CN110215166A - A kind of Intelligent cleaning robot brush elevating mechanism - Google Patents
A kind of Intelligent cleaning robot brush elevating mechanism Download PDFInfo
- Publication number
- CN110215166A CN110215166A CN201910613662.9A CN201910613662A CN110215166A CN 110215166 A CN110215166 A CN 110215166A CN 201910613662 A CN201910613662 A CN 201910613662A CN 110215166 A CN110215166 A CN 110215166A
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- Prior art keywords
- connecting rod
- brush
- bar
- fixing seat
- parallelogram
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- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- 230000003028 elevating effect Effects 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction 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
- A47L11/40—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
- A47L11/4036—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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- 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
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The present invention relates to a kind of Intelligent cleaning robot brush elevating mechanisms, including the first parallelogram four-bar linkage, the second parallelogram four-bar linkage, first parallelogram four-bar linkage combines by big connecting rod and is formed an eight-bar linkage with the second parallelogram four-bar linkage, and brush component is mounted on eight-bar linkage.The present invention is compared with the existing technology, the double vertical shift of brush component is realized using two four-bar mechanisms, a part of having cancelled out each other simultaneously moves left and right, and brush component remains horizontality, to realize the oscilaltion of brush component, while reducing the relative motion of horizontal direction as much as possible in the confined space, so that Intelligent cleaning robot compact is good, develop conducive to the miniaturization lightweight of Intelligent cleaning robot.
Description
[technical field]
The present invention relates to Intelligent cleaning robot technical fields, refer in particular to a kind of applied in Intelligent cleaning robot
Brush elevating mechanism.
[background technique]
With the development of automatic technology and artificial intelligence, intelligence machine Man's Demands are more and more extensive；The robot epoch
Arrival, existing Manufacturing Models and human life style will be changed.Intelligent cleaning robot is suitable for various indoor rings
Border, such as market, office building, aisle, hotel etc..Intelligent cleaning humanoid robot needs the spot that brush is used to clean ground,
But when Intelligent cleaning robot does not need to clean, and need to rise brush, avoid the contact with ground, plays extension brush
The effect in disk service life and protection ground.
Traditional structure that can be realized brush oscilaltion be by using single parallelogram four-bar linkage structure or
Lifting motor and guide post cooperate to realize.Wherein, the shortcomings that single parallelogram four-bar linkage structure, is: not only having upper and lower
Displacement, and have the displacement of left and right, upper and lower displacement be it is effective, the displacement of left and right be it is invalid, left and right displacement needs bigger
Horizontal space size, machine compact is poor, be unfavorable for Intelligent cleaning robot miniaturization lightweight development；Another kind lifting
Motor and the structural disadvantages of guide post cooperation are: needing enough spaces right above brush and place, occupy vertical space relatively
Greatly, also it is unfavorable for the miniaturization lightweight development of Intelligent cleaning robot.
Therefore, it is necessory to be improved to existing brush oscilaltion structure, to overcome drawbacks described above.
[summary of the invention]
The purpose of the present invention is to provide a kind of Intelligent cleaning robot brush elevating mechanisms, pass through two four-bar mechanisms
The eight-bar linkage of formation realizes that brush connecting bracket drives the movement of brush component in the vertical direction, while subtracting as much as possible
The movement of small horizontal direction develops conducive to the miniaturization lightweight of Intelligent cleaning robot.
The purpose of the present invention is achieved through the following technical solutions: a kind of Intelligent cleaning robot brush elevating mechanism, packet
It includes the first parallelogram four-bar linkage 1, the second parallelogram four-bar linkage 2, big connecting rod 3 and is mounted on second
Brush component 7 on parallelogram four-bar linkage 2, first parallelogram four-bar linkage 1 are fixed including connecting rod
Frame 11, the vertical connecting rod fixing seat 12 positioned at 11 rear of connecting rod fixed mount, connection connecting rod fixed mount 11 and vertical connecting rod fixing seat 12
First connecting rod disposed in parallel 13 and the second connecting rod 14 for being located at 13 lower section of first connecting rod in the up-down direction, described the
Two parallelogram four-bar linkages 2 include brush connecting bracket 21, connection brush connecting bracket 21 and the first parallelogram
The third connecting rod 22 being located above and underlying times of power bar 23 of the vertical connecting rod fixing seat 12 of four-bar mechanism 1, it is described
Times power bar 23 is provided with the first port positioned at front end, is located in the middle second port and the third port positioned at rear end, described
The front end of first connecting rod 13 and the front end of the second connecting rod 14 are connected to connecting rod fixed mount 11, the third connecting rod
The first port of 22 front end and times power bar 23 is connected to brush connecting bracket 21, and the brush component 7 is mounted on brush
In connecting bracket 21, the rear end of the first connecting rod 13 and the rear end of third connecting rod 22 are connected to vertical connecting rod fixing seat 12
The second port of top, the rear end of second connecting rod 14 and times power bar 23 is connected to the bottom end of vertical connecting rod fixing seat 12, institute
State big connecting rod 3 front end be connected to the first parallelogram four-bar linkage 1 first connecting rod 13 front end, the big connecting rod
3 rear end is connected to the third port of times power bar 23 of the second parallelogram four-bar linkage 2, first parallelogram
Four-bar mechanism 1 is combined by big connecting rod 3 with the second parallelogram four-bar linkage 2 and forms an eight-bar linkage.
Further, the front end of the first connecting rod 13 is played screw 1 by plug and is fixed in connecting rod fixed mount 11
First connecting rod 13 is allowed to play the rotation of screw 1 around plug；The front end of second connecting rod 14 passes through a driving shaft 5
It is fixed on connecting rod fixed mount 11 and the second connecting rod 14 is rotated around driving shaft 5, after the first connecting rod 13
End and the rear end of third connecting rod 22, which by plug play screw 2 16 and be fixed on the top of vertical connecting rod fixing seat 12, makes the first company
Extension bar 13 and third connecting rod 22 can play the rotation of screw 2 16 around plug；The second port of described times of power bar 23 and second connect
The rear end of extension bar 14 makes times power bar 23 and the second connecting rod by the bottom end that a transmission shaft 6 is fixed on vertical connecting rod fixing seat 12
14 can rotate around transmission shaft 6；Screw 5 26 is played by plug in the third port of described times of power bar 23 and the rear end of big connecting rod 3
It fixes and makes times power bar 23 and big connecting rod 3 can play screw 5 26 around plug and rotate；The front end of the third connecting rod 22
Playing screw 3 24 by plug and be fixed in brush connecting bracket 21 allows third connecting rod 22 to play screw 3 24 around plug
Rotation.
Further, the Intelligent cleaning robot brush elevating mechanism further comprises drive rod 4, the drive rod 4
L-shaped, the drive rod 4 includes first free end 41 on the top on vertical direction, the distance on front-rear direction
The third free end of the second slightly close free end of its front end and the rear end on front-rear direction, second free end pass through master
Moving axis 5 is installed on connecting rod fixed mount 11 and drive rod 4 can also be rotated around driving shaft 5, and the third free end passes through
Transmission shaft 6 is installed on vertical connecting rod fixing seat 12 and drive rod 4 can also be rotated around transmission shaft 6.
Further, the eight-bar linkage is fixed in the chassis mounting assembly 200 of Intelligent cleaning robot, the bottom
Frame mounting assembly 200 is fixedly arranged above push-rod electric machine 300, and the first free end 41 of the drive rod 4 is defeated with push-rod electric machine 300
Outlet is connected, and provides the power source moved back and forth by push-rod electric machine 300, and the push-rod electric machine 300 pushes drive rod 4 to the right
Or move downward, the drive rod 4 rotates around driving shaft 5 and drives perpendicular connect by the first parallelogram four-bar linkage 1
Bar fixing seat 12 moves downward or upward relative to connecting rod fixed mount 11, while big connecting rod 3 hauls times power bar 23 around transmission shaft 6
Rotating and passing through the second parallelogram four-bar linkage 2 drives brush connecting bracket 21 downward relative to vertical connecting rod fixing seat 12
Or it moves up.
Further, the brush component 7 includes brush 71, by the installation of brush motor cabinet 72 in stacked on top to brush
Brush motor 73 on disk 71, the brush plate being connected to by flat key 74 and stove bolt 75 on the output shaft 731 of brush motor 73
76, the brush plate 76 is located at the lower section of brush 71, and brush plate 76 is fixed on brush by the stove bolt 75 in the vertical direction
On motor 73, the brush motor 73 drives brush plate 76 to rotate in the horizontal direction by flat key 74, and the brush 71 passes through
King-bolt 8 is connected to brush connecting bracket 21, and the brush connecting bracket 21 drives brush 71 to go up and down in the up-down direction.
Further, the brush plate 76 is set as a pair of bottom for being installed on the brush 71, the brush motor 73
It is set as a pair of to be installed on the top of the brush 71 and be located at the left and right sides of the eight-bar linkage.
Further, the vertical connecting rod fixing seat 12 includes positioned at the vertical connecting rod fixed plate 121 of the left and right sides and positioned at perpendicular
Welded plate 122 between connecting rod fixed plate 121, and vertical connecting rod fixed plate 121 and welded plate 122 be welded as a whole formula structure and to
After offer opening.
Further, described times of power bar 23 is in V-shape, the rear end of the big connecting rod 3 by plug beat screw 5 26 with connect
Axis connection is in the third port of power bar 23 again, and the connecting shaft is located in the open space of the vertical connecting rod fixing seat 12 backward,
The big connecting rod 3 hauls times power bar 23 and the transmission shaft is moved in the open space region.
Further, the first connecting rod 13, the second connecting rod 14, third connecting rod 22 and power bar 23 is respectively provided with again
For a pair, and it is connected to the two sides of the connecting rod fixed mount 11, vertical connecting rod fixing seat 12 and brush connecting bracket 21.
Further, the drive rod 4 is only set as one, and is installed on the side of the eight-bar linkage and is covered in
The outside of second connecting rod 14 of the side.
Compared with prior art, the invention has the following beneficial effects: the present invention to pass through two parallelogram double leval jibs
Mechanism forms an eight-bar linkage, and the output end of push-rod electric machine pushes the first free end motion of drive rod, when push-rod electric machine pushes away
When dynamic drive rod moves right, drive rod rotates clockwise around driving shaft and passes through the first parallelogram four-bar linkage band
Dynamic vertical connecting rod fixing seat is moved to the left downwards relative to connecting rod fixed mount, while big connecting rod hauls times power bar around the transmission shaft inverse time
Needle rotate and pass through the second parallelogram four-bar linkage drive brush connecting bracket relative to vertical connecting rod fixing seat downwards to
It moves right.Two four-bar mechanisms being designed in this way, brush connecting bracket realize double vertical shift, cancel out each other simultaneously
A part moves left and right, and brush component remains horizontality, to realize brush group in the confined space
The oscilaltion of part, while the relative motion of horizontal direction is reduced as much as possible, so that Intelligent cleaning robot compact is good,
Develop conducive to the miniaturization lightweight of Intelligent cleaning robot.
[Detailed description of the invention]
Fig. 1 is mounting structure schematic diagram of the invention；
Fig. 2 is schematic perspective view of the invention；
Fig. 3 is stereochemical structure optical cable of the invention；
Fig. 4 is partial structural diagram one of the invention；
Fig. 5 is partial structural diagram two of the invention；
Fig. 6 is partial structural diagram three of the invention；
Fig. 7 is partial structural diagram four of the invention；
Fig. 8 is partial structural diagram five of the invention；
In figure: 1, the first parallelogram four-bar linkage 11, connecting rod fixed mount 12, vertical connecting rod fixing seat 121, perpendicular
Connecting rod fixed plate 122, welded plate 13, first connecting rod 14, the second connecting rod 15, plug play screw 1, plug plays screw two
2, the second parallelogram four-bar linkage 21, brush connecting bracket 211, the first noumenon 212, the second ontology 22, third
Connecting rod 23, times power bar 24, plug play screw 3 25, plug plays screw 4 26, plug plays screw 53, big connecting rod 4, drive rod
41, the first free end 5, driving shaft 6, transmission shaft 7, brush component 71, brush 72, brush motor cabinet 73, brush motor
731, output shaft 74, flat key 75, stove bolt 76, brush plate 8, king-bolt 100, brush elevating mechanism 200, chassis installation
Component 300, push-rod electric machine 400, universal wheel component 500, drive wheel assemblies.
[specific embodiment]
The present invention will be further explained below with reference to the attached drawings:
Referring to figure 2. to shown in Fig. 8, the present invention provides a kind of Intelligent cleaning robot brush elevating mechanism 100, the intelligence
Clean robot brush elevating mechanism 100, including the first parallelogram four-bar linkage 1 (such as Fig. 5), the second parallelogram
Four-bar mechanism 2 (such as Fig. 7), by the first parallelogram four-bar linkage 1 and 2 phase knot of the second parallelogram four-bar linkage
Drive rod 4, the driving shaft 5, transmission that two big connecting rod 3, the driving parallelogram linkages of conjunction move in the up-down direction
Axis 6 and the brush component 7 being mounted on by king-bolt 8 on link mechanism.
Shown in referring to figure 5., the first parallelogram four-bar linkage 1 includes front and back perforation and open-topped frame-type shape
Connecting rod fixed mount 11, the vertical connecting rod fixing seat 12 positioned at 11 rear of connecting rod fixed mount, connection connecting rod fixed mount 11 and vertical connecting rod
The first connecting rod 13 disposed in parallel in the up-down direction of fixing seat 12 is connect with positioned at the second of 13 lower section of first connecting rod
Bar 14.Vertical connecting rod fixing seat 12 includes positioned at the vertical connecting rod fixed plate 121 of the left and right sides and between vertical connecting rod fixed plate 121
Welded plate 122, and vertical connecting rod fixed plate 121 and welded plate 122 are welded as a whole and formula structure and offer opening backward.First
Connecting rod 13 and the second connecting rod 14 are respectively set to a pair of two sides for being connected to connecting rod fixed mount 11 Yu vertical connecting rod fixing seat 12.
Wherein, the front end of first connecting rod 13, which by plug plays screw 1 and is fixed on connecting rod fixed mount 11 and rear end, plays screw by filling in
2 16 are connected to the top of vertical connecting rod fixing seat 12 with connecting shaft (not labeled)；The front end of second connecting rod 14 passes through driving shaft 5
It is connected to connecting rod fixed mount 11 and its rear end and 12 bottom end of vertical connecting rod fixing seat is connected to by transmission shaft 6.
It please refers to shown in Fig. 7, the second parallelogram four-bar linkage 2 includes brush connecting bracket 21, parallel with first
The vertical connecting rod fixing seat 12 and connection brush connecting bracket 21 that quadrilateral connecting rod mechanism 1 shares are located at vertical connecting rod fixing seat 12
The third connecting rod 22 of top and underlying times of power bar 23 being in the shape of the letter V.Brush connecting bracket 21 includes to open front
The first noumenon 211 and downwardly open second ontology 212 integrated with the first noumenon 211.Second ontology 212 is in the longitudinal direction
Length be greater than the length in the longitudinal direction of the first noumenon 211 and the front and rear sides of the first noumenon 211 made to be formed with accommodating
Space, vertical connecting rod fixing seat 12 are located in the accommodating space at 211 rear of the first noumenon.Third connecting rod 22 is distinguished with times power bar 23
It is set as a pair of two sides for being connected to brush connecting bracket 21 Yu vertical connecting rod fixing seat 12.Wherein, the front end of third connecting rod 22
Play screw 3 24 by plug and be fixed on brush connecting bracket 21 and rear end and plays screw 2 16 and connecting shaft (not labeled) by filling in
It is connected to the top of vertical connecting rod fixing seat 12；Times power bar 23 is set as V-shape, so that its first port for being located at front end passes through plug
Beat screw 4 25 be fixed on brush connecting bracket 21, its be located in the middle second port pass through run through vertical connecting rod fixing seat 12 biography
Moving axis 6 is connected to the bottom end of vertical connecting rod fixing seat 12 and its third port for being located at rear end passes through plug and plays screw 5 26, connection
Axis (not labeled) and big connecting rod 3 are connected to the first parallelogram four-bar linkage 1.
Referring to figure 4. and shown in Fig. 8, big connecting rod 3 is by the first parallelogram four-bar linkage 1 and the second parallelogram
Four-bar mechanism 2 is connected as an eight-bar linkage.It is specific: the front end of big connecting rod 3 and the first parallelogram four-bar linkage 1
The front end of first connecting rod 13 play screw 1 by plug and be fixedly connected on connecting rod fixed mount 11, the rear end of big connecting rod 3 passes through
Plug plays screw 5 26 and connecting shaft (not labeled) is connected to a times third port for power bar 23, and the connecting shaft (not labeled) is positioned at perpendicular
In the open space of connecting rod fixing seat 12 backward.
Referring to figure 4. and shown in Fig. 6, the L-shaped left side for being installed on eight-bar linkage of drive rod 4 comprising it is vertical to be located at
First free end 41 on the top on direction, second free end slightly close apart from its front end on front-rear direction and before being located at
The third free end of rear end in rear direction.Second free end is installed on connecting rod fixed mount 11 and its third certainly by driving shaft 5
Vertical connecting rod fixing seat 12 is installed on by transmission shaft 6 by end.Therefore drive rod 4 is covered in the be installed on the left of eight-bar linkage
The outside of two connecting rods 14.
Please continue to refer to the first parallelogram four-bar linkage 1 and second for shown in Fig. 4, being connected as an eight-bar linkage
The connection relationship of each connecting rod of parallelogram four-bar linkage 2 is as follows: the front end of big connecting rod 3 and the front end of first connecting rod 13
Playing screw 1 by plug and be fixed in connecting rod fixed mount 11 beat big connecting rod 3 can around plug with first connecting rod 13
Screw 1 rotates；Second free end of drive rod 4 and the front end of the second connecting rod 14 are fixed on connecting rod by driving shaft 5 and fix
Frame 11 and make drive rod 4 and the second connecting rod 14 can around driving shaft 5 rotate；The rear end of first connecting rod 13 and third
The rear end of connecting rod 22 by fill in beat screw 2 16 be fixed on vertical connecting rod fixing seat 12 top make first connecting rod 13 and
Third connecting rod 22 can play the rotation of screw 2 16 around plug；The third free end of the second port of times power bar 23, drive rod 4
And second connecting rod 14 rear end by the bottom end that transmission shaft 6 is fixed on vertical connecting rod fixing seat 12 make a times power bar 23, driving
Bar 4 and the second connecting rod 14 can be rotated around transmission shaft 6；Times third port of power bar 23 and the rear end of big connecting rod 3 pass through
Plug plays screw 5 26 and is fixed together and makes times power bar 23 and big connecting rod 3 can play screw 5 26 around plug and rotate；Third
The front end of connecting rod 22 by plug beat screw 3 24 be fixed in brush connecting bracket 21 allow third connecting rod 22 around
Plug beat screw 3 24 rotate；The first port of times power bar 23 is played screw 4 25 and be fixed in brush connecting bracket 21 by plug to be made
The rotation of screw 4 25 can be played around plug by obtaining times power bar 23.
Referring to figure 2. and shown in Fig. 3, the bottom of eight-bar linkage is mounted with brush component 7.Brush component 7 includes
Brush 71, by the brush motor cabinet 72 of stacked on top installation to the brush motor 73 in brush 71 and passing through flat key 74 and small
Bolt 75 is connected to the brush plate 76 for the output shaft 731 that brush motor 73 is equipped with.Brush plate 76 is located at the lower section of brush 71, small spiral shell
Brush plate 76 is fixed on brush motor 73 by bolt 75 in the vertical direction.Brush motor 73 can drive brush plate 76 by flat key 74
It rotates in the horizontal direction, brush 71 is connected on the second ontology 212 of brush connecting bracket 21 by king-bolt 8, in this way, eight
Link mechanism can drive brush 71 to go up and down in the up-down direction；Brush plate 76 is set as a pair of bottom for being installed on brush 71, brush
Coil motor 73 is set as a pair of and is installed on the top of brush 71 and is located at the left and right sides of eight-bar linkage.
It please referring to shown in Fig. 1, brush elevating mechanism 100 is fixed in the chassis mounting assembly 200 of Intelligent cleaning robot,
Chassis mounting assembly 200 is fixedly arranged above push-rod electric machine 300, the output of the first free end 41 and push-rod electric machine 300 of drive rod 4
End is connected, and 200 bottom of chassis mounting assembly is equipped with universal wheel component 400 and drive wheel assemblies 500.
It please refers to shown in Fig. 1 to Fig. 3, the motion process of Intelligent cleaning robot brush elevating mechanism 100 is as follows: push rod electricity
The output end of machine 300 is connected to the first free end 41 of the drive rod 4 of eight-bar linkage, and brush component 7 is connected to eight connecting rod machines
The brush connecting bracket 21 of structure.Push-rod electric machine 300 receive instruction provide move back and forth power source, push-rod electric machine 300 it is defeated
Outlet pushes the first free end 41 movement of drive rod 4, when push-rod electric machine 300 pushes drive rod 4 to move right, drive rod 4
Rotated clockwise around driving shaft 5 and by the first parallelogram four-bar linkage 1 drive vertical connecting rod fixing seat 12 relative to
Connecting rod fixed mount 11 is moved to the left downwards, while big connecting rod 3 hauls times power bar 23 and rotates counterclockwise around transmission shaft 6 and by the
Two parallelogram four-bar linkages 2 drive brush connecting bracket 21 to move downwardly and to the right relative to vertical connecting rod fixing seat 12.Such as
This, comprehensive two four-bar mechanisms, brush connecting bracket 21 realizes double vertical shift, while a part of having cancelled out each other
Move left and right, and brush component 7 remains horizontality.
The invention has the following beneficial effects: the present invention to form one or eight connecting rods by two parallelogram four-bar linkages
Mechanism, the output end of push-rod electric machine 300 push the first free end 41 movement of drive rod 4, when push-rod electric machine 300 pushes drive rod
4 when moving right, and drive rod 4 is rotated clockwise around driving shaft 5 and driven by the first parallelogram four-bar linkage 1 perpendicular
Connecting rod fixing seat 12 is moved to the left downwards relative to connecting rod fixed mount 11, while big connecting rod 3 hauls times power bar 23 around transmission shaft 6
It rotates counterclockwise and drives brush connecting bracket 21 relative to vertical connecting rod fixing seat by the second parallelogram four-bar linkage 2
12 move downwardly and to the right.Two four-bar mechanisms being designed in this way, brush connecting bracket 21 realize double vertical shift, together
When mutually counteract moving left and right for a part, and brush component 7 remains horizontality, thus in the confined space,
The oscilaltion of brush component 7 is realized, while reducing the relative motion of horizontal direction as much as possible, so that intelligent cleaning machine
Device people compact is good, develops conducive to the miniaturization lightweight of Intelligent cleaning robot.
The present invention is simultaneously not limited to the embodiments described above, other any without departing from spiritual essence and principle of the invention
Changes, modifications, substitutions, combinations, simplifications made by lower, should be equivalent substitute mode, are included in protection model of the invention
Within enclosing.
Claims (10)
1. a kind of Intelligent cleaning robot brush elevating mechanism, including the first parallelogram four-bar linkage (1), second are in parallel
Quadrangle four-bar mechanism (2), big connecting rod (3) and the brush being mounted on the second parallelogram four-bar linkage (2)
Component (7), it is characterised in that: first parallelogram four-bar linkage (1) includes connecting rod fixed mount (11), is located at connecting rod
The vertical connecting rod fixing seat (12) at fixed frame (11) rear connects connecting rod fixed mount (11) with vertical connecting rod fixing seat (12) upper and lower
First connecting rod (13) disposed in parallel and the second connecting rod (14) being located at below first connecting rod (13) on direction, described the
Two parallelogram four-bar linkages (2) include brush connecting bracket (21), connection brush connecting bracket (21) it is parallel with first
The third connecting rod (22) of the vertical connecting rod fixing seat (12) of quadrangle four-bar mechanism (1) being located above with underlying times
Power bar (23), described times of power bar (23) are provided with the first port positioned at front end, are located in the middle second port and are located at rear end
Third port, the front end of the first connecting rod (13) and the front end of the second connecting rod (14) are connected to connecting rod and fix
The first port of frame (11), the front end of the third connecting rod (22) and times power bar (23) is connected to brush connecting bracket (21),
The brush component (7) is mounted on brush connecting bracket (21), and the rear end of the first connecting rod (13) and third connect
The rear end of extension bar (22) is connected to the top of vertical connecting rod fixing seat (12), the rear end of second connecting rod (14) and times power bar
(23) second port is connected to the bottom end of vertical connecting rod fixing seat (12), and it is parallel that the front end of the big connecting rod (3) is connected to first
The rear end of the front end of the first connecting rod (13) of quadrangle four-bar mechanism (1), the big connecting rod (3) is connected to second parallel four
The third port of times power bar (23) of side shape four-bar mechanism (2), first parallelogram four-bar linkage (1) and second
Parallelogram four-bar linkage (2) combines by big connecting rod (3) and forms an eight-bar linkage.
2. Intelligent cleaning robot brush elevating mechanism as described in claim 1, it is characterised in that: the first connecting rod
(13) front end is played screw one (15) and be fixed on connecting rod fixed mount (11) by plug enclose first connecting rod (13) can
Screw one (15) rotation is played around plug；The front end of second connecting rod (14) is fixed on connecting rod fixed mount by a driving shaft (5)
(11) it rotate the second connecting rod (14) can around driving shaft (5), the rear end of the first connecting rod (13) and third
The rear end of connecting rod (22) makes the first connection by filling in play screw two (16) and be fixed on the top of vertical connecting rod fixing seat (12)
Bar (13) and third connecting rod (22) can play screw two (16) rotation around plug；The second port of described times of power bar (23) and
The rear end of second connecting rod (14) makes a times power bar by the bottom end that a transmission shaft (6) is fixed on vertical connecting rod fixing seat (12)
(23) and the second connecting rod (14) can be rotated around transmission shaft (6)；The third port and big connecting rod of described times of power bar (23)
(3) rear end is played screw five (26) and fixed by plug makes times power bar (23) and big connecting rod (3) can play screw around plug
Five (26) rotation；The front end of the third connecting rod (22) is played screw three (24) by plug and is fixed on brush connecting bracket (21)
And make third connecting rod (22) that screw three (24) rotation can be played around plug.
3. Intelligent cleaning robot brush elevating mechanism as claimed in claim 2, it is characterised in that: the Intelligent cleaning machine
People's brush elevating mechanism further comprises drive rod (4), and the drive rod (4) is L-shaped, and the drive rod (4) includes being located to erect
First free end (41) on the upward top of histogram, second free end and position slightly close apart from its front end on front-rear direction
In the third free end of the rear end on front-rear direction, second free end is installed on connecting rod fixed mount by driving shaft (5)
(11) it rotate drive rod (4) can also around driving shaft (5), the third free end is installed on by transmission shaft (6)
Vertical connecting rod fixing seat (12) and make drive rod (4) can also around transmission shaft (6) rotate.
4. Intelligent cleaning robot brush elevating mechanism as claimed in claim 3, it is characterised in that: the eight-bar linkage is solid
It is scheduled in the chassis mounting assembly (200) of Intelligent cleaning robot, the chassis mounting assembly (200) is fixedly arranged above push rod electricity
The first free end (41) of machine (300), the drive rod (4) is connected with the output end of push-rod electric machine (300), and passes through push rod electricity
Machine (300) provides the power source moved back and forth, and the push-rod electric machine (300) pushes drive rod (4) to the right or moves downward, described
Drive rod (4) rotates around driving shaft (5) and drives vertical connecting rod fixing seat by the first parallelogram four-bar linkage (1)
(12) it is moved downward or upward relative to connecting rod fixed mount (11), while big connecting rod (3) hauls times power bar (23) around transmission shaft
(6) it rotates and drives brush connecting bracket (21) to fix relative to vertical connecting rod by the second parallelogram four-bar linkage (2)
Seat (12) moves downward or upward.
5. Intelligent cleaning robot brush elevating mechanism as claimed in claim 3, it is characterised in that: the brush component (7)
Including brush (71), by the brush motor cabinet (72) of stacked on top installation to the brush motor (73), logical on brush (71)
It crosses flat key (74) and stove bolt (75) is connected to brush plate (76) on the output shaft (731) of brush motor (73), the hairbrush
Disk (76) is located at the lower section of brush (71), and brush plate (76) is fixed on brush motor by the stove bolt (75) in the vertical direction
(73) on, the brush motor (73) drives brush plate (76) to rotate in the horizontal direction by flat key (74), the brush
(71) it is connected to brush connecting bracket (21) by king-bolt (8), the brush connecting bracket (21) drives brush (71) upper
Lower section is gone up and down upwards.
6. Intelligent cleaning robot brush elevating mechanism as claimed in claim 5, it is characterised in that: the brush plate (76) sets
It is set to the bottom that a pair is installed on the brush (71), the brush motor (73) is set as a pair and is installed on the brush (71)
Top and be located at the left and right sides of the eight-bar linkage.
7. Intelligent cleaning robot brush elevating mechanism as claimed in claim 3, it is characterised in that: the vertical connecting rod fixing seat
It (12) include the vertical connecting rod fixed plate (121) positioned at the left and right sides and the welded plate between vertical connecting rod fixed plate (121)
(122), and vertical connecting rod fixed plate (121) and welded plate (122) are welded as a whole and formula structure and offer opening backward.
8. Intelligent cleaning robot brush elevating mechanism as claimed in claim 3, it is characterised in that: described times of power bar (23) be in
The rear end of V-shape, the big connecting rod (3) plays screw five (26) by plug and connecting shaft is connected to a times third end for power bar (23)
Mouthful, and the connecting shaft is located in the open space of the vertical connecting rod fixing seat (12) backward, the big connecting rod (3) hauls a times power bar
(23) transmission shaft is moved in the open space region.
9. such as the described in any item Intelligent cleaning robot brush elevating mechanisms of claim 1-8, it is characterised in that: described first
Connecting rod (13), the second connecting rod (14), third connecting rod (22) and power bar (23) is disposed as a pair again, and be separately connected
In the two sides of the connecting rod fixed mount (11), vertical connecting rod fixing seat (12) and brush connecting bracket (21).
10. Intelligent cleaning robot brush elevating mechanism as claimed in claim 9, it is characterised in that: the drive rod (4) is only
It is set as one, and is installed on the side of the eight-bar linkage and is covered in the outside of the second connecting rod (14) of the side.
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| CN201910613662.9A CN110215166B (en) | 2019-07-09 | 2019-07-09 | Intelligent cleaning robot brushes dish elevating system |
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|---|---|---|---|
| CN201910613662.9A CN110215166B (en) | 2019-07-09 | 2019-07-09 | Intelligent cleaning robot brushes dish elevating system |
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| CN110215166B CN110215166B (en) | 2024-01-23 |
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| CN110464266A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | The suspension of the cleaning module of clean robot |
| CN110811434A (en) * | 2019-10-15 | 2020-02-21 | 广东博智林机器人有限公司 | Cleaning robot |
| CN112806917A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| CN112914431A (en) * | 2021-03-25 | 2021-06-08 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
| CN112914425A (en) * | 2021-02-05 | 2021-06-08 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
| CN113550254A (en) * | 2021-07-27 | 2021-10-26 | 上海高仙自动化科技发展有限公司 | Lifting device and intelligent cleaning robot |
| WO2022001996A1 (en) * | 2020-06-29 | 2022-01-06 | 宁波富佳实业股份有限公司 | Height adjustment mechanism for moving up mop, and cleaner |
| WO2022222406A1 (en) * | 2021-04-19 | 2022-10-27 | 北京石头世纪科技股份有限公司 | Self-propelled cleaning apparatus |
| WO2022227782A1 (en) * | 2021-01-04 | 2022-11-03 | 北京石头世纪科技股份有限公司 | Automatic cleaning device |
| US11612295B2 (en) | 2021-01-04 | 2023-03-28 | Beijing Roborock Technology Co., Ltd. | Autonomous cleaning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464266A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | The suspension of the cleaning module of clean robot |
| CN110811434A (en) * | 2019-10-15 | 2020-02-21 | 广东博智林机器人有限公司 | Cleaning robot |
| CN110811434B (en) * | 2019-10-15 | 2021-12-10 | 广东博智林机器人有限公司 | Cleaning robot |
| WO2022001996A1 (en) * | 2020-06-29 | 2022-01-06 | 宁波富佳实业股份有限公司 | Height adjustment mechanism for moving up mop, and cleaner |
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| CN112914425A (en) * | 2021-02-05 | 2021-06-08 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
| CN112806917A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| CN112914431A (en) * | 2021-03-25 | 2021-06-08 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
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| WO2022222406A1 (en) * | 2021-04-19 | 2022-10-27 | 北京石头世纪科技股份有限公司 | Self-propelled cleaning apparatus |
| CN113550254A (en) * | 2021-07-27 | 2021-10-26 | 上海高仙自动化科技发展有限公司 | Lifting device and intelligent cleaning robot |
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