CN110338714A - A kind of clean robot chassis structure and clean robot - Google Patents
A kind of clean robot chassis structure and clean robot Download PDFInfo
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- CN110338714A CN110338714A CN201910746552.XA CN201910746552A CN110338714A CN 110338714 A CN110338714 A CN 110338714A CN 201910746552 A CN201910746552 A CN 201910746552A CN 110338714 A CN110338714 A CN 110338714A
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- clean robot
- adjusting bracket
- gear
- chassis structure
- clearing apparatus
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- 238000004140 cleaning Methods 0.000 claims abstract description 52
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 17
- 230000009194 climbing Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The application discloses a kind of clean robot chassis structure and clean robot, including chassis body, clearing apparatus, driving wheel, driven wheel, adjusting bracket and driving device.Driving wheel is set to chassis body.Adjusting bracket is installed on chassis body, and one end of adjusting bracket connects clearing apparatus, and the other end of adjusting bracket connects driven wheel.Driving device drives adjusting bracket；Wherein, under the drive of the drive, adjusting bracket rotates, so that clean robot chassis structure can switch between obstacle detouring mode and cleaning modes.Obstacle detouring mode is the state that clearing apparatus is lifted and driven wheel is grounded.Cleaning modes are the state that clearing apparatus is grounded and driven wheel is lifted.Technical solution provided by the present application enables to clean robot while guaranteeing cleaning effect, guarantees obstacle climbing ability.
Description
Technical field
This application involves sweeping robot technical field, in particular to a kind of clean robot chassis structure and
Clean robot.
Background technique
It is existing sweep the floor, mop floor, floor-cleaning machine device people is usually short disk-like structure, since work is in family or indoor ring
In border, the various equal cleaning parts that mop floor of sweeping the floor all design very short, close proximity to ground are needed, to guarantee cleaning effect.
However, it is existing sweep the floor, mop floor, floor-cleaning machine device people is encountering electric wire, when the small-scale obstacles such as step, it may appear that can not
Pass through or stuck situation, reduces the survival ability and sweep-out pattern of robot.
Summary of the invention
This application provides a kind of clean robot chassis structure and clean robot, the clean robot chassis structures
And clean robot can guarantee obstacle climbing ability while guaranteeing cleaning effect.
In a first aspect, provide a kind of clean robot chassis structure, including chassis body, clearing apparatus, driving wheel, from
Driving wheel, adjusting bracket and driving device；
Driving wheel is set to chassis body；
Adjusting bracket is installed on chassis body, and one end of adjusting bracket connects clearing apparatus, and the other end of adjusting bracket connects
Connect driven wheel；
Driving device drives adjusting bracket；
Wherein, under the drive of the drive, adjusting bracket rotates, so that clean robot chassis structure can be more
Switch between barrier mode and cleaning modes；
Obstacle detouring mode is the state that clearing apparatus is lifted and driven wheel is grounded；
Cleaning modes are the state that clearing apparatus is grounded and driven wheel is lifted.
Inventors have found that existing part clean robot, for example, sweep the floor, mop floor, floor-cleaning machine device it is artificial guarantee it is good
Cleaning effect, usually by cleaning part design very short, close proximity to ground, then increase contact of the cleaning part with ground
Area, but under this scheme, sacrifices the ability of obstacle detouring, that is, cannot by some barriers on ground, meanwhile, it is existing
Some part clean robots can then sacrifice clean effect, cleaning machine provided by the present application to improve the ability of obstacle detouring
People's chassis structure can guarantee obstacle climbing ability while guaranteeing cleaning effect.For this purpose, providing a kind of cleaning in above scheme
Robot chassis structure, clean robot chassis structure includes obstacle detouring mode and cleaning modes, by the driving of motor, so that its
It can switch in obstacle detouring mode and cleaning modes, by switching in different modes, to guarantee the energy of the effect cleaned and obstacle detouring
Power.When being in obstacle detouring mode, chassis body is supported in ground by driving wheel and driven wheel, and can walk, at this point,
Since clearing apparatus is lifted, i.e., far from ground, then makes chassis body under driving wheel and driven wheel drive, electricity can be crossed
The small-scale obstacles such as line, step avoid the occurrence of stuck situation and occur, guarantee the smooth walking of chassis body.When in cleaning mould
When formula, driven wheel is lifted, and clearing apparatus ground connection then makes clearing apparatus be able to bear the part of clean robot chassis structure
Gravity ensure that the effect of cleaning to be pressed in ground.
In one possible implementation, the bottom surface of chassis body offers first chamber and second chamber；
When clean robot chassis structure is in obstacle detouring mode, clearing apparatus is lifted and is contained in first chamber；
When clean robot chassis structure is in cleaning modes, driven wheel is lifted and is contained in second chamber.
In above scheme, first chamber is opened up by the bottom surface in chassis body, so that working as clean robot chassis structure
When in obstacle detouring mode, clearing apparatus is allowed to be accommodated in first chamber, to improve obstacle climbing ability.It is opened by the bottom surface in chassis body
If second chamber, so that allow driven wheel to be accommodated in second chamber when clean robot chassis structure is in cleaning modes, so that
Clearing apparatus can close proximity to ground, guarantee cleaning effect.
Optionally, in one possible implementation, driving device includes first motor, driving gear and driven tooth
Wheel, driving gear are fixed on the output shaft of motor, and driven gear is fixed on adjusting bracket, and driving gear is engaged with driven gear；
The pivot center of driven gear is overlapped with the pivot center of adjusting bracket.
Optionally, in one possible implementation, clearing apparatus is roller brushes structure, and roller brushes structure is rotatably coupled
In one end of adjusting bracket.
Optionally, in one possible implementation, clearing apparatus includes backboard and mop, and mop is set to backboard
Bottom surface.
Optionally, in one possible implementation, the top surface of backboard and one end of adjusting bracket are hinged.
Optionally, in one possible implementation, clean robot chassis structure further includes swing arm and adjusting dress
It sets；
One end of swing arm is formed with shaft, and shaft is rotatably connected at chassis body, the other end and driving wheel of swing arm
Connection；
Regulating device driving swing arm rotates swing arm relative to chassis body, to change between chassis body and ground
Distance.
In above scheme, regulating device can drive swing arm rotation to rotate around the axis, that is, the other end of swing arm can be with this turn
Axis is that center of rotation makees movement in a curve, it can position of the driving wheel relative to chassis body is adjusted, to have adjusted chassis sheet
The distance between body and ground.Under cleaning modes, chassis body can be adjusted to by immediate position by regulating device,
So that clearing apparatus can close proximity to ground cleaned.Under obstacle detouring mode, can by the too high chassis body of regulating device, with
Enable chassis body far from ground, guarantees obstacle climbing ability.
Optionally, in one possible implementation, regulating device includes the second motor, first gear and the second tooth
Wheel, first gear are fixed on the output shaft of the second motor, and second gear is fixed in the shaft of swing arm, first gear and the second tooth
Wheel engagement.
Optionally, in one possible implementation, clean robot chassis structure further includes elastic component, elastic component
Chassis body is fixed in one end, and the other end of elastic component is fixed on swing arm.
In above scheme, by the way that elastic component is arranged between chassis body and swing arm, plays elastic compression, ensure that
Swing arm stablizes setting relative between chassis body, that is, ensure that driving wheel can have enough rub between ground
Power is wiped, guarantees the normal work of driving wheel.
Optionally, in one possible implementation, clearing apparatus is between driving wheel and driven wheel.
Second aspect, provides a kind of clean robot, and clean robot has the cleaning of any one of first aspect
Robot chassis structure.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the perspective view of clean robot chassis structure in the embodiment of the present application；
Fig. 2 be the embodiment of the present application in clearing apparatus, driven wheel, adjusting bracket and driving device perspective view；
Fig. 3 is the bottom view of clean robot chassis structure in the embodiment of the present application；
Fig. 4 is the side view of clean robot chassis structure in the embodiment of the present application；
Fig. 5 is the structural schematic diagram of regulating device and swing arm in the embodiment of the present application；
Fig. 6 is the structural schematic diagram of another clearing apparatus in the embodiment of the present application.
Icon: 10- clean robot chassis structure；10A- pivot center；11- chassis body；12- clearing apparatus；13- master
Driving wheel；14- driven wheel；15- adjusting bracket；16- driving device；17- swing arm；18- regulating device；19- elastic component；91- first
Chamber；92- second chamber；120- backboard；121- mop；150- flank bar；160- first motor；161- driving gear；162-
Driven gear；170- shaft；The second motor of 180-；181- first gear；182- second gear.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present application, it is to be understood that term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
This application product using when the orientation or positional relationship usually put or those skilled in the art usually understand
Orientation or positional relationship, be merely for convenience of description the application and simplify description, rather than the equipment of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the embodiment of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachably connect
It connects, or is integrally connected；It can be directly connected, can also can be inside two elements indirectly connected through an intermediary
Connection.For the ordinary skill in the art, above-mentioned term in this application specific can be understood with concrete condition
Meaning.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
Below in conjunction with attached drawing, the technical solution in the application is described.
The present embodiment provides a kind of clean robot chassis structure 10, the cleaning with the clean robot chassis structure 10
Robot (such as sweep the floor, mop floor, floor-cleaning machine device people etc.) can guarantee obstacle climbing ability while guaranteeing cleaning effect.
Clean robot chassis structure 10 includes chassis body 11, clearing apparatus 12, driving wheel 13, driven wheel 14, adjusts
Bracket 15 and driving device 16.
Please refer to figs. 1 to 4, and Fig. 1 shows the stereoscopic schematic diagram of clean robot chassis structure 10, and Fig. 2 shows clear
Sweeping device 12, driven wheel 14, adjusting bracket 15 and driving device 16 stereoscopic schematic diagram, Fig. 3 be the present embodiment in cleaner
The bottom view of device people chassis structure 10, Fig. 4 are the side view of clean robot chassis structure 10 in the present embodiment.
Driving wheel 13 is set to chassis body 11.Adjusting bracket 15 is installed on chassis body 11, one end of adjusting bracket 15
Clearing apparatus 12 is connected, the other end of adjusting bracket 15 connects driven wheel 14.Driving device 16 drives adjusting bracket 15.
Wherein, under the driving of driving device 16, adjusting bracket 15 rotates, so that clean robot chassis structure 10
It can switch between obstacle detouring mode and cleaning modes.
Obstacle detouring mode is the state that clearing apparatus 12 is lifted and driven wheel 14 is grounded；
Cleaning modes are the state that clearing apparatus 12 is grounded and driven wheel 14 is lifted.
Inventors have found that existing part clean robot, for example, sweep the floor, mop floor, floor-cleaning machine device it is artificial guarantee it is good
Cleaning effect, usually by cleaning part design very short, close proximity to ground, then increase contact of the cleaning part with ground
Area, but under this scheme, sacrifices the ability of obstacle detouring, that is, cannot by some barriers on ground, meanwhile, it is existing
Some part clean robots can then sacrifice clean effect, for this purpose, providing in above scheme to improve the ability of obstacle detouring
A kind of clean robot chassis structure 10, clean robot chassis structure 10 include obstacle detouring mode and cleaning modes, pass through motor
Driving, make it possible to obstacle detouring mode and cleaning modes switching, by switching in different modes, with guarantee clean effect
The ability of fruit and obstacle detouring.When being in obstacle detouring mode, chassis body 11 is supported in ground by driving wheel 13 and driven wheel 14, and
It can walk, at this point, that is, far from ground, then making chassis body 11 in driving wheel 13 since clearing apparatus 12 is lifted
Under driving with driven wheel 14, the small-scale obstacles such as electric wire, step can be crossed, stuck situation is avoided the occurrence of and occurs, guarantee chassis
The smooth walking of ontology 11.When being in cleaning modes, driven wheel 14 is lifted, and clearing apparatus 12 is grounded, then to clean dress
Part gravity that 12 are able to bear clean robot chassis structure 10 is set to be pressed in ground, ensure that the effect of cleaning.
Wherein, it should be noted that in the present embodiment, clearing apparatus 12 is between driving wheel 13 and driven wheel 14, bottom
The center of gravity of disk ontology 11 is located between driving wheel 13 and adjusting bracket 15, so that under cleaning modes, the weight of chassis body 11
Amount most can act on clearing apparatus 12, to ensure that the cleaning effect of clearing apparatus 12.
Optionally, in a kind of embodiment in the cards, in conjunction with Fig. 1, Fig. 3 and Fig. 4.The bottom surface of chassis body 11
Offer first chamber 91 and second chamber 92.
When clean robot chassis structure 10 is in obstacle detouring mode, clearing apparatus 12 is lifted and is contained in first chamber
91。
When clean robot chassis structure 10 is in cleaning modes, driven wheel 14 is lifted and is contained in second chamber
92。
Wherein, by opening up first chamber 91 in the bottom surface of chassis body 11, so that working as clean robot chassis structure 10
When in obstacle detouring mode, clearing apparatus 12 is allowed to be accommodated in first chamber 91, to improve obstacle climbing ability.By in chassis body 11
Bottom surface opens up second chamber 92, so that allowing driven wheel 14 to be accommodated in when clean robot chassis structure 10 is in cleaning modes
Second chamber 92 so that clearing apparatus 12 can close proximity to ground, guarantee cleaning effect.
Wherein, it should be noted that in the present embodiment, adjusting bracket 15 be built in first chamber 91 and second chamber 92 it
Between, adjusting bracket 15 is articulated with the inside of chassis body 11 and rotates around an axis, and specific pivot center is in Fig. 2 and Fig. 4
With pivot center 10A mark.
Optionally, in a kind of embodiment in the cards, incorporated by reference to Fig. 2, driving device 16 includes first motor
160, driving gear 161 and driven gear 162, driving gear 161 are fixed on the output shaft of motor, and driven gear 162 is fixed on
Adjusting bracket 15, driving gear 161 are engaged with driven gear 162.
The pivot center of driven gear 162 is overlapped with the pivot center of adjusting bracket 15.
Wherein, first motor 160 is located inside chassis body 11, and first motor 160 is fixed by the driving of driving gear 161
Driven gear 162 in adjusting bracket 15, due to the pivot center of driven gear 162 and the pivot center of adjusting bracket 15
10A is overlapped, so that when driven gear 162 rotates (that is, rotating forward or the reverse drive driven gear of first motor 160
162 forward or reverse), enable to adjusting bracket 15 to follow rotation, to switch the work of clean robot chassis structure 10
Operation mode (that is, obstacle detouring mode and cleaning modes).
It should be noted that the drive mechanism between first motor 160 and adjusting bracket 15 is gear knot in the present embodiment
Structure transmission, in other specific embodiments, can also be driven by belt drive structure, such as: first motor 160 is fixed
There is belt wheel, adjusting bracket 15 is equally fixed with belt wheel, and the pivot center of the belt wheel in adjusting bracket 15 and adjusting bracket 15
Pivot center is overlapped, and the belt wheel in first motor 160 is cooperated by belt and the belt wheel of adjusting bracket 15, so that the first electricity
Machine 160 can drive adjusting bracket 15 to rotate, to switch the work of clean robot chassis structure 10 by belt drive structure
Mode.
Optionally, in a kind of embodiment in the cards, clean robot chassis structure 10 further include swing arm 17 with
And regulating device 18.Referring to Figure 1 and Fig. 5, Fig. 5 show the specific structure of regulating device 18 and swing arm 17 in the present embodiment.
One end of swing arm 17 is formed with shaft 170, and shaft 170 is rotatably connected at chassis body 11, swing arm 17 it is another
One end is connect with driving wheel 13.
Regulating device 18 drive swing arm 17 make swing arm 17 relative to chassis body 11 rotate, with change chassis body 11 with
The distance between ground.
Wherein, regulating device 18 can drive the rotation of swing arm 17 170 rotation around the shaft, that is, the other end of swing arm 17 can be with
The shaft 170 is that center of rotation makees movement in a curve, it can position of the driving wheel 13 relative to chassis body 11 is adjusted, to adjust
The distance between chassis body 11 and ground are saved.Under cleaning modes, chassis body 11 can be adjusted by regulating device 18
Section to immediate position so that clearing apparatus 12 can close proximity to ground cleaned.Under obstacle detouring mode, adjusting can be passed through
The too high chassis body 11 of device 18, so that chassis body 11 can guarantee obstacle climbing ability far from ground.
It should be noted that driving wheel 13 can be hub motor direct drive structure in the present embodiment.Its built-in motor, outside
Shell is wheel, is mounted in swing arm 17 by the wheel shaft maintained static, so that driving wheel 13 enables to clean robot bottom
Dish structure 10 is walked, meanwhile, in chassis body 11 can with placing battery, be the work of driving wheel 13, regulating device 18 and
Driving device 16 etc. needs to power using the mechanism of the energy.It, can also be it should be noted that in other specific embodiments
Motor is set in swing arm 17, by transmission mechanism to drive driving wheel 13 to rotate.
It should be noted that swing arm 17 and regulating device 18 can also be not provided in other specific embodiments.
Optionally, in a kind of embodiment in the cards, such as Fig. 5, regulating device 18 includes the second motor 180, the
One gear 181 and second gear 182, first gear 181 are fixed on the output shaft of the second motor 180, and second gear 182 is fixed on
In the shaft 170 of swing arm 17, first gear 181 is engaged with second gear 182.
Wherein, the second motor 180 is located inside chassis body 11, and the second motor 180 is fixed by the driving of first gear 181
Second gear 182 in the shaft 170 in swing arm 17, so that when second gear 182 rotates (that is, the second motor 180 is just
Turn or invert, driving second gear 182 is forward or reverse), enable to swing arm 17 to follow rotation, to change cleaner
10 road clearance of device people chassis structure (that is, the distance between bottom surface and ground of chassis body 11).
It should be noted that the drive mechanism between the second motor 180 and swing arm 17 is gear structure biography in the present embodiment
It is dynamic, in other specific embodiments, it can also be driven by belt drive structure, such as: the second motor 180 is fixed with band
Wheel, the shaft 170 of swing arm 17 are equally fixed with belt wheel, and the belt wheel on the second motor 180 is matched by belt and the belt wheel of swing arm 17
It closes, so that the second motor 180 by belt drive structure, can drive one end rotation of swing arm 17, to change cleaner
10 road clearance of device people chassis structure.
Optionally, in a kind of embodiment in the cards, such as Fig. 1, clean robot chassis structure 10 further includes bullet
Chassis body 11 is fixed in property part 19, one end of elastic component 19, and the other end of elastic component 19 is fixed on swing arm 17.
Wherein, by the way that elastic component 19 is arranged between chassis body 11 and swing arm 17, play elastic compression, ensure that
Swing arm 17 stablizes setting relative between chassis body 11, that is, ensure that driving wheel 13 can have foot between ground
Enough frictional force guarantees the normal work of driving wheel 13.
It should be noted that clearing apparatus 12 is that roller brushes structure can be made by the function of roller brushes structure in the present embodiment
Clean robot chassis structure 10 provided in this embodiment has the function of being cleaned to ground.As shown in Figure 1 and Figure 2.Round brush
Structure is rotatably connected at one end of adjusting bracket 15.Wherein, for convenience of installation roller brushes structure, one end of adjusting bracket 15 is prolonged
Two flank bars 150 are stretched out, two flank bars 150 are rotationally connect with the both ends of roller brushes structure.
In other specific embodiments, clearing apparatus 12 can also include backboard 120 and mop 121, pass through mop 121
Add water to drench, can make clean robot chassis structure 10 provided in this embodiment that there is the function of mopping floor to ground.Please
The specific structure of another clearing apparatus 12 is shown with reference to Fig. 6, Fig. 6.Mop 121 is set to the bottom surface of backboard 120, backboard
120 top surface and one end of adjusting bracket 15 are hinged.Wherein, to guarantee that mop 121 can be pressed in ground, adjusting bracket 15
The one end for being connected to backboard 120 favours one end of connection driven wheel 14.Simultaneously as backboard 120 is to be articulated with adjusting bracket
15, therefore mop 121 can adapt to slightly rolling ground, simultaneously as there are articulated structure, when being in obstacle detouring mode, back
Plate 120 and mop 121 when storage, can guarantee as much as possible it is parallel with ground, to reduce to chassis body 11
The occupancy of inner space, and reduce the probability with the bar contact on ground.
Meanwhile the present embodiment also provides a kind of clean robot, a kind of cleaning of the clean robot with above-mentioned offer
Robot chassis structure 10, due to enabling clean robot guaranteeing cleaning effect with clean robot chassis structure 10
While fruit, guarantee obstacle climbing ability.
It should be noted that in clean robot work, it is adjustable due to clean robot chassis structure 10
Road clearance and make 12 close proximity to ground of clearing apparatus, therefore the range of cleaning can be effectively increased, such as short bed
Bottom, sofa bottom etc., simultaneously as the adjustable road clearance.It, can be by most of therefore with the good ability of getting rid of poverty
Obstacle on ground, such as electric wire, step etc..
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (11)
1. a kind of clean robot chassis structure, which is characterized in that including chassis body, clearing apparatus, driving wheel, driven wheel,
Adjusting bracket and driving device；
The driving wheel is set to the chassis body；
The adjusting bracket is installed on the chassis body, and one end of the adjusting bracket connects the clearing apparatus, the tune
The other end for saving bracket connects the driven wheel；
The driving device drives the adjusting bracket；
Wherein, under the driving of the driving device, the adjusting bracket rotates, so that the clean robot chassis is tied
Structure can switch between obstacle detouring mode and cleaning modes；
The obstacle detouring mode is the state that the clearing apparatus is lifted and the driven wheel is grounded；
The cleaning modes are the state that the clearing apparatus is grounded and the driven wheel is lifted.
2. clean robot chassis structure according to claim 1, which is characterized in that
The bottom surface of the chassis body offers first chamber and second chamber；
When the clean robot chassis structure is in the obstacle detouring mode, the clearing apparatus is lifted and is contained in described
First chamber；
When the clean robot chassis structure is in the cleaning modes, the driven wheel is lifted and is contained in described
Two chambers.
3. clean robot chassis structure according to claim 1, which is characterized in that
The driving device includes first motor, driving gear and driven gear, and the driving gear is fixed on the motor
Output shaft, the driven gear are fixed on the adjusting bracket, and the driving gear is engaged with the driven gear；
The pivot center of the driven gear is overlapped with the pivot center of the adjusting bracket.
4. clean robot chassis structure according to claim 1, which is characterized in that
The clearing apparatus is roller brushes structure, and the roller brushes structure is rotatably connected at one end of the adjusting bracket.
5. clean robot chassis structure according to claim 1, which is characterized in that
The clearing apparatus includes backboard and mop, and the mop is set to the bottom surface of the backboard.
6. clean robot chassis structure according to claim 5, which is characterized in that
The top surface of the backboard and one end of the adjusting bracket are hinged.
7. clean robot chassis structure according to claim 1, which is characterized in that the clean robot chassis structure
It further include swing arm and regulating device；
One end of the swing arm is formed with shaft, and the shaft is rotatably connected at the chassis body, the swing arm it is another
One end is connect with the driving wheel；
The regulating device drives the swing arm that the swing arm is rotated relative to the chassis body, to change the chassis
The distance between ontology and ground.
8. clean robot chassis structure according to claim 7, which is characterized in that
The regulating device includes the second motor, first gear and second gear, and the first gear is fixed on second electricity
The output shaft of machine, the second gear are fixed in the shaft of the swing arm, and the first gear is engaged with the second gear.
9. clean robot chassis structure according to claim 7, which is characterized in that
The clean robot chassis structure further includes elastic component, and the chassis body, institute are fixed in one end of the elastic component
The other end for stating elastic component is fixed on the swing arm.
10. clean robot chassis structure according to claim 1, which is characterized in that
The clearing apparatus is between the driving wheel and the driven wheel.
11. a kind of clean robot characterized by comprising
The clean robot has clean robot chassis structure described in claim 1-10 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746552.XA CN110338714A (en) | 2019-08-08 | 2019-08-08 | A kind of clean robot chassis structure and clean robot |
| PCT/CN2020/104952 WO2021023048A1 (en) | 2019-08-08 | 2020-07-27 | Cleaning robot chassis structure and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910746552.XA CN110338714A (en) | 2019-08-08 | 2019-08-08 | A kind of clean robot chassis structure and clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110338714A true CN110338714A (en) | 2019-10-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910746552.XA Pending CN110338714A (en) | 2019-08-08 | 2019-08-08 | A kind of clean robot chassis structure and clean robot |
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| CN (1) | CN110338714A (en) |
| WO (1) | WO2021023048A1 (en) |
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| WO2020125489A1 (en) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robot cleaner and control method therefor, and floor treating system |
| CN111872948A (en) * | 2020-07-07 | 2020-11-03 | 广东博智林机器人有限公司 | Drive module of robot and robot chassis, cleaning robot that have it |
| WO2021023048A1 (en) * | 2019-08-08 | 2021-02-11 | 深圳市杉川机器人有限公司 | Cleaning robot chassis structure and cleaning robot |
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