CN109480712A - Clean robot - Google Patents
Clean robot Download PDFInfo
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- CN109480712A CN109480712A CN201811575926.8A CN201811575926A CN109480712A CN 109480712 A CN109480712 A CN 109480712A CN 201811575926 A CN201811575926 A CN 201811575926A CN 109480712 A CN109480712 A CN 109480712A
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- brush hairs
- long brush
- clean robot
- ground
- long
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- 210000004209 hair Anatomy 0.000 claims abstract description 133
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 239000000428 dust Substances 0.000 claims abstract description 19
- 230000002093 peripheral effect Effects 0.000 claims abstract description 12
- 230000000694 effects Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 244000007853 Sarothamnus scoparius Species 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 16
- 238000010586 diagram Methods 0.000 description 13
- 239000000470 constituent Substances 0.000 description 7
- 238000005194 fractionation Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920000139 polyethylene terephthalate Polymers 0.000 description 2
- 239000005020 polyethylene terephthalate Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 230000000692 anti-sense effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 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 description 1
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- KKEYFWRCBNTPAC-UHFFFAOYSA-L terephthalate(2-) Chemical compound [O-]C(=O)C1=CC=C(C([O-])=O)C=C1 KKEYFWRCBNTPAC-UHFFFAOYSA-L 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Abstract
The invention discloses a kind of clean robots, include: machine body with peripheral profile, driving wheel module, dustbin, the dust extractor including blower, be set to machine body bottom and brushed towards the steep cliff detection sensor of ground launch light, the side being driven for being set to machine body bottom, there is side brush multi beam to surround the spaced long brush hairs of axis, long brush hairs extend outwardly and exceed the peripheral profile of machine body, for guiding the rubbish for exceeding peripheral profile coverage area on ground to the suction inlet position of machine body bottom；When on side, brush is rotated along axis, long brush hairs pass through between steep cliff detection sensor and ground, and the transmission path for successively having a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be periodically in light.It is promoted under the premise of not influencing steep cliff detection sensor normal work by the density design between reasonably arranging to multi beam long brush hairs and is adjacent and cleans effect.
Description
Technical field
The present invention relates to home-services robot technical field more particularly to a kind of clean robots.
Background technique
With the development of intelligence science and technology, various types of smart home household electrical appliances enter daily life, instead of artificial
It realizes and massages, does washing, cooks, sweeps the floor etc. housework, liberated the both hands of people significantly, saved the time.Wherein, intelligence
Clean robot can increasingly be favored by young man, and being primarily due to Intelligent cleaning robot can be by itself configuration
A plurality of types of sensors realize barriers evade, cleaning path planning, positioning, map structuring, the functions such as automatic charging, intelligently
Change degree is very high.
In order to preferably clean the rubbish in corner, the front left side and/or forward right side of clean robot bottom are often set
It is equipped with side brush, however, pieces or arrangement that traditional side is brushed are unreasonable, leads to clean ineffective or excessively intensive, shadow
The normal work for being located at the steep cliff detection sensor of clean robot bottom is rung, causes to judge by accident.
Summary of the invention
It is unreasonable or excessively intensive that technical problem to be solved by the present invention lies in the pieces arrangements of traditional side brush, is
This, provides a kind of clean robot, comprising:
Machine body has peripheral profile；
Driving wheel module is configured as driving the clean robot in ground run；
Dustbin, for collecting and storing rubbish；
Dust extractor, including blower when the blower starts, drive the rubbish on ground from being opened in the machine body
The suction inlet of bottom enters, and remains in the dustbin after filtering via filter；
Steep cliff detection sensor is set to the machine body bottom, and be configured as towards ground launch light and
In response to the height fall on ground；
The side brush being driven, is set to the machine body bottom, is configured as along the axis for being substantially perpendicular to ground
There is multi beam to surround the spaced long brush hairs of the axis for rotation, the side brush, and the long brush hairs extend outwardly and exceed described
The peripheral profile of machine body, for guiding the rubbish for exceeding the peripheral profile coverage area on ground to the machine sheet
The suction inlet position of body bottom；When on the side, brush is rotated along the axis, the long brush hairs are by steep cliff detection sensing
Between device and ground, and successively there are a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be periodically in the light
Transmission path.By the density design between reasonably arranging to multi beam long brush hairs and is adjacent, steep cliff detection is not being influenced
Under the premise of normal operation of sensor, is promoted and clean effect.
Wherein, long brush hairs described in multi beam are evenly spaced arrangement around the axis according to the first default angle.
Wherein, the side brush includes the long brush hairs of 9 beams any one quantity into 18 beams.
It wherein, include at least two the first long brush hairs of beam in long brush hairs described in multi beam, at least two first long brush hairs of beam
There is the first gap between two adjacent the first long brush hairs of beam；When on the side, brush is rotated along the axis, the portion of the light
It is divided to and is stopped by any a branch of or two beams in two adjacent first long brush hairs of beam, causes the light cannot be completely through
First gap.
It wherein, further include the second long brush hairs in long brush hairs described in multi beam, second long brush hairs and adjacent thereto described
There is the second gap between first long brush hairs；When on the side, brush is rotated along the axis, the light can be completely through
Second gap.
Wherein, short bristles are provided between the adjacent long brush hairs, the length of the short bristles is less than the long brush hairs.
Wherein, the driving wheel module includes: shell and the sequentially connected motor, gear set and the wheel that are mounted on shell
Son, further includes spring and outer cover, the shell include: for installing the motor mounting part of motor, the tooth for installing gear set
Wheel case portion, the cover portion for installing wheel and the shaft for being pivotally connected with the outer cover, the shell pass through the shaft
Portion is articulated in the outer cover, and the spring is installed between the outer cover and the shell, under the elastic force effect of the spring,
The trend rotated outside the shell outer cover oriented always；
The side brush is disposed adjacent with the wheel, so that projection on the ground and the wheel when brush rotation of the side
Projection on the ground has lap；
When the clean robot is lifted, under the elastic force effect of the spring wheel to outside the outer cover into
One step is prominent, and the side brush is controlled to stop rotation, touches to avoid the long brush hairs and the wheel；
When the clean robot is placed on ground, the wheel is to institute under the gravity of the clean robot
Retraction inside outer cover is stated, the side brush is not touched when rotating with the wheel.
Wherein, the outer cover is equipped with position switch, and the shell is equipped with the feeler lever cooperated with the position switch, when
The clean robot is lifted, and the position switch is touched by the feeler lever.
Wherein, every Shu Suoshu long brush hairs include the filament of a plurality of nylon material.
Wherein, the machine body bottom forms holding tank, and the suction inlet is opened in the holding tank inner wall；It is described
Clean robot further includes the round brush being driven, and the round brush is removably installed in the holding tank, and be configured as along
It is parallel to the axis rotation on ground.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other variants are obtained according to these attached drawings.
Fig. 1 is the bottom substance schematic diagram of the clean robot of the embodiment of the present invention；
Fig. 2 is that clean robot shown in Fig. 1 removes the schematic perspective view after the brush of side；
Fig. 3 and Fig. 4 is dust extractor assembling and fractionation structural representation respectively；
Fig. 5 is the schematic diagram of the section structure of steep cliff detection sensor in the embodiment of the present invention；
Fig. 6, Fig. 7 and Fig. 8 are to brush the positional diagram relative to light on different moments side respectively；
Fig. 9, Figure 10, Figure 11 and Figure 12 are to brush the positional diagram relative to light on different moments side respectively；
Figure 13 is the side brush configuration schematic diagram with long brush hairs and short bristles；
Figure 14 is the assembly structure diagram of driving wheel module in the embodiment of the present invention；
Figure 15 is the fractionation structural representation of driving wheel module in Figure 14；
Figure 16 is the partial structure diagram of driving wheel module in Figure 15；
Figure 17 is the fractionation schematic diagram of structure in Figure 16；
Figure 18 is the diagrammatic cross-section of driving wheel module in Figure 14；
The rough schematic of projection and the projection of wheel on the ground when Figure 19 is side brush rotation on the ground；
Figure 20 is when clean robot is placed on ground, the rough schematic of side brush and wheel relative positional relationship；
Figure 21 is when clean robot 100 is lifted, and the rough schematic with wheel relative positional relationship is brushed on side.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It in embodiments of the present invention, may include plural number in the case that singular statement is in the text without clearly antisense
Statement.Also, the terms such as the " comprising " used or " having " indicate feature, number, the step, behaviour recorded on specification
The presence of work, constituent element, component or a combination thereof, without exclude in advance other features of one or more, number, step,
Operation, the presence or additional possibility of constituent element, component or their combination.Also, used in this specification " the
One ", " second " etc. includes that the term of ordinal number can be used for illustrating a variety of constituent elements, but the constituent element is not by above-mentioned art
Language is limited, and the term is only used for distinguishing a constituent element and other constituent elements.
Hereinafter, the disclosed embodiment of the present invention is described in detail referring to attached drawing.Identical attached drawing shown in the accompanying drawings
Number or symbol can indicate to execute the component or constituent element of substantially identical function.
Fig. 1 is the bottom substance schematic diagram of the clean robot 100 of the embodiment of the present invention, and Fig. 2 is cleaner shown in Fig. 1
Device people 100 removes the schematic perspective view after side brush 160, and Fig. 3 and Fig. 4 are dust extractor assembling and fractionation structural representation respectively
Figure.
Clean robot 100 includes: driving wheel module 110, machine body 120, dustbin 130, dust extractor 140, hangs
160, round brush 170 are brushed in precipice detection sensor 150, side.
Machine body 120 has peripheral profile 121.Driving wheel module 110 is set to 120 bottom of machine body, is configured
It is driving clean robot 100 in ground run.In addition, in embodiments of the present invention, 120 bottom of machine body is additionally provided with ten thousand
To wheel 180.Steep cliff detection sensor 150 is set to 120 bottom of machine body, and clean robot 100 is in ground run, steep cliff
Detection sensor 150 is towards ground launch light and in response to the height fall on ground.
Dust extractor 140 includes: clamshell 141, fan 142 and fan motor 143, in order to express easily, by fan 142
Combination with fan motor 143 is referred to as blower.In embodiments of the present invention, clamshell 141 includes being removably mounted on together
Upper casing 141a and lower casing 141b, upper casing 141a and lower casing 141b can be connected by a snap.Upper casing 141a is equipped with air intake passage
144, air intake passage 144 is connected to the cavity for accommodating fan 142, and upper casing 141a and lower casing 141b surround air-out passage jointly
145, air-out passage 145 is connected to the cavity for accommodating fan 142.In practical applications, via the filtered gas of filter
Stream enters from air intake passage 144, and is discharged from air-out passage 145.
120 bottom of machine body offers suction inlet 122, and in embodiments of the present invention, 120 bottom of machine body can be with
It is provided with by motor-driven round brush 170, for this purpose, 120 bottom of machine body forms holding tank (not shown), suction inlet
122 are opened in holding tank inner wall, and round brush 170 is removably installed in holding tank, and is configured as along the axis for being parallel to ground
Rotation.In embodiments of the present invention, dustbin 130 is removably set to 120 top of machine body.In other embodiments, rubbish
Rubbish box 130 can also be set to 120 side of machine body.
Dustbin 130 offers the entering-dust mouth being connected to suction inlet 122 for collecting and storing rubbish on dustbin 130
And the air outlet being connected to the air intake passage 144 of dust extractor 140.The air outlet of dustbin 130 and dust extractor 140 into
It is provided with filter between wind channel 144, which can be installed on dustbin 130, can also be installed on machine body
120.In embodiments of the present invention, dust extractor 140 is provided separately with dustbin 130, i.e., dust extractor 140 is fixedly installed in machine
Device ontology 120, dustbin 130 are removably installed in machine body 120.In other embodiments, dust extractor 140 and rubbish
Box 130, which also can integrate, is integrally fixedly or removably installed on machine body 120.Dustbin 130 is installed on machine sheet
Body 120 is inhaled to increase the leakproofness connected between the air outlet of dustbin 130 and the air intake passage 144 of dust extractor 140
Dirt module 140 can also include seal washer 146, and seal washer 146 is set to the opening of the air intake passage 144 of dust extractor 140
Place.
In practical applications, when blower starts, drive the rubbish on ground from the dust suction for being opened in 120 bottom of machine body
Mouth 122 enters, and remains in dustbin 130 after filtering via filter.
Referring again to Fig. 1, it is set to 120 bottom of machine body by motor-driven side brush 160, is configured as along basic
On perpendicular to ground axis rotate.Side brush 160 is rotated along the direction of arrow A1.In embodiments of the present invention, side brush 160 has
Multi beam surrounds the spaced long brush hairs 161 of axis, and long brush hairs 161 extend outwardly and exceed the peripheral profile of machine body 120
121, for guiding the rubbish for exceeding 121 coverage area of peripheral profile on ground to the suction inlet position of 120 bottom of machine body
It sets the position of round brush 170 (for example, in Fig. 1).In embodiments of the present invention, there are two sides to brush for the setting of 120 bottom of machine body
160, in other embodiments, a side brush 160 has also can be set in 120 bottom of machine body.
Fig. 5 is the schematic diagram of the section structure of steep cliff detection sensor 150 in the embodiment of the present invention, in the embodiment of the present invention
In, steep cliff detection sensor 150 include an infrared transmitting tube 151 and an infrared receiving tube 152, infrared transmitting tube 151 with
Infrared receiving tube 152 is set on pedestal 153 in angle.Steep cliff detection sensor 150 is set to 120 bottom of machine body,
In practical application, the light 151A that infrared transmitting tube 151 emits is received via after ground return by infrared receiving tube 152, is cleaned
Control system inside robot 100 can be received according to infrared receiving tube 152 via the light 151A after ground return
Intensity judge the height fall on ground, the control system inside clean robot 100 can also be according to infrared receiving tube 152
The time (using TOF principle) via the light 151A after ground return received judges the height fall on ground.For example,
When judging that the height fall on ground is greater than preset range or preset value, clean robot 100 takes backward movement.
When on side, brush 160 is rotated along axis, long brush hairs 161 are by between steep cliff detection sensor 150 and ground.In addition,
When brush 160 is rotated along axis on side, successively there are a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be periodically in light
Transmission path.
" when brush 160 is rotated along axis on side, successively there are a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to explain
Periodically it is in the transmission path of light ", following citing is illustrated:
Example one:
Fig. 6, Fig. 7 and Fig. 8 are please referred to, side brush is rotated with the direction of arrow A1, and at the first moment, side is brushed relative to light
For the first position relationship of 151A as shown in fig. 6, at the second moment, second position relationship such as Fig. 7 relative to light 151A is brushed on side
Shown, at the third moment, side is brushed as shown in Figure 8 relative to the third place relationship of light 151A.In the Fig. 6 at the first moment,
There is a branch of long brush hairs 161A to be in the transmission path of light 151A, in the Fig. 7 at the second moment, there are two beam long brush hairs i.e. long brush hairs
161A and long brush hairs 161B is in the transmission path of light 151A, in the Fig. 8 at third moment, has a branch of long brush hairs 161B to be in
The transmission path ... of light 151A so periodically successively has a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be in
The transmission path of light 151A.
As shown in fig. 7, having the first clearance D 1 between long brush hairs 161A and long brush hairs 161B, brushes on side and rotated along axis
When, the part of light 151A is stopped by adjacent two beam long brush hairs (i.e. long brush hairs 161A and long brush hairs 161B), causes light
151A cannot be completely through the first clearance D 1, and in other words, light 151A has part by long brush hairs 161A and long brush hairs 161B
Stop, light 151A partially passes through the first clearance D 1.
It is in the embodiment of the present invention shown in Fig. 6 to Fig. 8, multi beam long brush hairs 161 are surrounded according to the first default angle C1
The axis of side brush is evenly spaced arrangement, so it is easy to understand that when the brush rotation of side, the space that long brush hairs 161 are inswept will form one
Invisible space curved surface, light 151A and the space curved surface have intersection, and the first default angle C1 can be according to intersection
Size, the intersection factors such as at a distance from the axis that side is brushed are adjusted, it is ensured that successively have the long brush of a branch of long brush hairs, two beams
Hair, a branch of long brush hairs are periodically in the transmission path of light 151A.Side brush may include 9 beams any one number into 18 beams
The long brush hairs 161 of amount, in embodiments of the present invention, the quantity of long brush hairs 161 are 12 beams.
Example two:
Fig. 9, Figure 10, Figure 11 and Figure 12 are please referred to, side brush of the Fig. 9 into Figure 12 includes that (first is long for two the first long brush hairs of beam
Bristle 1611 and the first long brush hairs 1612).Side brush is rotated with the direction of arrow A1, and at the first moment, side is brushed relative to light
For the first position relationship of 151A as shown in figure 9, at the second moment, second position relationship such as Figure 10 relative to light 151A is brushed on side
Shown, at the third moment, side is brushed as shown in figure 11 relative to the third place relationship of light 151A.In the Fig. 9 at the first moment,
First long brush hairs 1611 are in the transmission path of light 151A, in the Figure 10 at the second moment, the first long brush hairs 1611 and first
Long brush hairs 1612 are in the transmission path of light 151A, and in the Figure 11 at third moment, the first long brush hairs 1612 are in light
The transmission path ... of 151A so periodically successively has a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be in light
The transmission path of 151A.
As shown in Figure 10, there is the first clearance D 2 between the first long brush hairs 1611 and the first long brush hairs 1612, brush edge on side
Axis rotation when, the part of light 151A is by adjacent two beam long brush hairs (i.e. the first long brush hairs 1611 and the first long brush hairs 1612)
Stop, causes light 151A cannot be completely through the first clearance D 2, in other words, light 151A has part by the first long brush hairs
1611 and first long brush hairs 1612 stop, light 151A partially passes through the first clearance D 2.
It is in the embodiment of the present invention, between the first long brush hairs 1611 and the first long brush hairs 1612 shown in Fig. 9 to Figure 12
With the first default angle C2, so it is easy to understand that when the brush rotation of side, the first long brush hairs 1611 and the first long brush hairs 1612 are inswept
Space will form an invisible space curved surface, light 151A and the space curved surface have intersection, the first default angle C2
It can be adjusted according to size, the intersection factors such as at a distance from the axis that side is brushed of intersection, it is ensured that successively have a branch of
Long brush hairs, two beam long brush hairs, a branch of long brush hairs are periodically in the transmission path of light 151A.
Referring again to Fig. 9, Figure 10, Figure 11 and Figure 12, side brush of the Fig. 9 into Figure 12 further includes the second long brush hairs 1613,
In the embodiment of the present invention, the second long brush hairs 1613 are adjacent with the first long brush hairs 1611, and the second long brush hairs 1613 are also brushed with the first length
Hair 1612 is adjacent.To be with the second angle C3 and the second clearance D 3 between the second long brush hairs 1613 and the first long brush hairs 1612
Example, when on side, brush is rotated along axis, light 151A can be completely through the second clearance D 3, it is readily appreciated that, the second angle C3 is big
In the first default angle C2.
Through the illustration of above-mentioned example one and example two it is known that during side brush rotates a circle, as long as occurring
Once " successively having a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be in the transmission path of light 151A ", such case is i.e.
Technical problem to be solved of the embodiment of the present invention can be met；During certainly, on side, brush rotates a circle, occur repeatedly " according to
The secondary transmission path for having a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be in light 151A " such case also meets this hair
Bright embodiment technical problem to be solved.
As shown in figure 13, short bristles 191 are also provided between adjacent long brush hairs 161, the length of short bristles 191 is small
In long brush hairs 161.
In the embodiment above, above-mentioned every beam long brush hairs include the filament of a plurality of nylon material, so that side brushing tool
Standby preferable flexibility and wearability.In other embodiments, above-mentioned every beam long brush hairs can also include a plurality of PET
The filament of (polyethylene terephthalate, Polythylene terephthalate) material.
Figure 14 is the assembly structure diagram of driving wheel module 110 in the embodiment of the present invention, and Figure 15 is driving wheel in Figure 14
The fractionation structural representation of module 110, Figure 16 are the partial structure diagrams of driving wheel module 110 in Figure 15, and Figure 17 is Figure 16
The fractionation schematic diagram of middle structure, Figure 18 are the diagrammatic cross-sections of driving wheel module 110 in Figure 14.
Driving wheel module 110 includes: shell 1 and sequentially connected the motor 2, (tooth of gear set 3 for being mounted on shell 1
Wheel group 3 is preferably train of reduction gears) and wheel 4, it further include spring 5 and outer cover 6, shell 1 includes: the electricity for installing motor 2
Machine mounting portion 11, the gear-box portion 12 for installing gear set 3, the cover portion 13 for installing wheel 4 and be used for and 6 pivot of outer cover
The shaft 14 connect, shell 1 are articulated in outer cover 6 by shaft 14, and spring 5 is installed between outer cover 6 and shell 1.
Wheel 4 is easy to roll the substances such as the dust on ground, clast when walking on the ground, and outer cover 6 covers on shell 1
Side, the substances such as dust, the clast that can prevent wheel 4 from rolling, which enter inside clean robot 100, leads to electronic equipment short circuit, therefore
Outer cover 6 has dust reduction capability.Shell 1 is articulated in 6 side of outer cover by shaft 14, and 6 side of outer cover is equipped with pacifies for shaft 14
The rotating shaft support portion 621 of dress.Shaft 13 includes the rotating arm 14A for being connected to motor mounting part 11, and end is equipped with for pacifying
The through-hole 14B of shaft 17 is filled, rotating shaft support portion 621 is set to the two sides of shaft 13, to support shaft 17 to rotate.It will when installation
Shaft 17 is arranged in rotating shaft support portion 621 and through-hole 14B.Side on motor mounting part 11 close to the top of outer cover 6 is equipped with the
One hook 111, the second hook 6A is equipped at the top of outer cover 6, and the both ends difference hook of spring 5 is set to the first hook 111 and the second hook
On 6A.Under the action of spring 5, trend that shell 1 rotates outside oriented outer cover 6 always.
Outer cover 6 is equipped with the first limiting section 6B, and limiting section 612 is the convex block set on 6 inside of outer cover (as schemed in the present embodiment
In 15 shown in dotted line), shell 1 is equipped with the second limiting section 15 matched with the first limiting section 6B, the second limit in the present embodiment
Position portion 15 is the convex block set on 13 end of cover portion.Position switch 7 is also provided on outer cover 6, shell 1 is equipped with and opens with position
Close the feeler lever 16 of 7 cooperations.When clean robot 100 is lifted, position switch 7 is touched by feeler lever 16, and the first limiting section 6B also can
It is butted on the second limiting section 15, shell 1 is avoided to continue to rotate to the outside of outer cover 6.
In embodiments of the present invention, outer cover 6 includes outer cover upper casing 61 and outer cover lower casing 62, and shaft 14 is installed under outer cover
The side of shell 62.Outer cover upper casing 61 can be fixedly connected with outer cover lower casing 62 by threaded fastener, can also pass through fastener
It is fixedly connected.Dimple 613 is equipped on the outside of outer cover upper casing 61, microswitch 7 is mounted on dimple 613, and 613 side of dimple offers
The window 614 of microswitch 7 is touched for feeler lever 16.
Since shell 1 is articulated on outer cover 6, shell 1 can outwardly or inwardly be rotated around outer cover 6, so that wheel 4 can be with
Around the rotation of outer cover 6 (in the range of the first limiting section 6B is limited), spring 5 provides elastic force in 1 rotation process of shell always.It drives
The control of position switch 7 and motor 2 with clean robot 100 at 100 bottom of clean robot is arranged in driving wheel module 110
System electrical connection.Under the action of 100 self gravity of clean robot, wheel 4 by ground reaction force and into outer cover 6
Mobile, feeler lever 16 is separated with position switch 7, and cover portion 13 is isolated by wheel 4 with outer cover 6, so that wheel 4 is in the rotation not
It can rub with outer cover 6.Clean robot 100 works normally in this case；When clean robot 100 encounters work burst
When event, such as when clean robot 100 is artificially lifted, at this moment, wheel 4 pops up outward under the elastic force effect of spring 5, touching
Bar 16 touches position switch 7, and the control system of clean robot 100 can obtain signal from position switch 7 at this time, to control
Driving wheel module 110 stops working, user-friendly or carrying clean robot 100.
The simple signal of projection P 1 and the projection P 2 of wheel 4 on the ground when Figure 19 is side 160 rotation of brush on the ground
Figure.From figure 1 it appears that side brush 160 is disposed adjacent with wheel 4 so that projection P 1 when 160 rotation of brush of side on the ground and
The projection P 2 of wheel 4 on the ground has lap P12 (refering to fig. 1 9).
As shown in figure 20, when clean robot 100 is placed on ground, in the gravity lower whorl of clean robot 100
Son 4 is to bouncing back inside outer cover 6, and brush 160 rotation Shi Buyu wheels 4 in side are touched, i.e., long brush hairs 161 are not touched with wheel 4
It touches, ensure that clean robot 100 on the ground when driving, side brush 160 is not touched with wheel 4.
As shown in figure 21, when clean robot 100 is lifted, wheel 4 is to outside outer cover 6 under the elastic force effect of spring 5
It is further prominent, in this case, if 160 rotation of side brush, can touch with wheel 4, therefore, side brush 160 need by
It is controlled to stop rotation, is touched to avoid long brush hairs 161 and wheel 4.
According to above-mentioned design, in the case where not influencing side 160 work of brush, so that side brush 160 keeps close enough with wheel 4
Distance, clean robot 100 is compact-sized, rationally distributed, can also use the longer long brush hairs 161 of length, increases long brush
The cleaning coverage area of hair 161.
A kind of clean robot 100 provided in an embodiment of the present invention, when on side, brush 160 is rotated along axis, long brush hairs pass through
Between steep cliff detection sensor 150 and ground, and successively there are a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs periodical
Ground is in the transmission path of light, is designed by the density between reasonably arranging to multi beam long brush hairs and is adjacent, not
Under the premise of influencing the normal work of steep cliff detection sensor 150, is promoted and clean effect.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " alternative embodiment " etc. mean specific features described in conjunction with this embodiment or example, structure, material or
Feature is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms
It may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be any
One or more embodiment or examples in can be combined in any suitable manner.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of clean robot characterized by comprising
Machine body has peripheral profile；
Driving wheel module is configured as driving the clean robot in ground run；
Dustbin, for collecting and storing rubbish；
Dust extractor, including blower when the blower starts, drive the rubbish on ground from being opened in the machine body bottom
Suction inlet enter, and remained in the dustbin after being filtered via filter；
Steep cliff detection sensor is set to the machine body bottom, and is configured as towards ground launch light and response
In the height fall on ground；
The side brush being driven, is set to the machine body bottom, is configured as rotating along the axis for being substantially perpendicular to ground,
There is the side brush multi beam to surround the spaced long brush hairs of the axis, and the long brush hairs extend outwardly and exceed the machine sheet
The peripheral profile of body, for guiding the rubbish for exceeding the peripheral profile coverage area on ground to the machine body bottom
Suction inlet position；When on the side, brush is rotated along the axis, the long brush hairs pass through the steep cliff detection sensor and ground
Between face, and the transmitting road for successively thering are a branch of long brush hairs, two beam long brush hairs, a branch of long brush hairs to be periodically in the light
Diameter.
2. clean robot according to claim 1, which is characterized in that long brush hairs described in multi beam are according to the first default angle
Arrangement is evenly spaced around the axis.
3. clean robot according to claim 2, which is characterized in that the side brush includes that 9 beams are any one into 18 beams
The long brush hairs of kind quantity.
4. clean robot according to claim 1, which is characterized in that include at least two beams the in long brush hairs described in multi beam
One long brush hairs have the first gap at least two first long brush hairs of beam between two adjacent the first long brush hairs of beam；Described
When side brush is rotated along the axis, the part of the light is by any a branch of in two adjacent first long brush hairs of beam or two
Beam stops, and causes the light cannot be completely through first gap.
5. clean robot according to claim 4, which is characterized in that further include the second long brush in long brush hairs described in multi beam
Hair has the second gap between second long brush hairs and first long brush hairs adjacent thereto；It brushes on the side along institute
When stating axis rotation, the light can be completely through second gap.
6. clean robot according to claim 1, which is characterized in that be provided with whisk broom between the adjacent long brush hairs
The length of hair, the short bristles is less than the long brush hairs.
7. clean robot described in any one of -6 according to claim 1, which is characterized in that the driving wheel module packet
Include: shell and the sequentially connected motor, gear set and the wheel that are mounted on shell, further include spring and outer cover, the shell
Include: for installing the motor mounting part of motor, the gear-box portion for installing gear set, the cover portion for installing wheel and
Shaft for being pivotally connected with the outer cover, the shell are articulated in the outer cover, the spring installation by the shaft
Between the outer cover and the shell, under the elastic force effect of the spring, outside the shell outer cover oriented always
The trend of rotation；
The side brush is disposed adjacent with the wheel, so that the projection and the wheel when brush rotation of the side on the ground are on ground
Projection on face has lap；
When the clean robot is lifted, under the elastic force effect of the spring wheel to outside the outer cover further
Prominent, the side brush is controlled to stop rotation, touches to avoid the long brush hairs and the wheel；
When the clean robot is placed on ground, the wheel is to described outer under the gravity of the clean robot
The internal retraction of cover, the side brush are not touched when rotating with the wheel.
8. clean robot according to claim 7, which is characterized in that the outer cover is equipped with position switch, the shell
Body is equipped with the feeler lever cooperated with the position switch, and when the clean robot is lifted, the position switch is by the touching
Bar touches.
9. clean robot according to claim 1, which is characterized in that every Shu Suoshu long brush hairs include a plurality of nylon material
Filament.
10. clean robot according to claim 1, which is characterized in that the machine body bottom forms holding tank,
The suction inlet is opened in the holding tank inner wall；The clean robot further includes the round brush being driven, and the round brush is removable
It is installed on the holding tank with unloading, and is configured as rotating along the axis for being parallel to ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811575926.8A CN109480712A (en) | 2018-12-22 | 2018-12-22 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811575926.8A CN109480712A (en) | 2018-12-22 | 2018-12-22 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
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| CN109480712A true CN109480712A (en) | 2019-03-19 |
Family
ID=65711389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811575926.8A Pending CN109480712A (en) | 2018-12-22 | 2018-12-22 | Clean robot |
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| CN (1) | CN109480712A (en) |
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| CN110448224A (en) * | 2019-06-27 | 2019-11-15 | 尚科宁家(中国)科技有限公司 | A kind of sweeping robot |
| CN110687000A (en) * | 2019-10-18 | 2020-01-14 | 安徽世纪科技咨询服务有限公司 | Rapid detection equipment for production workshop environment and working method thereof |
| WO2020187014A1 (en) * | 2019-03-20 | 2020-09-24 | 速感科技（北京）有限公司 | Side sweeping assembly and cleaning robot |
| CN114449934A (en) * | 2019-09-26 | 2022-05-06 | Lg电子株式会社 | Robot cleaner |
| CN115836822A (en) * | 2023-02-17 | 2023-03-24 | 长春电子科技学院 | Inside automatic cleaning device for cleaning robot |
| WO2023071654A1 (en) * | 2021-10-29 | 2023-05-04 | 深圳银星智能集团股份有限公司 | Cleaning robot |
| US11805952B2 (en) | 2019-09-17 | 2023-11-07 | Lg Electronics Inc. | Cleaner |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Applicant after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 building A1, Yinxing hi tech Industrial Park, Guanlan street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |