vertical movement
Step.As shown in Figure 1, the location hole 1222 in second gear 122 is exactly the phase equalization in order to guarantee horizontal and vertical movement.
Fig. 4 is the compound motion schematic diagram of cleaning unit in embodiment one.As shown in figure 4, in the present embodiment, cleaning is single
Member 400 does the compound motion on horizontally and vertically relative to body, forms the triangle that side length is a, b and c respectively
Compound motion, wherein the side a is wiping process, b while and when c be respectively process that cleaning unit 400 lifts up and down.Obviously, Fig. 4
The movement on middle tri- sides left side a, b and c, can by shown in right side horizontally and vertically on motion synthesis
At, if setting the direction of travel V of clean robot as forward direction, in horizontal direction with the clean robot direction of travel V mono-
The movement of cause is forward motion, it may be assumed that on the contrary "+" is to then be "-" to, the cleaning unit 400 only ability and to clear in counter motion
Clean surface is completely attached to complete a avris wiping process in cleaning, that is, triangle.Fig. 5 is to clean in embodiment one
Positional diagram between the compound motion of unit and the direction of motion of clean robot.As shown in figure 5, cleaning unit
400 compound motion is double-head arrow abc, it may be assumed that plane where above-mentioned triangle.The compound motion plane and clean robot
Direction of motion V is parallel to each other, in other words, if the shape of clean robot be rectangle, cleaning unit 400 either lift,
In the motion process for putting down or wiping, compound motion direction is perpendicular with the rectangular edges of clean robot length always.Such as Fig. 4 is simultaneously tied
It closes shown in Fig. 5, since cleaning unit 400 is placed in the body front end of clean robot, after movement is put down on the side c, can directly paste
Tight marginal surface to be cleaned is not in that phenomenon is wiped in leakage；Simultaneously as the running track of cleaning unit 400 is by both direction
Motion synthesis, in the wiping process of the side a, cleaning unit 400 is kept in contact with surface to be cleaned always, and the act on the side b
During rising, cleaning unit 400 is lifted and leaves surface to be cleaned, and such dirt would not be as cleaning unit be to be cleaned
It is wiped repeatedly on surface and causes to accumulate.
It should be strongly noted that the length on three sides of Fig. 4 intermediate cam shape and the size of three interior angles can be by changing
Becoming the geomery parameter of composite-motion mechanism to realize, Fig. 4 is only the signal of cleaning unit compound motion of the present invention track,
Any restrictions are not constituted to technical solution of the present invention.
Embodiment two
Fig. 6 is the overall structure diagram of the embodiment of the present invention two；Fig. 7 is the structure of eccentric cylinder cam in embodiment two
Schematic diagram.Such as Fig. 6 and as shown in connection with fig. 7, in the present embodiment, in order to make the output of vertical motion assemblies and horizontal movement component
Axis is coaxial, and the output shaft of the power source 110 is directly connected with composite-motion mechanism.Specifically, the composite-motion mechanism
It still include vertical motion assemblies and horizontal movement component.The vertical motion assemblies mainly include that setting is defeated in power source 110
The eccentric cylinder cam 111 of outlet and the pressure containing part 301 being correspondingly arranged in kinematic nest 300, and be arranged in 300 He of kinematic nest
The lower surface of elastic component 200 between pedestal 100, the eccentric cylinder cam 111 is pressed against on pressure containing part 301.Eccentric cylinder
The lower surface of cam 111 is formed by smooth section 112 with tilting section 113.The horizontal movement component mainly includes being arranged in power
The round constant breadth cam 102 of 110 output end of source and the runway type groove 302 being correspondingly arranged in kinematic nest, and respectively correspond and set
Limiting slot 103 and limited post 303 on pedestal and kinematic nest are set, round constant breadth cam 102 and runway type groove 302 are tangent.
In conjunction with shown in Fig. 6 and Fig. 7, the course of work of the present embodiment is such that
Power source 110 provides driving force, is exported by the output shaft of power source 110 to eccentric cylinder cam 111 and drives it
Rotation, in rotary course, pressure containing part 301 under the action of the elastic member, is supported always in the lower surface of eccentric cylinder cam 111
On, since the lower surface of eccentric cylinder cam 111 is formed by smooth section 112 with tilting section 113, with eccentric cylinder cam 111
The variation of shape during rotation, height of the pressure containing part 301 apart from surface to be cleaned changes therewith, to realize cleaning
The vertical movement of unit 400.
Essentially identical with above-described embodiment one, power source 110 provides driving force, drives round 102 turns of constant breadth cam
It is dynamic, because of the rotation center of its eccentric setting, drive the internal diameter being arranged in kinematic nest 300 and 102 diameter phase of round constant breadth cam
Deng runway type groove 302 move, and then drive kinematic nest 300 move, to realize the horizontal movement of cleaning unit 400.Equally
By limited post 303 and limiting slot 103, freedom degree of the kinematic nest 300 in horizontal movement direction is limited, guarantees kinematic nest 300
The situation without left and right play can only be moved along front and rear direction, keep movement more stable.
As shown in the above, in the present embodiment, the vertical movement of cleaning unit is realized by eccentric cylinder cam, and
Non-generic plane cam；And the eccentric cylinder cam can be shared with the round constant breadth cam of cleaning unit horizontal movement is realized
The drive shaft of the same power source reduces moving parts, reducing mechanism overall dimensions.
Other technical characteristics in the present embodiment are the same as example 1, and refer to phase in above-described embodiment one inside the Pass
Hold, details are not described herein.
Embodiment three
Fig. 8 is the overall structure diagram of the embodiment of the present invention three.As shown in figure 8, the present embodiment is in embodiment diyl
Improvement on plinth, specifically, in order to keep the stability of kinematic nest and cleaning unit be avoided to treat during the motion clearly
Clean surface causes to impact, in the structure basis of above-described embodiment two, the off-centre operation that is correspondingly arranged in the vertical motion assemblies
Column cam 111 and pressure containing part 301 are multiple groups, and the second driver is equipped between the output end and vertical motion assemblies of power source 110
Structure 220 outputs power to multiple eccentric cylinder cams.For from the angle of plane geometry, any 3 points can determine one
A plane, therefore the present embodiment is further added by two groups of " bias in original one group " eccentric cylinder cam+pressure containing part " structure basis
The quantity that is correspondingly arranged of cylindrical cam+pressure containing part " structure, eccentric cylinder cam 111 and pressure containing part 301 is three groups, in pedestal 100
A triangular pitch is constituted with the setting position in kinematic nest 300, while driving the vertical movement of cleaning unit, to guarantee to move
Parastate between seat and surface to be cleaned.Second transmission mechanism 220 shown in fig. 8 is gear transmission mode, in reality
In, the kind of drive between three groups of mechanisms can also be realized using other modes, such as: synchronous belt drive mechanism or parallel four
Linkage etc..
In addition, in example 2, cleaning unit 400 is directly attached to 300 bottom of kinematic nest, because in kinematic nest 300
Pressure containing part 301 and eccentric cylinder cam 111 are stresses, it may be assumed that hard contact, cleaning unit 400 during cleaning with to
It also will be hard contact state between clean surface.Surface to be cleaned is while by cleaning unit pressure, surface pair to be cleaned
The reaction force of cleaning unit will be transmitted on entire cleaning mechanism, generate the both ends of the entire cleaning mechanism of clean robot
It tilts；And cleaning unit can treat clean surface and generate biggish impact, influence the stability of structure.Therefore, kinematic nest 300
Lower section be additionally provided with the cleaning seat 500 of flexible connection, elastic component is equipped between the cleaning seat and the kinematic nest.When cleaning seat
On cleaning unit when contacting surface to be cleaned, mitigated by the elastic component between cleaning seat and kinematic nest suffered clear on cleaning seat
The reaction force of clean unit guarantees the operation stability of clean robot.
Other technical characteristics in the present embodiment are identical as embodiment two, refer to phase in above-described embodiment two inside the Pass
Hold, details are not described herein.
Example IV
Fig. 9 is the overall structure diagram of the embodiment of the present invention four.As shown in figure 9, the present embodiment is in one base of embodiment
Improvement on plinth, content shown in Fig. 9 comparative diagram 5 is it is found that the difference of the two is: the compound motion of cleaning unit 400 is double arrows
Head abc, it may be assumed that plane where above-mentioned triangle, in the present embodiment, the movement side of the compound motion plane and clean robot
It is not zero to the angle between V, it may be assumed that at an angle between the two.That is, if the shape of clean robot is square
Shape, cleaning unit 400 either in the motion process for lifting, putting down or wiping, compound motion direction always with cleaning machine
Shape has a certain degree between the rectangle side length of people, and the movement in each stage of the cleaning unit in compound motion is not on straight
Under straight, but tiltedly on obliquely downward.This movement set-up mode in the present embodiment is primarily to meet surface to be cleaned special
The demand of position, and a kind of unconventional motion mode being arranged.In technical solution, can on the basis of example 1,
Changing the movement angle of horizontal movement component, those skilled in the art can be realized by the selection to conventional technical means,
This is repeated no more.
Other technical characteristics in the present embodiment are the same as example 1, and refer to phase in above-described embodiment one inside the Pass
Hold, details are not described herein.
Embodiment five
Figure 10 is the compound motion schematic diagram of five cleaning unit of the embodiment of the present invention.As shown in Figure 10, it and compares above-mentioned
Embodiment one to four it is found that in the aforementioned embodiment, no matter be horizontally oriented or vertical direction on movement be translation；And
In the present embodiment, vertically on movement be swing, in the horizontal direction on movement be translation, and swing and translation hand over
For progress.That is, the present invention also provides a kind of clean robot, including body, the body are equipped with cleaning unit 400
With power source 110, a composite-motion mechanism is additionally provided on the clean robot, the power source passes through the compound motion machine
Structure drives cleaning unit 400 to do the movement in horizontal direction (x, y) and vertical direction (o, z) respectively relative to body；If cleaning
The direction of travel of robot over a surface to be cleaned be forward direction, then in the horizontal direction with the clean robot direction of travel
Consistent movement is forward motion, and the cleaning unit is only just completely attached in counter motion with surface to be cleaned to execute
Cleaning；Wherein, vertically on movement be swing, in the horizontal direction on movement be translation, and swing and translation
Alternately.Specifically, in the present embodiment compound motion detailed process such as alphabetical order: cleaning unit 400 in (a)
Swinging axle rotates counterclockwise, and driving cleaning unit is compacted surface to be cleaned；(b) in, cleaning unit 400 is close to surface to be cleaned,
It moves backward and completes cleaning；(c) 400 swinging axle of cleaning unit rotates clockwise in；(d) cleaning unit 400 is forward in
Movement resets.
By above content and in conjunction with the embodiments one to example IV content it is found that in the present embodiment, for realizing water
It square still can be realized to the mechanism of movement using the combination of round constant breadth cam and runway type groove in previous embodiment；
And realizing that Vertical Square is swung up the movement mechanism of mode, those skilled in the art should be able to be by conventional technical means
Selection is to realize, details are not described herein.It should be noted that power source and composite-motion mechanism can use in above-described embodiment
Various other modes are realized namely power source and composite-motion mechanism can be combined into various driving units and drive the cleaning single
Member.For example, using two motor difference controlled level moving parts and vertical motion component；And composite-motion mechanism drives cleaning
In the entire motion process of the compound motion of unit in the horizontal direction and the vertical direction, horizontal movement component and vertical motion group
Part can work simultaneously or independent role；In addition, what horizontal movement component and vertical motion component can also be combined into one
Driving unit, such as: gear and rack teeth mechanism respectively drives elevating movement and plane motion.
In short, the present invention provides a kind of clean robot, includes body, and the body is equipped with cleaning unit and drive
Moving cell, clean robot are walked over a surface to be cleaned, and the driving unit drives the cleaning unit to move and form fortune
Dynamic rail mark, the motion profile include the liter of the plane motion track and surface lifting relatively to be cleaned along apparent motion to be cleaned
Motion profile drops, and the plane motion track is one-way movement track.The driving unit includes composite-motion mechanism, described
Composite-motion mechanism mainly includes the first cam and the second cam respectively to work, and the first cam and the second cam is used respectively
In the elevating movement for driving plane motion and relatively to be cleaned surface of the cleaning unit along surface to be cleaned to go up and down.Namely
It says, the core component of composite-motion mechanism is first cam and the second cam, wherein the first cam can be used in above-described embodiment
Plane cam or eccentric cylinder cam, and round constant breadth cam in above-described embodiment then can be used for the second cam or crank is convex
Wheel, first cam and the second cam work together with the component respectively matched, complete the plane motion and lifting of cleaning unit
Movement.For example, plane cam or eccentric cylinder cam match drive with the pressure containing part on cleaning unit clearly in above-described embodiment
Elevating movement is made on clean unit surface relatively to be cleaned, the round constant breadth cam in above-described embodiment and the runway on dynamic cleaning unit
Type groove matches the cunning for driving cleaning unit to make on plane motion or crank cam and cleaning unit along surface to be cleaned
Block, which matches, constitutes slider-crank mechanism to drive cleaning unit to make plane motion along surface to be cleaned.
By above-mentioned five specific embodiments it is found that the present invention substantially additionally provides a kind of cleaning unit of clean robot
Motion mode, the movement of the cleaning unit is compound motion, the compound motion be compound on different motion direction or
Person's different motion stage it is compound；The different motion direction include: along surface to be cleaned plane motion direction and it is opposite to
The elevating movement direction of clean surface lifting；The cleaning unit prolongs the compound direction movement of above-mentioned two direction of motion；It is transporting
During dynamic, the cleaning unit leaves motion profile over a surface to be cleaned, and the motion profile is one-way movement track；
As above-described embodiment one to four.The different motion stage includes: plane of the cleaning unit along apparent motion to be cleaned
The elevating movement stage of motion stage and surface lifting relatively to be cleaned；In the plane motion stage, the cleaning unit is to clear
Motion profile is left on clean surface, and the motion profile is one-way movement track；And the plane motion stage is translation, institute
The elevating movement stage is stated to swing.As above-described embodiment five.
In conclusion the present invention provides the motion mode of a kind of clean robot and its cleaning unit, pass through compound motion
Mechanism drives cleaning unit to do the compound motion on horizontally and vertically relative to body, it is ensured that clean robot was both
There is not leakage to wipe, corner dust is more easier to remove, and does not occur dirt accumulation phenomenon；Compound motion is formed by compound motion
The direction of travel of plane and clean robot can be parallel to each other or at an angle, to meet the need of different operating environment
It asks.
Claims (15)
1. a kind of clean robot, including body, the body is equipped with cleaning unit (400) and power source (110), feature
It is: is additionally provided with a composite-motion mechanism on the clean robot, the power source is driven by the composite-motion mechanism
Cleaning unit does the compound motion in horizontal direction (x, y) and vertical direction (o, z) relative to body；If clean robot to
Direction of travel in clean surface is forward direction, then in the horizontal direction with the consistent movement of clean robot direction of travel
For forward motion, the cleaning unit is only just completely attached in counter motion with surface to be cleaned to execute cleaning.
2. clean robot as described in claim 1, which is characterized in that it is described horizontally and vertically on done answer
Resultant motion forms a compound motion plane, the angle between the direction of travel of the clean robot and the compound motion plane
It is not zero.
3. clean robot as described in claim 1, which is characterized in that the body is equipped with pedestal (100), the cleaning
Unit (400) is installed in the lower section of the pedestal by a kinematic nest (300), and bullet is equipped between the pedestal and the kinematic nest
Property part (200), the cleaning unit are detachably mounted to the lower section of the kinematic nest.
4. clean robot as claimed in claim 3, which is characterized in that the composite-motion mechanism includes vertical motion assemblies
With horizontal movement component, the drive shaft of the two is coaxial or is mutually perpendicular to.
5. clean robot as claimed in claim 4, which is characterized in that the power source (110) and composite-motion mechanism it
Between be equipped with the first transmission mechanism (120), make the different axis of the output shaft of vertical motion assemblies and horizontal movement component；First transmission
Mechanism is a pair of of helical gear, including intermeshing first gear (121) and second gear (122).
6. clean robot as claimed in claim 5, which is characterized in that the vertical motion assemblies mainly include setting the
The plane cam (101) of one gear output end and the pressure containing part (301) being correspondingly arranged on kinematic nest (300), plane cam
The top surface of outer rim and pressure containing part compresses；
The horizontal movement component mainly includes that the round constant breadth cam (102) of second gear output end is arranged in and is correspondingly arranged
Runway type groove (302) in kinematic nest, constant breadth cam and runway type groove are tangent.
7. clean robot as claimed in claim 6, which is characterized in that the outer contour of the plane cam (101) is by upper
Row section (A), downlink section (B) and section (C) combination of far stopping form closed figure, wherein between the uplink section and downlink section
Separation is peri position point (P).
8. clean robot as claimed in claim 4, which is characterized in that the output shaft of the power source (110) is directly and multiple
Resultant motion mechanism is connected, and keeps the output shaft of vertical motion assemblies and horizontal movement component coaxial；
The vertical motion assemblies mainly include that the eccentric cylinder cam (111) of power source output terminal is arranged in and is correspondingly arranged at
Pressure containing part (301) in kinematic nest (300), the lower surface of the eccentric cylinder cam and the top surface of pressure containing part mutually compress, institute
Lower surface is stated to be made of smooth section (112) and tilting section (113)；
The horizontal movement component mainly includes that the round constant breadth cam (102) of power source output terminal is arranged in and is correspondingly arranged at
Runway type groove (302) in kinematic nest, constant breadth cam and runway type groove are tangent.
9. clean robot as claimed in claim 8, which is characterized in that the bias being correspondingly arranged in the vertical motion assemblies
Cylindrical cam (111) and pressure containing part (301) are multiple groups, and the second driver is equipped between power source output terminal and vertical motion assemblies
Structure (220) outputs power to multiple eccentric cylinder cams.
10. clean robot as claimed in claim 9, which is characterized in that the eccentric cylinder cam (111) and pressure containing part
(301) the quantity that is correspondingly arranged is three groups, and the setting position on pedestal (100) and kinematic nest (300) constitutes a triangle.
11. clean robot as claimed in claim 9, which is characterized in that second transmission mechanism (220) is gear drive
Mechanism or synchronous belt drive mechanism or parallelogram lindage.
12. a kind of clean robot, including body, the body is equipped with cleaning unit (400) and power source (110), special
Sign is: a composite-motion mechanism is additionally provided on the clean robot, the power source passes through the composite-motion mechanism band
Dynamic cleaning unit does the movement in horizontal direction (x, y) and vertical direction (o, z) relative to body respectively；If clean robot exists
Direction of travel on surface to be cleaned is forward direction, then in the horizontal direction with the consistent fortune of clean robot direction of travel
It moves as forward motion, the cleaning unit is only just completely attached in counter motion with surface to be cleaned to execute cleaner
Make.
13. a kind of clean robot includes body, the body is equipped with cleaning unit and driving unit, and clean robot exists
It walks on surface to be cleaned, which is characterized in that the driving unit drives the cleaning unit to move and formed motion profile, institute
State the elevating movement rail that motion profile includes the plane motion track and surface lifting relatively to be cleaned along apparent motion to be cleaned
Mark, and the plane motion track is one-way movement track.
14. clean robot as claimed in claim 13, which is characterized in that the driving unit includes composite-motion mechanism,
The composite-motion mechanism mainly includes the first cam and the second cam respectively to work, the first cam and the second cam point
It Yong Yu not drive the cleaning unit along the plane motion on surface to be cleaned and the elevating movement of surface lifting relatively to be cleaned.
15. a kind of motion mode of the cleaning unit of clean robot, which is characterized in that the movement of the cleaning unit is compound
Movement, the compound motion are compound or the different motion stage compound on different motion direction；
The different motion direction includes: the lifting in the plane motion direction and surface lifting relatively to be cleaned along surface to be cleaned
The direction of motion；The cleaning unit prolongs the compound direction movement of above-mentioned two direction of motion；During the motion, the cleaning is single
Member leaves motion profile over a surface to be cleaned, and the motion profile is one-way movement track；
The different motion stage includes: the cleaning unit along the plane motion stage of apparent motion to be cleaned and relatively to clear
The elevating movement stage of clean surface lifting；In the plane motion stage, the cleaning unit leaves movement rail over a surface to be cleaned
Mark, and the motion profile is one-way movement track.
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| CN201710524333.8A CN109199205B (en) | 2017-06-30 | 2017-06-30 | Cleaning robot and movement mode of cleaning unit thereof |
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|---|---|---|---|
| CN201710524333.8A CN109199205B (en) | 2017-06-30 | 2017-06-30 | Cleaning robot and movement mode of cleaning unit thereof |
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| CN109199205B CN109199205B (en) | 2024-05-03 |
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| CN110202533A (en) * | 2019-06-11 | 2019-09-06 | 河南职业技术学院 | A kind of double cam universal angle plate |
| CN112568813A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN112674664A (en) * | 2020-12-26 | 2021-04-20 | 北京小狗吸尘器集团股份有限公司 | Cleaning equipment and cleaning equipment brush body thereof |
| CN112674652A (en) * | 2020-12-26 | 2021-04-20 | 北京小狗吸尘器集团股份有限公司 | Cleaning equipment and cleaning equipment brush body thereof |
| CN112674651A (en) * | 2020-12-26 | 2021-04-20 | 北京小狗吸尘器集团股份有限公司 | Cleaning equipment and cleaning equipment brush body thereof |
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| CN114521832A (en) * | 2022-02-16 | 2022-05-24 | 王晓雁 | Separable sweeping and mopping integrated sweeper |
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