CN109589049A - Clean robot - Google Patents
Clean robot Download PDFInfo
- Publication number
- CN109589049A CN109589049A CN201811604108.6A CN201811604108A CN109589049A CN 109589049 A CN109589049 A CN 109589049A CN 201811604108 A CN201811604108 A CN 201811604108A CN 109589049 A CN109589049 A CN 109589049A
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- China
- Prior art keywords
- clean robot
- fastener
- accommodating hole
- wheel
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 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 abstract description 33
- 239000000428 dust Substances 0.000 claims abstract description 24
- 238000010408 sweeping Methods 0.000 claims abstract description 20
- 230000002093 peripheral effect Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 24
- 210000004907 gland Anatomy 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 abstract description 6
- 230000037431 insertion Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 16
- 239000000470 constituent Substances 0.000 description 7
- 238000005194 fractionation Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 239000000126 substance Substances 0.000 description 4
- 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
- 241000237858 Gastropoda Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000692 anti-sense effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 239000011800 void material Substances 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Electric Suction Cleaners (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clean robots, include: with peripheral profile and bottom offer the machine body of suction inlet, driving wheel module, dustbin, dust extractor, including while sweep component and driving assembly while sweep module, while sweeping component includes offering the pedestal of accommodating hole and around the spaced hairbrush of pedestal, the inner sidewall of accommodating hole is equipped with convex block, driving assembly includes motor and is driven the fastener of rotation by motor, the lateral wall of fastener offers card slot, and card slot has open section, bridge joint sections and stay segment；When being installed in by fastener insertion accommodating hole, convex block is successively via open section and bridge joint sections, and convex block is maintained in stay segment by the bounce by acting between pedestal and fastener, so that side is swept, component is not easily to fall off, improves stability when component rotation is swept on side.
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
Be equipped with side and sweep component, however, it is traditional while sweep component be usually screwed in while sweep motor output gear gear member on, work as needs
When component is swept on side removing, need to be dismounted by tools such as matched screwdrivers, it is inconvenient.
Summary of the invention
The embodiment of the present invention provides a kind of clean robot, it is intended to solve side in the prior art and sweep component disassembling operations inconvenience
The technical issues of.
In order to solve the above technical problems, the embodiment of the present invention is the following technical schemes are provided: a kind of clean robot, comprising:
Machine body has peripheral profile, and the bottom of the machine body offers suction inlet；
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 to enter from the suction inlet, and
It is remained in after being filtered via filter in the dustbin；And
While sweeping module, comprising:
While component is swept, including offering the pedestal of accommodating hole and around the spaced hairbrush of the pedestal, the accommodating
The inner sidewall in hole is equipped with convex block；And
Driving assembly drives the buckle rotated along the axis for being substantially perpendicular to ground including motor and by the motor
Part, the lateral wall of the fastener offer card slot, and the card slot has open section, bridge joint sections and stay segment；By the card
When being installed in the fastener insertion accommodating hole, the convex block passes through effect successively via the open section and bridge joint sections
The convex block is maintained in the stay segment by the bounce between the pedestal and the fastener.
Optionally, it is equipped with elastic mechanism in the accommodating hole that the pedestal opens up, the fastener is being inserted into the accommodating
When being installed in hole, the fastener squeezes the elastic mechanism and forms the bounce.
Optionally, the elastic mechanism includes the pressure spring being set in the accommodating hole and is set to the pressure spring top
Gland, when being installed in by the fastener insertion accommodating hole, the fastener passes through described in gland extruding
Pressure spring and form the bounce.
Optionally, the driving component further includes mounting base, is used to support the fastener and the motor；The buckle
Part is arranged with worm gear, and the output shaft of the motor is connected with worm screw, and the worm screw connect with the worm-drive.
In order to solve the above technical problems, another embodiment of the present invention provides following technical schemes: a kind of clean robot, packet
It includes:
Machine body has peripheral profile, and the bottom of the machine body offers suction inlet；
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 to enter from the suction inlet, and
It is remained in after being filtered via filter in the dustbin；And
While sweeping module, comprising:
Driving assembly drives the deck rotated along the axis for being substantially perpendicular to ground including motor and by the motor,
The deck offers accommodating hole, and the inner sidewall of the accommodating hole is equipped with convex block；And
While sweeping component, it is alternatively arranged including pedestal, the holding section being fixed in the middle part of the pedestal and around the pedestal
Hairbrush, the lateral wall of the holding section offers card slot, and the card slot has open section, bridge joint sections and stay segment；By institute
It states holding section to be inserted into the accommodating hole when being installed, the convex block passes through successively via the open section and bridge joint sections
The convex block is maintained in the stay segment by the bounce acted between the deck and the holding section.
Optionally, it is equipped with elastic mechanism in the accommodating hole that the deck opens up, the accommodating is being inserted into the holding section
When being installed in hole, the holding section squeezes the elastic mechanism and forms the bounce.
Optionally, the elastic mechanism includes the pressure spring being set in the accommodating hole and is set to the pressure spring top
Gland, when being installed in by the holding section insertion accommodating hole, the holding section passes through described in gland extruding
Pressure spring and form the bounce.
Optionally, blocking portion, the blocking portion direction are formed between the open section of the card slot, bridge joint sections and stay segment
The side of the bridge joint sections has lead-in chamfered.
Optionally, the driving wheel module include: shell and be mounted on shell sequentially connected motor, gear set and
Wheel, further includes spring and outer cover, and the shell includes: for installing the motor mounting part of motor, for installing gear set
Gear-box portion, the cover portion for installing wheel and the shaft for being pivotally connected with the outer cover, the shell are turned by described
Axle portion is articulated in the outer cover, and the spring is installed between the outer cover and the shell, acts in the elastic force of the spring
Under, the trend of rotation outside the shell outer cover oriented always；
The side is swept component and is disposed adjacent with the wheel so that when the hairbrush rotates projection on the ground with it is described
The projection of wheel 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 sweeps component and is controlled to stop rotation, touches to avoid the hairbrush 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 hairbrush is not touched when rotating with the wheel.
Optionally, 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, the position switch is touched by the feeler lever.
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 and Fig. 3 is dust extractor assembling and fractionation structural representation respectively；
Fig. 4 is the structural schematic diagram that module is swept when sweeping component and driving assembly is assembled into；
Fig. 5 is that the structural schematic diagram that component and driving assembly are split is swept when sweeping in module；
Fig. 6 is the solid and partial enlargement diagram that component is swept on side；
Fig. 7 is the explosive view that module is swept on side；
Fig. 8 is the structural schematic diagram of the fastener of driving assembly；
Fig. 9 is the cross-sectional view that module is swept on side；
Figure 10 is that module and part enlarged structure schematic diagram are swept in another embodiment of the present invention side；
Figure 11 is the assembly structure diagram of driving wheel module in the embodiment of the present invention；
Figure 12 is the fractionation structural representation of driving wheel module in Figure 11；
Figure 13 is the partial structure diagram of driving wheel module in Figure 12；
Figure 14 is the fractionation schematic diagram of structure in Figure 13；
Figure 15 is the diagrammatic cross-section of driving wheel module in Figure 11；
The rough schematic of projection and the projection of wheel on the ground when Figure 16 is side brush rotation on the ground；
Figure 17 is when clean robot is placed on ground, the rough schematic of hairbrush and wheel relative positional relationship；
Figure 18 is the rough schematic of hairbrush and wheel relative positional relationship when clean robot is lifted.
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.
Example one:
Fig. 1 is the bottom substance schematic diagram of the clean robot of the embodiment of the present invention, and Fig. 2 and Fig. 3 are dust extractor respectively
Assembling and fractionation structural representation.
Clean robot 100 includes: driving wheel module 110, machine body 120, dustbin 130, dust extractor 140, side
Sweep module.
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, 120 bottom of machine body is additionally provided with universal wheel 180.
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 outlet air jointly and lead to
Road 145, air-out passage 145 are connected to the cavity for accommodating fan 142.In practical applications, filtered via filter
Air-flow enters from air intake passage 144, and is discharged from air-out passage 145.
120 bottom of machine body offers suction inlet (not shown), in embodiments of the present invention, machine body 120
Bottom is also provided with by motor-driven round brush 170, for this purpose, 120 bottom of machine body forms holding tank, suction inlet is opened
Set on holding tank inner wall, round brush 170 is removably installed in holding tank, and is configured as rotating along the axis for being parallel to ground.
In embodiments of the present invention, dustbin 130 is removably set to 120 rear portion of machine body.In other embodiments, dustbin
130 can also be set to 120 top of machine body.
Dustbin 130 for collecting and store rubbish, offered on dustbin 130 entering-dust mouth being connected to suction inlet and
The air outlet being connected to the air intake passage 144 of dust extractor 140.The air outlet of dustbin 130 and the air inlet of dust extractor 140 are logical
It is provided with filter between road 144, which can be installed on dustbin 130, can also be installed on machine body 120.?
In the embodiment of the present invention, dust extractor 140 is provided separately with dustbin 130, i.e., dust extractor 140 is fixedly installed in machine body
120, dustbin 130 is removably installed in machine body 120.In other embodiments, dust extractor 140 and dustbin 130
Also it can integrate and be integrally fixedly or removably installed on machine body 120.Dustbin 130 is installed on machine body
120, in order to increase the leakproofness connected between the air outlet of dustbin 130 and the air intake passage 144 of dust extractor 140, dust suction
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.
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 enters, and remains in dustbin 130 after filtering via filter.
Fig. 4 is the structural schematic diagram for sweeping module in the embodiment of the present invention when sweeping component and driving assembly is assembled into, and Fig. 5 is
The structural schematic diagram that component and driving assembly are split is swept when sweeping in module.
In embodiments of the present invention, component 20 and driving assembly 30 are swept when sweeping module and including, while sweeping component 20 can be real
It is now disassembled and installed with driving assembly 30, while sweeping the bottom that component 20 can be installed on machine body 120, is configured as being driven
Dynamic component 30 drives to be rotated along the axis for being substantially perpendicular to ground.
Together refering to Fig. 6, while sweeping component 20 includes pedestal 21 and multi beam hairbrush 22, the middle part of pedestal 21 offers accommodating hole
211, the inner sidewall of accommodating hole 211 is equipped with convex block 212.Hairbrush 22 is alternatively arranged around pedestal 21, and is extended outwardly and exceeded machine
The peripheral profile 121 of device ontology 120, for guiding the rubbish for exceeding 121 coverage area of peripheral profile on ground to machine sheet
The suction inlet position position of round brush 170 (for example, in Fig. 1) of 120 bottom of body.In embodiments of the present invention, machine body 120
Bottom is provided with a side and sweeps module, and in other embodiments, 120 bottom of machine body, which also can be set, sweeps mould there are two side
Block.
As shown in fig. 7, driving assembly 30 includes motor 31 and is driven by motor 31 along the axis for being substantially perpendicular to ground
The fastener 32 of rotation.In embodiments of the present invention, driving assembly 30 further includes mounting base 33, and mounting base 33 is used to support motor
31 and fastener 32, specifically, mounting base 33 includes the upper mounting seat 331 and lower mounting seat 332 being assembled together, can pass through
The modes such as threaded fastener, buckle are assembled.Fastener 32 is arranged with worm gear 34, and the output shaft of motor 31 is connected with worm screw 35, snail
Bar 35 and worm gear 34 are sequentially connected.In other embodiments, it can also be driven and be connected by belt between motor 31 and fastener 32
It connects.
As shown in figure 8, the lateral wall of fastener 32 offers card slot 40, card slot 40 has open section 41,42 and of bridge joint sections
Stay segment 43, open section 41 and stay segment 43 are connected to by bridge joint sections 42.Open section 41 is opened from the endface of 32 one end of fastener
Begin, and extends towards 32 other end of fastener；Since stay segment 43 is not extended to the end face of 32 one end of fastener, so that stopping
Stay section 43 that there is barrier, end face of the barrier close to 32 one end of fastener.
Together refering to Fig. 8 and Fig. 9, in practical application, fastener 32 is inserted into accommodating hole 211 installed when, it is convex
Block 212 is successively via open section 41 and bridge joint sections 42, and the bounce by acting between pedestal 21 and fastener 32 will be convex
Block 212 is maintained in stay segment 43.In order to visually indicate the moving along card slot 40 of convex block 212, please refer in Fig. 8 and Fig. 9
Dotted line and arrow, dotted line denote the movement routine of convex block 212, the arrows moving direction of convex block 212.
In embodiments of the present invention, blocking portion is formed between the open section 41 of card slot 40, bridge joint sections 42 and stay segment 43
44, blocking portion 44 has lead-in chamfered 44A towards the side of bridge joint sections 42.Wherein, lead-in chamfered 44A belongs to the one of bridge joint sections 42
Side wall.The effect of lead-in chamfered 44A is that convex block 212 is facilitated to move along bridge joint sections 42.
In embodiments of the present invention, it is equipped with elastic mechanism in the accommodating hole 211 that pedestal 21 opens up, is inserted by fastener 32
When being installed in accommodating hole 211, fastener 32 squeezes elastic mechanism and forms bounce.Specifically, elastic mechanism can wrap
The pressure spring 213 being set in accommodating hole 211 and the gland 214 for being set to 213 top of pressure spring are included, is held fastener 32 to be inserted into
It sets when being installed in hole 211, fastener 32 squeezes pressure spring 213 by gland 214 and forms bounce.In other embodiments
In, elastic mechanism is also possible to metal clips, elastic block rubber etc..In an alternative embodiment, elastic mechanism can also be set to
On fastener 32, for example, the end face of fastener 32 is connected with the elastic mechanisms such as spring, elastic slice, elastic block rubber.
When pressure spring 213 and gland 214 need to be connected to 211 bottom of accommodating hole, pressure spring 213 and pressure are picked and placed for convenience
Lid 214, in embodiments of the present invention, pedestal 21 include base body 215 and fastener 216, and the middle part of fastener 216 offers
Accommodating hole 211, fastener 216 are removably attached to the middle part of base body 215, for example, passing through buckle, threaded fastener
Etc. modes.
In embodiments of the present invention, in order to keep side to sweep 20 stability of equilibrium of component, the lateral wall of fastener 32 is equipped with two
A card slot 40, two card slots 40 are oppositely arranged；Certainly, the inner sidewall of accommodating hole 211 is also correspondingly provided with two convex blocks 212, and two
Convex block 212 is oppositely arranged.
When practical operation sweeps on side in the installation to driving assembly 30 of component 20, picks up side and sweep component 20, by fastener 32
It is directed at and is inserted into accommodating hole 211, component 20 is swept on rotation side when convex block 212 reaches its top along open section 41, so that convex block 212
Continuation is moved along bridge joint sections 42, is unclamped side when convex block 212 reaches its other end along bridge joint sections 42 and is swept component 20, in pressure spring 213
Bounce effect under, convex block 212 is maintained in stay segment 43, while it is not easily to fall off to sweep component 20, and side is improved and sweeps group
Stability when part 20 rotates.
A kind of clean robot provided in an embodiment of the present invention, comprising: there is peripheral profile and bottom offers suction inlet
Machine body, driving wheel module, dustbin, dust extractor, including while sweep component and driving assembly while sweep module, while sweeping group
Part includes offering the pedestal of accommodating hole and surrounding the spaced hairbrush of pedestal, and the inner sidewall of accommodating hole is equipped with convex block, driving
Component includes motor and is driven the fastener of rotation by motor, and the lateral wall of fastener offers card slot, card slot have open section,
Bridge joint sections and stay segment；By fastener be inserted into accommodating hole in installed when, convex block successively via open section and bridge joint sections, and
Convex block is maintained in stay segment by the bounce acted between pedestal and fastener, so as to sweep component not easily to fall off on side,
Improve stability when component rotation is swept on side.
Example two:
This example two and the maximum difference of above-described example one are that module is swept on side, therefore, the clean robot in this example two
Other structures component please refer to example one, details are not described herein.Sweep module in the side that hereinafter emphasis describes example two.
As shown in Figure 10, the structural schematic diagram of module is swept for side in another embodiment of the present invention.Side in the present embodiment
Sweeping module includes that component 70 is swept on driving assembly 50 and side, and driving assembly 50 includes motor 51 and driven by motor 51 along substantially
Perpendicular to the deck 52 of the axis rotation on ground, the middle part of deck 52 offers accommodating hole 521, and the inner sidewall of accommodating hole 521 is equipped with
Convex block 522.Include: pedestal 71, the holding section 72 for being fixed at 71 middle part of pedestal while sweeping component 70 and arranged around the interval of pedestal 71
The hairbrush 73 of column, the lateral wall of holding section 72 offer card slot 80, and card slot 80 has open section 81, bridge joint sections 82 and stay segment
83, open section 81 is connected to stay segment 83 by bridge joint sections 82.Open section 81 since the endface of one end of holding section 72, and
Extend towards the direction of pedestal 71；Since stay segment 83 is not extended to the end face of 72 one end of holding section, so that stay segment 83 has
There is barrier, end face of the barrier close to 72 one end of holding section.
In practical application, when being installed in by the insertion of holding section 72 accommodating hole 521, convex block 522 is successively via opening
Section 81 and bridge joint sections 82, and convex block 522 is maintained at stay segment by the bounce by acting between deck 52 and holding section 72
In 83.In order to visually indicate the moving along card slot 80 of convex block 522, dotted line and arrow in Figure 10 in card slot 80 are please referred to, void
Line denotes the movement routine of convex block 522, the arrows moving direction of convex block 522.
In the present embodiment, blocking portion 84 is formed between the open section 81 of card slot 80, bridge joint sections 82 and stay segment 83, is hindered
Stopper 84 has lead-in chamfered (being not shown in Figure 10, can refer to lead-in chamfered 44A) towards the side of bridge joint sections 82.
In the present embodiment, it can be equipped with elastic mechanism in the accommodating hole 521 that deck 52 opens up, realize by holding section 72
When being installed in insertion accommodating hole 521, holding section 72 squeezes elastic mechanism and forms bounce.Elastic mechanism may include setting
The pressure spring (being not shown in Figure 10, can refer to pressure spring 213) that is placed in accommodating hole 521 and the gland (Figure 10 for being set to pressure spring top
In be not shown, can refer to gland 214), by holding section 72 be inserted into accommodating hole 521 in installed when, holding section 72 passes through pressure
Lid squeezes pressure spring and forms bounce.In other embodiments, elastic mechanism is also possible to metal clips, elastic block rubber etc..
In an alternative embodiment, elastic mechanism can also be set to holding section 72 on, for example, the end face of holding section 72 be connected with spring,
The elastic mechanisms such as elastic slice, elastic block rubber.
In the present embodiment, in order to keep side to sweep 70 stability of equilibrium of component, the lateral wall of holding section 72 sets that there are two cards
Slot 80, two card slots 80 are oppositely arranged；Certainly, the inner sidewall of accommodating hole 521 is also correspondingly provided with two convex blocks 522, two convex blocks
522 are oppositely arranged.The inner sidewall of accommodating hole 521 is also correspondingly provided with two convex blocks 522, and two convex blocks 522 are oppositely arranged.
In the present embodiment, in order to support motor 51 and deck 52, driving assembly 50 further includes that mounting base 53 (can refer to
Mounting base 33).Deck 52 is arranged with worm gear (being not shown in Figure 10, can refer to worm gear 34), and the output shaft of motor 51 is connected with snail
Bar (is not shown, can refer to worm screw 35) in Figure 10, the worm and wheel transmission connection of driving assembly 50.In other embodiments,
It can also be sequentially connected by belt between motor 51 and deck 52.
Another embodiment of the present invention provides a kind of clean robot, comprising: there is peripheral profile and bottom to offer suction
The machine body of dirt mouth, driving wheel module, dustbin, dust extractor, including while sweep component and driving assembly while sweep module, drive
Dynamic component includes motor and is driven the deck of rotation by motor, and deck offers accommodating hole, and the inner sidewall of accommodating hole is equipped with convex block；
While sweeping component includes pedestal, the holding section being fixed in the middle part of pedestal and around the spaced hairbrush of pedestal, holding section it is outer
Side wall offers card slot, and card slot has open section, bridge joint sections and stay segment；It is installed holding section to be inserted into accommodating hole
When, convex block is successively via open section and bridge joint sections, and the bounce by acting between deck and holding section keeps convex block
In stay segment, so that side is swept, component is not easily to fall off, improves stability when component rotation is swept on side.
Figure 11 is the assembly structure diagram of driving wheel module 110 in the embodiment of the present invention, and Figure 12 is driving wheel in Figure 11
The fractionation structural representation of module 110, Figure 13 are the partial structure diagrams of driving wheel module 110 in Figure 12, and Figure 14 is Figure 13
The fractionation schematic diagram of middle structure, Figure 15 are the diagrammatic cross-sections of driving wheel module 110 in Figure 11.
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 12 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 opens up
There is the window 614 that 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.
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 processed.Under the action of 100 self gravity of clean robot, wheel 4 by ground reaction force and to outer cover
Moved in 6, 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 rotation when
Time will not rub with outer cover 6.Clean robot 100 works normally in this case；When clean robot 100 encounters work
When making emergency event, such as when clean robot 100 is artificially lifted, at this moment, wheel 4 is outside under the elastic force effect of spring 5
Pop-up, feeler lever 16 touch position switch 7, and the control system of clean robot 100 can obtain signal from position switch 7 at this time,
It stops working to control driving wheel module 110, user-friendly or carrying clean robot 100.
Figure 16 is the simple signal of the projection P 1 and the projection P 2 of wheel 4 on the ground when hairbrush 22 rotates on the ground
Figure.From figure 1 it appears that hairbrush 22 is disposed adjacent with wheel 4, so that projection P 1 and wheel when hairbrush 22 rotates on the ground
The projection P 2 of son 4 on the ground has lap P12 (refering to fig. 1 6).
As shown in figure 17, when clean robot 100 is placed on ground, in the gravity lower whorl of clean robot 100
To bouncing back inside outer cover 6, hairbrush 22 rotates Shi Buyu wheel 4 and touches son 4, ensure that clean robot 100 on the ground
When driving, hairbrush 22 is not touched with wheel 4.
As shown in figure 18, 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, it in this case, if hairbrush 22 rotates, can be touched with wheel 4, therefore, hairbrush 22 needs controlled
System is stopped rotating, and is touched to avoid hairbrush 22 and wheel 4.
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, and the bottom of the machine body offers suction inlet；
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 to enter from the suction inlet, and via
It is remained in the dustbin after filter filtering；And
While sweeping module, comprising:
While component is swept, including offering the pedestal of accommodating hole and surrounding the spaced hairbrush of the pedestal, the accommodating hole
Inner sidewall is equipped with convex block；And
Driving assembly drives the fastener rotated along the axis for being substantially perpendicular to ground, institute including motor and by the motor
The lateral wall for stating fastener offers card slot, and the card slot has open section, bridge joint sections and stay segment；It is inserted by the fastener
Enter when being installed in the accommodating hole, the convex block is and described by acting on successively via the open section and bridge joint sections
The convex block is maintained in the stay segment by the bounce between pedestal and the fastener.
2. a kind of clean robot characterized by comprising
Machine body has peripheral profile, and the bottom of the machine body offers suction inlet；
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 to enter from the suction inlet, and via
It is remained in the dustbin after filter filtering；And
While sweeping module, comprising:
Driving assembly drives the deck rotated along the axis for being substantially perpendicular to ground including motor and by the motor, described
Deck offers accommodating hole, and the inner sidewall of the accommodating hole is equipped with convex block；And
While sweeping component, including pedestal, the holding section being fixed in the middle part of the pedestal and the spaced hair of the pedestal is surrounded
Brush, the lateral wall of the holding section offer card slot, and the card slot has open section, bridge joint sections and stay segment；By the card
It holds portion to be inserted into the accommodating hole when being installed, the convex block passes through effect successively via the open section and bridge joint sections
The convex block is maintained in the stay segment by the bounce between the deck and the holding section.
3. clean robot according to claim 1, which is characterized in that be equipped with elasticity in the accommodating hole that the pedestal opens up
Mechanism, the fastener is inserted into the accommodating hole installed when, the fastener squeezes the elastic mechanism and shape
At the bounce.
4. clean robot according to claim 3, which is characterized in that the elastic mechanism includes being set to the accommodating
Pressure spring in hole and the gland for being set to the pressure spring top, are installed the fastener to be inserted into the accommodating hole
When, the fastener squeezes the pressure spring by the gland and forms the bounce.
5. clean robot according to claim 1, which is characterized in that the driving component further includes mounting base, is used for
Support the fastener and the motor；The fastener is arranged with worm gear, and the output shaft of the motor is connected with worm screw, described
Worm screw connect with the worm-drive.
6. clean robot according to claim 2, which is characterized in that be equipped with elasticity in the accommodating hole that the deck opens up
Mechanism, the holding section is inserted into the accommodating hole installed when, the holding section squeezes the elastic mechanism and shape
At the bounce.
7. clean robot according to claim 6, which is characterized in that the elastic mechanism includes being set to the accommodating
Pressure spring in hole and the gland for being set to the pressure spring top, are installed the holding section to be inserted into the accommodating hole
When, the holding section squeezes the pressure spring by the gland and forms the bounce.
8. clean robot according to claim 1 or 2, which is characterized in that the open section of the card slot, bridge joint sections and stop
It stays and forms blocking portion between section, the blocking portion has lead-in chamfered towards the side of the bridge joint sections.
9. clean robot according to claim 1 or 2, which is characterized in that the driving wheel module includes: shell and peace
Sequentially connected motor, gear set and wheel on shell, further include spring and outer cover, and the shell includes: for pacifying
Fill the motor mounting part of motor, the gear-box portion for installing gear set, the cover portion for installing wheel and for it is described
The shaft of outer cover pivot joint, the shell are articulated in the outer cover by the shaft, and the spring is installed on the outer cover
Between the shell, under the elastic force effect of the spring, the trend of rotation outside the shell outer cover oriented always；
The side is swept component and is disposed adjacent with the wheel, so that projection on the ground and the wheel when hairbrush rotates
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 further
Prominent, the side sweeps component and is controlled to stop rotation, touches to avoid the hairbrush 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 hairbrush are not touched when rotating with the wheel.
10. clean robot according to claim 9, 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.
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| CN201811604108.6A CN109589049B (en) | 2018-12-26 | 2018-12-26 | Cleaning robot |
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| CN201811604108.6A CN109589049B (en) | 2018-12-26 | 2018-12-26 | Cleaning robot |
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| CN110604517A (en) * | 2019-10-21 | 2019-12-24 | 广东雷洋智能科技股份有限公司 | Novel sweeping robot |
| CN111802970A (en) * | 2020-07-07 | 2020-10-23 | 苏州高之仙自动化科技有限公司 | Cleaning assembly and cleaning robot |
| CN112294196A (en) * | 2020-10-31 | 2021-02-02 | 李珍凤 | Intelligent household cleaning and dust removing equipment based on local area network |
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| US20230064738A1 (en) * | 2021-08-26 | 2023-03-02 | Toyota Jidosha Kabushiki Kaisha | Robot having multiple wheel sets |
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