CN109758035A - A kind of robot cleaner drive mechanism and robot cleaner - Google Patents
A kind of robot cleaner drive mechanism and robot cleaner Download PDFInfo
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- CN109758035A CN109758035A CN201910099057.4A CN201910099057A CN109758035A CN 109758035 A CN109758035 A CN 109758035A CN 201910099057 A CN201910099057 A CN 201910099057A CN 109758035 A CN109758035 A CN 109758035A
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Abstract
The present invention provides a kind of robot cleaner drive mechanism, roller brush drive mechanism, side brush transmission mechanism and driving device including being installed on robot dust suction ontology, it further include synchronous drive mechanism, synchronous drive mechanism is for connecting roller brush drive mechanism and side brush transmission mechanism, so that driving device drives roller brush drive mechanism and side brush transmission mechanism simultaneously, and then drive roller brush assembly and the rotation of side brush assemblies.The invention further relates to a kind of robot cleaners.The present invention saves motor, whole to control lightweight, avoids the complex control of more motors, easily promotes fault rate especially with more motors；Stage-geared huge structure is solved the problems, such as simultaneously, optimizes robot cleaner internal structure, saved space is applied in other structures, and complete machine sweeping efficiency is promoted under identical structure size.The present invention is ingenious in design, structurally reasonable, promotes and applies convenient for robot cleaner.
Description
Technical field
It is a kind of robot cleaner drive mechanism and robot cleaner the invention belongs to intelligent cleaning field.
Background technique
Robot cleaner also known as sweeper are family nurses of new generation, can clean the rooms such as hair, melon seed cases, dust
Between rubbish.With the continuous improvement of domestic level, originally always the sweeping robot of European & American Market sale also gradually
Ordinary citizen house as the popular vehicles are entered into, and being received by more and more people gradually, sweeping robot will be in the near future as white
Household electrical appliances equally become the essential cleaning helper of each family.Product also can be intelligent towards higher degree by present primary
Intelligence degree development, substitution gradually are manually cleaned.Robot cleaner is set as intelligent domestic cleaning emerging in recent years
It is standby just gradually to come into and improve people life style.
In the roller brush assembly of robot cleaner and side brush assemblies, power drive is required, is inhaled in traditional robot
In dirt device drive mechanism, respectively respectively using motor driven roller brush assembly and side brush assemblies, such mode not only improve complete machine at
This, on the other hand because motor output speeds are higher, needs gear drive that multi-stage speed-reducing is needed just to adapt to actual demand, leads to entirety
Transmission size increases, and in the case where complete machine structure size is certain, traditional drive mechanism will greatly reduce other structures as inhaled
The size of dirt device, dirt cup structure is unfavorable for the raising of overall performance to a certain extent.
In consideration of it, being badly in need of improving robot cleaner drive mechanism.
Summary of the invention
For overcome the deficiencies in the prior art, a kind of robot cleaner drive mechanism and robot proposed by the present invention are inhaled
Dirt device.The present invention saves motor, whole to control lightweight, avoids the complex control of more motors, easily mentions especially with more motors
Rise fault rate；Stage-geared huge structure is solved the problems, such as simultaneously, optimizes robot cleaner internal structure.
The present invention provides a kind of robot cleaner drive mechanism, and the round brush including being installed on robot dust suction ontology is driven
Mechanism, side brush transmission mechanism and driving device, further include synchronous drive mechanism, and the synchronous drive mechanism is described for connecting
Roller brush drive mechanism and the side brush transmission mechanism, so that the driving device drives the roller brush drive mechanism and institute simultaneously
Side brush transmission mechanism is stated, and then drives roller brush assembly and the rotation of side brush assemblies.
Preferably, the driving device drives the roller brush drive mechanism, and the roller brush drive mechanism passes through Synchronous Transmission
Mechanism drives side brush transmission mechanism, so that side brush assemblies rotate simultaneously with roller brush assembly.
Preferably, the synchronous drive mechanism includes intermeshing worm gear and worm screw, and the worm screw and the round brush pass
The affixed setting of motivation structure, the worm gear and the affixed setting of side brush transmission mechanism.
Preferably, the roller brush drive mechanism includes the first rotating wheel for being installed on the driving device, round brush synchronous belt
Wheel and round brush synchronous belt, the first of the driving device rotate round brush synchronous belt described in wheel drive and drive the round brush synchronous pulley
Rotation.
Preferably, the brush synchronous belt when brush transmission mechanism includes, side brush synchronous pulley, the driving device drive institute
It states round brush synchronous belt and drives the side brush synchronous pulley rotation.
Preferably, the round brush synchronous pulley is coaxially disposed by round brush shaft and the worm screw, the round brush synchronous belt
When wheel rotation, the worm screw is driven to rotate together；The worm gear of described and worm screw engagement passes through described in round brush synchronous belt drive
Side brush synchronous pulley rotates simultaneously.
Preferably, the transmission ratio of the first rotating wheel and the round brush synchronous pulley is 1.5:1 to 3:1.
Preferably, the transmission ratio of the worm screw and the worm gear is 5:1-50:1.
Preferably, the driving device drives side brush transmission mechanism, and the side brush transmission mechanism passes through the Synchronous Transmission
Mechanism drives the roller brush drive mechanism；So that side brush assemblies rotate simultaneously with roller brush assembly.
The present invention also provides a kind of robot cleaners, including are used for the clean robot dust suction ontology in ground, the machine
Device people's dust suction ontology includes the robot cleaner drive mechanism.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides a kind of robot cleaner drive mechanism, and the round brush including being installed on robot dust suction ontology is driven
Mechanism, side brush transmission mechanism and driving device, further include synchronous drive mechanism, and the synchronous drive mechanism is described for connecting
Roller brush drive mechanism and the side brush transmission mechanism, so that the driving device drives the roller brush drive mechanism and institute simultaneously
Side brush transmission mechanism is stated, and then drives roller brush assembly and the rotation of side brush assemblies.The invention further relates to a kind of robot cleaners.This
Motor is saved in invention, whole to control lightweight, avoids the complex control of more motors, and failure hair is easily promoted especially with more motors
Raw probability；Stage-geared huge structure is solved the problems, such as simultaneously, optimizes robot cleaner internal structure, will be saved and
Space apply in other structures, under identical structure size promoted complete machine sweeping efficiency.The present invention is ingenious in design, and structure is closed
Reason promotes and applies convenient for robot cleaner.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of robot cleaner schematic diagram of internal structure of the invention；
Fig. 2 is a kind of robot cleaner drive mechanism overall schematic of the invention；
Fig. 3 is a kind of robot cleaner drive mechanism schematic cross-sectional view of the invention；
Fig. 4 is a kind of robot cleaner drive mechanism schematic top plan view of the invention；
Fig. 5 is a kind of robot cleaner drive mechanism partial schematic diagram of the invention；
Fig. 6 is a kind of robot cleaner round brush floating structure three dimensional sectional view of the invention；
Fig. 7 is a kind of robot cleaner round brush floating structure two dimension cross-sectional view one of the invention；
Fig. 8 is a kind of robot cleaner round brush floating structure two dimension cross-sectional view two of the invention；
Fig. 9 is a kind of robot cleaner round brush floating structure two dimension cross-sectional view three of the invention；
Figure 10 is a kind of robot cleaner walking mechanism schematic diagram of the invention；
Figure 11 is using a kind of robot cleaner schematic diagram of a scenario one of the invention；
Figure 12 is using a kind of robot cleaner schematic diagram of a scenario two of the invention.
It is as shown in the figure:
Robot dust suction ontology 100, dirt case assembly placement section 1, roller brush assembly 2, side brush assemblies 4, guide frame 6, round brush
Synchronous pulley 21, round brush shaft 22, round brush shell outlet 23, dust absorption passage 24, dirt box connector 26, while brush axis 41, while brush axle sleeve
42,44, battery interface 50, the first battery compartment 51, the second battery compartment 52, guide sleeve 60, guide post 61, limit are brushed in brush bearing 43
Screw 62, spacing shim 63, auxiliary wheel 71, the first driving wheel 72, the second driving wheel 73, driving device 80, worm screw 81, worm gear 82, snail
Wheel shaft 821, first bearing 83, while brush synchronous belt 84, while brush synchronous pulley 85, the first rotating wheel 86, round brush synchronous belt 87, first
Visual sensor 91, the second visual sensor 92, third visual sensor 93, dropproof visual sensor 94, step 300, inspection
Survey region 400.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, foregoing end other objects of the invention, feature, side
Face and advantage will be apparent, and so that those skilled in the art can carry out according to the description.In the accompanying drawings,
For clarity, shape and size can be amplified, and will be indicated in all figures using identical appended drawing reference identical
Or similar component.In the following description, such as center, thickness, height, length, front, back, rear portion, the left side, the right, top
The words such as portion, bottom, top, lower part are to be based on the orientation or positional relationship shown in the drawings.Particularly, " height " is equivalent to from top
Portion is to the size of bottom, and " width " is equivalent to size from left to right, and " depth " is equivalent to vertical size.These
Relative terms are to be not intended to need specifically to be orientated for convenience and usually.It is related to the term of attachment, connection etc.
(for example, " connection " and " attachment ") refer to these structures by the relationship that intermediate structure is fixed directly or indirectly to one another or is attached,
And movable or rigidly attached or relationship, unless otherwise clearly stating.
Next, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that
Under the premise of not colliding, new reality can be formed between various embodiments described below or between each technical characteristic in any combination
Apply example.
A kind of robot cleaner drive mechanism, roller brush drive mechanism, side including being installed on robot dust suction ontology 100
Brush transmission mechanism and driving device 80, further include synchronous drive mechanism, and the synchronous drive mechanism is for connecting the round brush
Transmission mechanism and the side brush transmission mechanism, so that the driving device 80 drives the roller brush drive mechanism and described simultaneously
Side brush transmission mechanism, and then roller brush assembly 2 and side brush assemblies 4 is driven to rotate.In one embodiment, as shown in Fig. 2, the round brush
Component 2 is transversely arranged with the side brush assemblies 4；While guaranteeing significantly sweeping efficiency, robot cleaning structure by
Power is maintained in same transverse direction, it is ensured that robot runs smoothly.
In one embodiment, the driving device 80 drives the roller brush drive mechanism, and the roller brush drive mechanism passes through
Synchronous drive mechanism drives side brush transmission mechanism, so that side brush assemblies 4 rotate simultaneously with roller brush assembly 2.
As shown in Fig. 2, Figure 11, the driving device 80 connects the roller brush drive mechanism；The roller brush drive mechanism connects
Connect roller brush assembly 2；The driving device 80 connects the side brush transmission mechanism by synchronous drive mechanism；The side brush driver
Structure connects side brush assemblies 4；It include worm screw 81, worm gear 82 in the synchronous drive mechanism；The worm screw 81 connects the driving dress
Set 80；The worm screw 81 engages with the worm gear 82；It is nibbled as shown in figure 3, worm gear 82 is sheathed on worm gear shaft 821 with worm screw 81
It closes, realizes transmission.The worm gear 82 drives side brush assemblies 4 to rotate；The driving device 80 drives the worm screw 81 and institute simultaneously
Roller brush drive mechanism rotation is stated, and the side brush assemblies 4 is driven to rotate simultaneously with the round brush.In the present embodiment, synchronous to pass
The drive mechanism of motivation structure is intermeshed using worm screw 81 and worm gear 82, saves side brush motor, whole to control lightweight, is avoided more
The complex control of motor easily promotes fault rate especially with more motors；It is huge that stage-geared structure is solved simultaneously
Big problem optimizes robot cleaner internal structure, saved space is applied in other structures, in identical structure
Complete machine sweeping efficiency is promoted under size.Particularly, synchronous drive mechanism may also include but be not limited to multistage synchronous belt, bevel gear
Group, rack-and-pinion.
In one embodiment, as shown in Figure 4, Figure 5, the brush synchronous belt 84 when brush transmission mechanism further includes, side brush are same
Walk belt wheel 85；Pass through the brush synchronous pulley 85 when the driving force of the worm gear 82 is transferred to described by brush synchronous belt 84；Institute
The brush assemblies 4 when brush synchronous pulley 85 drives are stated to rotate.In the present embodiment, worm gear 82 drives worm wheel shaft and worm gear is driven to turn
The belt wheel of axle key connection, by band wheel drive brush synchronous pulley 85 when brush synchronous belt 84 is to drive, V belt translation is compared to gear
Transmission has the advantages that center is varied less away from flexible adjustable while structure size, convenient for the layout of 4 structure of side brush assemblies.
In one embodiment, as shown in figs. 3 and 5, the roller brush drive mechanism is synchronous including the first rotating wheel 86, round brush
Band 87, round brush synchronous pulley 21, round brush shaft 22；The output axis connection of first rotating wheel 86 and the driving device 80；
The round brush synchronous belt 87 connects first rotating wheel 86 and the round brush synchronous pulley 21；Described 22 one end of round brush shaft is solid
Surely roller brush assembly 2 is connected；The round brush synchronous pulley 21 and the worm gear 82 are arranged in the round brush shaft 22.In the present embodiment
In, it further includes first bearing 83 that the first rotating wheel 86, which is gear,；Round brush shaft 22 is rotatablely installed in machine by the first bearing 83
100 inner shell of device people's dust suction ontology.
The driving device 80 is rotating electric machine；The revolving speed of the rotating electric machine be 5000rpm-8000rpm, described first
The transmission ratio of rotating wheel 86 and the round brush synchronous pulley 21 is 1.5:1 to 3:1；The transmission of the worm screw 81 and the worm gear 82
Than for 5:1-50:1.In one embodiment, it is preferable that the revolving speed of rotating electric machine is 6900 ± 690rpm；First rotating wheel 86 with
Round brush synchronous pulley 21 be 2.3:1, round brush synchronous pulley 21, round brush, worm screw 81 revolving speed be 3000 ± 300rpm；Worm screw 81 with
The transmission ratio of worm gear 82 is 20:1, and 82 revolving speed of worm gear is 150 ± 15rpm；The transmission ratio of side brush synchronous belt 84 is 1:1, side brush
150 ± 15rpm of revolving speed.Since worm gear 82 is big with transmission ratio with worm screw 81, the structure size of gear Multi-stage transmission is effectively reduced.
It should be appreciated that also the roller brush drive mechanism that the driving device 80 directly drives can be substituted for side brush driver
Structure, in one embodiment, the driving device 80 drive side brush transmission mechanism (not shown), and the side brush transmission mechanism passes through same
It walks transmission mechanism and drives roller brush drive mechanism, so that side brush assemblies 4 rotate simultaneously with roller brush assembly 2.
The present invention also provides a kind of robot cleaners, including are used for the clean robot dust suction ontology 100 in ground, described
Robot dust suction ontology 100 includes the robot cleaner drive mechanism.As shown in figure 3, further including side brush assemblies 4；Institute
State brush axis 41, side brush 44 when brush assemblies 4 include；Described one end Shua Zhou41 when brush 44 is fixedly connected on described；Side brush synchronizes
85 fixing sleeve of belt wheel is set on the side brush axis 41；When brush synchronous pulley 85 drives described, brush axis 41 is rotated.In the present embodiment
In, by the brush synchronous pulley 85 when brush axle sleeve 42 contradicts, prevent brush synchronous pulley 85 in the axis direction play of side brush axis 41,
When brush axis 41 passes through, brush bearing 43 wears and is fixed on the housing parts of robot dust suction ontology 100.
A kind of robot cleaner further includes round brush floating structure, and as Figure 6-9, round brush floating structure includes round brush groups
Part 2 and the dust absorption passage 24 being tightly connected between the roller brush assembly 2 and the dirt box of robot cleaner, the roller brush assembly 2
It is only contained in by dust absorption passage in the accommodating space of robot dust suction ontology 100, the dust absorption passage 24 has certain elasticity
So that the roller brush assembly 2 be contained in the accommodating space of robot dust suction ontology 100 and can floating ground be arranged in dust suction position
It sets.It preferably, further include position limiting structure, the position limiting structure is for limiting the roller brush assembly 2 in the robot dust suction sheet
Movement in the accommodating space of body 100.
In one embodiment, as shown in figure 8, the round brush dust suction of 24 flexible sealing of dust absorption passage connection roller brush assembly 2
In channel.Specifically, the dust absorption passage 24 is rubber seal cover, is preferably in the present embodiment that skin is old using rubber seal cover
Brave seal closure remains sealed connection when bellows seal closure guarantees that roller brush assembly 2 is floated, it is ensured that round brush floating movement
Accuracy.As shown in Figure 1 and Figure 2, round brush dust absorption passage is set as the channel between round brush shell outlet 23 and dirt box connector 26,
Dirt box connector 26 is fixedly connected with dirt case assembly, and dirt box connector 26 and dirt case assembly opposed robots' dust catcher are fixed not
Dynamic, 2 opposed robots' dust catcher of roller brush assembly floats up and down inside complete machine.As shown in Figure 1, dirt case assembly is mounted on dirt box group
In part placement section 1, dirt case assembly 1 interior accommodating space of placement section is considerable.
It as Figure 6-9, in one embodiment, further include guide frame 6, the guide frame 6 includes being set to machine
Guide sleeve 60 on people's dust catcher Inner enclosure, the guide post 61 being set on round brush shell 20；It is equipped in the guide sleeve 60 and accommodates institute
The cavity of guide post 61 is stated, the guide sleeve 60 is sheathed on 61 periphery of guide post；The guide post 61 is along the axis side of the guide sleeve 60
To reciprocating motion；The round brush of roller brush assembly 2 is installed in round brush shell 20, and roller brush assembly 2 can be along the axis side of the guide sleeve 60
To reciprocating motion.In the present embodiment, under the cooperative movement of guide sleeve 60 and guide post 61, floating up and down for roller brush assembly 2 is realized,
It is more bonded ground, guarantees that ground cleaning capacity automatically adjusts round brush at a distance from ground according to actual ground situation simultaneously；It should
Understand, in this embodiment, round brush floating structure is ingenious in design, and the adjustment structure size of floating range is small and exquisite, is different from using bullet
Property swinging structure realize the frame mode that round brush floats, it is traditional by roller brush assembly 2 by being fixed on elastic-restoring force
Swinging structure on realize a certain range of floating, in the case where identical floating range, the structure size of swinging structure
Greatly, inner space occupies excessive, is unfavorable for the design of complete machine other structures.It should be appreciated that (not shown) in another embodiment, lead
Column 61 and the interchangeable setting position of guide sleeve 60, i.e. guide sleeve 60 are set on round brush shell 20, and guide post 61 is set to robot dust suction
On device Inner enclosure, can equally round brush be made to float up and down.
A kind of preferred embodiment, 20 outer profile of round brush shell of roller brush assembly 2 are in semicolumn arch, guide frame 6
The both ends for being set to roller brush assembly 2 or at least one end, the receiving of robot cleaner front end are upwardly extended from the top of roller brush assembly
The Internal periphery in space is set as the semi-cylindrical to arch upward on the inside of robot cleaner, floating in inside for accommodating roller brush assembly 2
It is dynamic.Guide frame 6 is upward through the front end of sweeping robot, and forms suspension and fix, round brush shell and robot cleaner
It is provided with gap between the accommodating space of front end, in order to which round brush shell floats in the accommodating space of robot cleaner front end,
Settable flexible glue bar and extraneous sealing in above-mentioned gap, in this way, avoiding dust etc. miscellaneous while not influencing round brush floating shell
Object enters.
In one embodiment, to prevent, guide post 61 and 60 relative motion of guide sleeve are excessive and cause robot cleaner internal junction
The mutual interference and collision of structure, further includes position limiting structure, and the position limiting structure is for limiting the guide post 61 in 60 inner cavity of guide sleeve
The motion range of body.Specifically, as shown in figure 9, the position limiting structure includes stop screw 62, spacing shim 63；The limit
Screw 62 is fixed on the guide post 61；The upper surface of the spacing shim 63 contradicts the stop screw 62, and lower end surface contradicts
The guide sleeve 60.
It in one embodiment, further include pressure spring (figure does not regard), the pressure spring contradicts the guide post 61 and the guide sleeve 60.It is logical
The restoring force of pressure spring is crossed to assist control round brush floating accuracy of action.
In one embodiment, to provide round brush multidirectional floating guiding, 6 quantity of guide frame is at least two, such as Fig. 7
Shown 6 quantity of guide frame is two, by right two guide frames 6 of a first from left, is balanced on robot cleaner two sides ground
Height is different and bring is inconsistent, so that location free procedure is more stable more flexible.
A kind of robot cleaner further includes walking mechanism, including two driving wheels, the auxiliary wheel 71 driven independently of each other；Along machine
Device people's dust catcher direction of advance, the auxiliary wheel 71 are set to the rear end of two driving wheels；The auxiliary wheel 71 and two driving wheels are all installed
In robot cleaner bottom.As shown in Figure 10, the auxiliary wheel 71 is located on the central axes of robot cleaner；Two driving wheel packets
Include the first driving wheel 72, the second driving wheel 73, the auxiliary wheel and the first driving wheel 72, the second support robot dust suction jointly of driving wheel 73
Device, the auxiliary wheel and the first driving wheel 72, the second driving wheel 73 are arranged in isosceles triangle；First driving wheel 72 and the second driving wheel
73 are all located at 2 rear portion of roller brush assembly.
As shown in Fig. 1, Figure 10-12, the auxiliary wheel 71, first driving wheel 72, second driving wheel 73 form machine
The supported at three point of people's dust catcher, first driving wheel 72 respectively connect driving device respectively with second driving wheel 73 and are installed on
Robot cleaner bottom shell, first driving wheel 72 and the control independently of each other of the second driving wheel 73, the auxiliary wheel 71
It is installed on robot cleaner bottom shell；It is the auxiliary wheel 71, described using robot cleaner direction of advance as front direction
First driving wheel 72, second driving wheel 73 are all located at 2 rear portion of roller brush assembly；The auxiliary wheel 71 be located at first driving wheel 72 with
The connection axis rear portion of second driving wheel 73.In the present embodiment, it is filled by the driving of the first driving wheel 72 and the second driving wheel 73
The differential rotation set, realizes the turning of robot dust suction ontology 100, as shown in figure 11, when 100 front of robot dust suction ontology
Range unit detects front distance L, and there are barriers 200 out, then control 72 revolving speed of the first driving wheel higher than 73 turns of the second driving wheel
Speed, at this point, robot dust suction ontology 100 is relatively forward into the left pivot movement in direction, 71 assisted diversion of auxiliary wheel；In an embodiment
In, the auxiliary wheel 71 is universal wheel, is easy to implement the flexible movement of robot dust suction ontology 100 and fast steering.
In one embodiment, be isostatic movement stress condition, the auxiliary wheel 71 be located at first driving wheel 72 with it is described
On the perpendicular bisector of the connection axis of second driving wheel 73, be conducive to keep first driving wheel 72 and second driving wheel 73
Abrasion is consistent, while being conducive to the load balancing of the driving motor of the first driving wheel 72 and the second driving wheel 73, and to a certain extent
Improve the versatility of design.
In one embodiment, as shown in Figure 1, the wheel spacing of first driving wheel 72 and second driving wheel 73 is not less than rolling
Brush length dimension sufficiently increases the size of roller brush assembly 2 in the case where wheel spacing is certain by 2 preposition structure of roller brush assembly,
Improve cleaning ability.
As shown in Figure 10, the robot dust suction ontology 100 further includes be installed on 100 bottom of robot dust suction ontology
One visual sensor 91, the second visual sensor 92, third visual sensor 93, the First look sensor 91 are set to rolling
2 front of brush assemblies；Second visual sensor 92 is set to 72 front of the first driving wheel；The third visual sensor 93 is arranged
In 73 front of the second driving wheel；Wherein, First look sensor 91, the second visual sensor 92, third visual sensor 93 are distinguished
For detecting during robot dust suction ontology 100 advances before 2 front of roller brush assembly, 72 front of the first driving wheel, the second driving wheel 73
Whether portion there is step 300, if any one sensor detects step occur, robot dust suction ontology 100 halts；
The robot dust suction ontology 100 further includes the dropproof visual sensor 94 for being installed on 100 bottom of robot dust suction ontology, institute
State the rear portion that dropproof visual sensor 94 is set to first driving wheel 72 and 73 line of the second driving wheel.Implement one
In, as shown in figure 12, when robot dust suction ontology 100 is in fallback procedures, in dropproof 94 detection zone 400 of visual sensor
When there is step 300, robot dust suction ontology 100 stops retreating, and 73 stop motion of the first driving wheel 72 and the second driving wheel prevents auxiliary
Wheel 71 is helped to fall step 300.
In implementing one, specifically, the First look sensor 91, second visual sensor 92, the third
Visual sensor 93, the dropproof visual sensor 94 are infrared sensor or optoelectronic induction sensor.It is infrared by feeding back
Or whether the diversity judgement of photosignal there is step 300, is swift in response and high sensitivity.
In one embodiment, as shown in Figure 1, Figure 10 shows, the robot dust suction ontology 100 further includes for placing battery
First battery compartment 51 and the second battery compartment 52.As shown in fig. 6, the first battery compartment 51 and the second battery compartment 52 pass through battery interface 50
Robot dust suction ontology 100 is accessed, the design of double cell storehouse increases 100 cruising ability of robot dust suction ontology, reduces charging times,
Increase cleaning range.
In one embodiment, as shown in Figure 10, first battery compartment 51 and second battery compartment 52 opposite first are dynamic
The perpendicular bisector that wheel 72 connect axis with the second driving wheel 73 is symmetrical, is designed using Symmetrical cells storehouse, improves robot and inhales
100 whole machine balancing of dirt ontology reduces counterbalance design.
In one embodiment, as shown in Figure 10, the robot dust suction ontology 100 further includes side brush assemblies 4；The side brush
The side brush rotation of component 4 send sundries to roller brush assembly 2.In the present embodiment, it is designed using single side brush, i.e., in robot
Side brush assemblies 4 are arranged in the right side of 100 direction of advance of dust suction ontology, while brush assemblies while brush to rotate counterclockwise and send sundries to round brush
At component 2, while robot dust suction ontology 100 preferentially turns left during advance, along side clean boundary.
The present invention saves motor, whole to control lightweight, avoids the complex control of more motors, easy especially with more motors
Promote fault rate；Stage-geared huge structure is solved the problems, such as simultaneously, optimizes robot cleaner internal structure,
Saved space is applied in other structures, complete machine sweeping efficiency is promoted under identical structure size.Present invention design
It is ingenious, it is structurally reasonable, it is promoted and applied convenient for robot cleaner.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (10)
1. a kind of robot cleaner drive mechanism, roller brush drive mechanism, side including being installed on robot dust suction ontology (100)
Brush transmission mechanism and driving device (80), it is characterised in that: further include synchronous drive mechanism, the synchronous drive mechanism is used for
The roller brush drive mechanism and the side brush transmission mechanism are connected, so that the driving device (80) drives the round brush simultaneously
Transmission mechanism and the side brush transmission mechanism, and then drive roller brush assembly (2) and side brush assemblies (4) rotation.
2. a kind of robot cleaner drive mechanism as described in claim 1, it is characterised in that: the driving device (80) is driven
The roller brush drive mechanism is moved, the roller brush drive mechanism drives side brush transmission mechanism by synchronous drive mechanism, so that side
Brush assemblies (4) rotate simultaneously with roller brush assembly (2).
3. a kind of robot cleaner drive mechanism as claimed in claim 1 or 2, it is characterised in that: the Synchronous Transmission machine
Structure includes intermeshing worm gear (82) and worm screw (81), the worm screw and the affixed setting of the roller brush drive mechanism, the snail
Take turns (82) and the affixed setting of side brush transmission mechanism.
4. a kind of robot cleaner drive mechanism as claimed in claim 3, it is characterised in that: the roller brush drive mechanism packet
Include the first rotating wheel (86), round brush synchronous pulley (21) and round brush synchronous belt (87) for being installed on the driving device (80), institute
The first rotating wheel (86) for stating driving device (80) drives the round brush synchronous belt (87) to drive the round brush synchronous pulley (21)
Rotation.
5. a kind of robot cleaner drive mechanism as claimed in claim 4, it is characterised in that: the side brush transmission mechanism packet
Include while brush synchronous belt (84), while brush synchronous pulley (85), the driving device (80) drives the round brush synchronous belt (84) to drive
Side brush synchronous pulley (21) rotation.
6. a kind of robot cleaner drive mechanism as claimed in claim 5, it is characterised in that: the round brush synchronous pulley
(21) it is coaxially disposed by round brush shaft (22) and the worm screw, when the round brush synchronous pulley (21) rotates, drives the snail
Bar (81) rotates together；The worm gear (82) of described and worm screw (81) engagement drives the side brush by the round brush synchronous belt (84)
Synchronous pulley (21) rotates simultaneously.
7. a kind of robot cleaner drive mechanism as claimed in claim 4, it is characterised in that: the first rotating wheel (86) and institute
The transmission ratio for stating round brush synchronous pulley (21) is 1.5:1 to 3:1.
8. a kind of robot cleaner drive mechanism as claimed in claim 3, it is characterised in that: the worm screw (81) with it is described
The transmission ratio of worm gear (82) is 5:1-50:1.
9. a kind of robot cleaner drive mechanism as claimed in claim 2, it is characterised in that: the driving device (80) is driven
Dynamic side brush transmission mechanism, the side brush transmission mechanism drive the roller brush drive mechanism by the synchronous drive mechanism；So that
Side brush assemblies (4) are obtained to rotate simultaneously with roller brush assembly (2).
10. a kind of robot cleaner, including it is used for the clean robot dust suction ontology (100) in ground, it is characterised in that: it is described
Robot dust suction ontology (100) includes the robot cleaner drive mechanism as described in power 1-9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099057.4A CN109758035A (en) | 2019-01-31 | 2019-01-31 | A kind of robot cleaner drive mechanism and robot cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099057.4A CN109758035A (en) | 2019-01-31 | 2019-01-31 | A kind of robot cleaner drive mechanism and robot cleaner |
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| Publication Number | Publication Date |
|---|---|
| CN109758035A true CN109758035A (en) | 2019-05-17 |
Family
ID=66456026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910099057.4A Pending CN109758035A (en) | 2019-01-31 | 2019-01-31 | A kind of robot cleaner drive mechanism and robot cleaner |
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| Country | Link |
|---|---|
| CN (1) | CN109758035A (en) |
Cited By (2)
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| CN110680242A (en) * | 2019-09-16 | 2020-01-14 | 深圳市银星智能科技股份有限公司 | Floating rolling brush assembly and sweeper |
| WO2022134614A1 (en) * | 2020-12-24 | 2022-06-30 | 珠海格力电器股份有限公司 | Floating housing, rolling brush mechanism, dust suction assembly, dust suction system, and sweeping robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110680242A (en) * | 2019-09-16 | 2020-01-14 | 深圳市银星智能科技股份有限公司 | Floating rolling brush assembly and sweeper |
| CN110680242B (en) * | 2019-09-16 | 2021-09-10 | 深圳市银星智能科技股份有限公司 | Floating rolling brush assembly and sweeper |
| WO2022134614A1 (en) * | 2020-12-24 | 2022-06-30 | 珠海格力电器股份有限公司 | Floating housing, rolling brush mechanism, dust suction assembly, dust suction system, and sweeping robot |
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