CN111195107A - Side brush telescopic system for cleaning robot and working method thereof - Google Patents
Side brush telescopic system for cleaning robot and working method thereof Download PDFInfo
- Publication number
- CN111195107A CN111195107A CN201910942312.7A CN201910942312A CN111195107A CN 111195107 A CN111195107 A CN 111195107A CN 201910942312 A CN201910942312 A CN 201910942312A CN 111195107 A CN111195107 A CN 111195107A
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- China
- Prior art keywords
- swing arm
- side brush
- cleaning robot
- swing
- brush
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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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention provides a side brush telescopic system for a cleaning robot and a working method thereof, wherein the side brush telescopic system comprises: a swing mechanism, an elastic element, a swing arm, and an edge brush; the first end of the swing arm is rotatably connected with the swing mechanism, and the second end of the swing arm is provided with the side brush; the first end of the elastic element is connected with the swinging mechanism, and the second end of the elastic element is connected with the swinging arm; the side brush is switched between an exposed state and a non-exposed state through the swinging mechanism and the elastic element. The invention can realize the cleaning of the wall corner of the cleaning robot with the arc-shaped edge under the condition of not increasing the size of the side brush and the size of the cleaning robot.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a side brush telescopic system for a cleaning robot and a working method of the side brush telescopic system.
Background
The cleaning function of the cleaning robot on the market is generally realized by a middle broom and an edge brush, wherein the edge brush is generally arranged at two sides in front of the cleaning robot, so that when the cleaning robot walks around obstacles or along the edge, the cleaning robot can cover the area which can not be reached by the middle broom to realize the edge sweeping.
However, since the shape of the outer edge of the cleaning robot is mostly circular arc, when the cleaning robot meets a wall corner or a right angle, the cleaning range cannot completely cover the depth of the right angle due to the limited extension length of the side brush (because the size of the bristles of the side brush is too long if the length of the bristles of the side brush can extend to the wall corner, so that the traveling mechanism and the middle sweeping mechanism are interfered, otherwise, the size of the cleaning robot is increased), and thus missed sweeping is caused.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an edge brush stretching system for a cleaning robot and a working method thereof, which can solve the problem of cleaning coverage area of an edge brush, especially cleaning at a right angle.
The invention provides a side brush telescopic system for a cleaning robot, which comprises: a swing mechanism, an elastic element, a swing arm, and an edge brush; the first end of the swing arm is rotatably connected with the swing mechanism, and the second end of the swing arm is provided with the side brush; the first end of the elastic element is connected with the swinging mechanism, and the second end of the elastic element is connected with the swinging arm; the side brush is switched between an exposed state and a non-exposed state through the swinging mechanism and the elastic element.
Has the advantages that:
the side brush telescopic system for the cleaning robot can realize the cleaning of the wall corner of the cleaning robot with the arc-shaped edge under the conditions of not increasing the size of the side brush and the size of the cleaning robot.
According to the present invention, by the swing mechanism and the elastic member, the swing arm is brought into an extended state and the side brush is exposed from the cleaning robot when the cleaning work is performed, and the swing arm is brought into a contracted state and the side brush is not exposed from the cleaning robot when the cleaning work is not performed. Therefore, the cleaning robot can be controlled to use the side brush according to needs, and the problem that the side brush cleans the covered area, particularly the right-angle position, can be solved.
Furthermore, the elastic element is arranged, so that the swing arm in the extending state can not be damaged under the action of external force.
In the invention, when the side brush is in an exposed state, the outer edge of the side brush can touch the corner when the cleaning robot reaches the corner. In the invention, when the side brush is not exposed, the main body of the side brush is not exposed out of the outer edge of the cleaning robot, and the bristles of the side brush can still be exposed out of the outer edge of the cleaning robot for cleaning.
Preferably, the swing mechanism further comprises a limiting mechanism connected with the swing mechanism, and the first end of the elastic element is connected with the limiting mechanism.
Preferably, the limiting mechanism comprises a first limiting plate and a second limiting plate which are connected to the swinging mechanism, and the swinging arm is located between the first limiting plate and the second limiting plate.
Preferably, a first end of the elastic element is connected to the first limiting plate, and when no external force is applied, the elastic element applies pressure to the swing arm to enable the swing arm to be close to the second limiting plate and to be in an extended state.
Preferably, a first end of the elastic element is connected to the second limiting plate, and when no external force is applied, the elastic element applies a pulling force to the swing arm to make the swing arm close to the second limiting plate and be in an extended state.
Preferably, the swing arm is provided with an edge brush driving motor accommodating cavity and is sleeved in the swing mechanism; the swing arm is of a hollow structure and is provided with the gear set, the side brush driving motor drives the side brush through the gear set, and the side brush driving device has the advantages that the driving assembly of the side brush is arranged on the rotating shaft, so that the driving assembly of the large-size side brush is prevented from swinging together with the side brush. Further, by providing the side brush drive motor at the rotating shaft of the swing arm, the size of the ejected side brush is reduced.
The invention also provides a working method of the side brush telescopic system, which comprises the following steps:
firstly, the cleaning robot starts to carry out cleaning operation, and a swing mechanism enables a swing arm to extend out, so that a side brush is in an exposed state;
and step two, when the side brush is subjected to external force, the side brush can be converted to the unexposed state, and when the external force is removed, the side brush is recovered to the exposed state.
Preferably, in the first step, the vision sensor judges whether the cleaning robot reaches a corner, and if the cleaning robot reaches the corner, the swing arm extends out; if the swing arm is away from the corner, the swing arm is contracted.
Drawings
FIG. 1 is a schematic diagram of a side brush retraction system for a cleaning robot according to an embodiment of the present invention, in which a swing arm is in a retracted state;
FIG. 2 is a schematic view of the swing arm of the side brush retraction system shown in FIG. 1 in an extended position;
FIG. 3 is a schematic view of the side brush retraction system shown in FIG. 1 with the side brush not exposed;
FIG. 4 is a schematic diagram showing an overall structure of a side brush telescopic system for a cleaning robot according to another embodiment of the present invention;
FIG. 5 shows an exploded view of the side brush retraction system shown in FIG. 4;
reference numerals:
1. a swing mechanism;
2. a limiting mechanism;
2a, a first limiting plate;
2b, a second limiting plate;
21. upper limit cover
22. Lower limit cover
201. Limiting column
202. First limit column
203. Second limit column
221. Tooth-shaped structure
211. First fixed link
3. A swing arm;
31. second fixing rod
4. Brushing edges;
41. a side brush body;
42. brushing;
43. a side brush drive motor;
44. a gear set;
5. an elastic element;
6. the gears are driven.
Detailed Description
The present invention is further described below in conjunction with the following embodiments and the accompanying drawings, it being understood that the drawings and the following embodiments are illustrative of the invention only and are not limiting.
Fig. 1 to 3 show an embodiment of an edge brush telescopic system for a cleaning robot according to the present invention. As shown in fig. 1 to 3, the side brush stretching system for a cleaning robot of the present embodiment includes a swing mechanism 1, a limit mechanism, an elastic member 5, a swing arm 3, and a side brush 4. In the present embodiment, the swing mechanism 1 may be directly driven by a driving motor, or may be a driven gear that is rotated by a driving mechanism such as the driving gear 6, and the driving mechanism may be driven by the driving motor.
Further, a vision sensor may be employed to determine whether the cleaning robot reaches a corner of a wall. The visual sensor judges whether the wall corner is reached through image recognition, namely, an image in front of the cleaning robot is compared with a wall corner image stored in a background, and if the image is matched with the wall corner image, the wall corner is judged. When the cleaning robot reaches a corner, the swing arm 3 extends out; when the cleaning robot leaves the corner, the swing arm 3 is retracted. Specifically, the cleaning robot main body corresponding to the position of the swing arm 3 in the extended state and the position of the swing arm 3 in the retracted state may be respectively provided with a limit switch, when the swing arm 3 extends to the position of the extended state, the limit switch sends a signal to the control unit of the cleaning robot to stop the operation of the driving motor, and when the swing arm 3 retracts to the position of the retracted state, the limit switch sends a signal to the control unit of the cleaning robot to stop the operation of the driving motor.
As further shown in fig. 1-3, a first end of the oscillating arm 3 is pivotally connected to the oscillating mechanism 1, and a second end of the oscillating arm 3 is provided with a side brush 4. The side brush 4 may be formed with a plurality of brush heads extending radially outward from the center. The side brush 4 itself can also be rotated for cleaning.
The swing mechanism 1 may be used to swing the limiting mechanism between the first position and the second position. When the limiting mechanism is located at the first position, the swing arm 3 is in a contracted state (i.e., the state of the swing arm shown in fig. 1), and at this time, the entirety of the swing arm 3 is not exposed from the outer edge of the cleaning robot. When the stop mechanism is in the second position, the swing arm 3 is in the extended state (i.e., the state of the swing arm shown in fig. 2), and at this time, the swing arm 3 is at least partially exposed from the outer edge of the cleaning robot. The limiting mechanism is fixedly connected with the swing mechanism 1, the limiting mechanism synchronously rotates along with the swing mechanism 1, the limiting mechanism drives the swing arm 3 to stretch out and contract, and meanwhile, the position range of the swing arm 3 which can deviate when being subjected to external force after stretching out is limited.
More specifically, when the swing arm 3 is in the extended state and the limiting mechanism is used to subject the swing arm 3 to an external force (for example, there may be an obstacle during edgewise cleaning or an external force applied by a wall during turning, etc.), the swing range of the swing arm 3 around the swing mechanism 1 is limited between the third position and the fourth position. When the swing arm 3 is in the third position, the edge brush 4 is exposed to the cleaning robot edge (i.e., the position of the edge brush in fig. 2). When the swing arm 3 is in the fourth position, the edge brush 4 is not exposed to the cleaning robot edge (i.e., the position of the edge brush in fig. 3).
As shown in fig. 1-3, the elastic element 5 is connected with the limiting mechanism and the swing arm 3, when the swing arm 3 is not acted by external force, the elastic element 5 makes the swing arm 3 rotate together with the limiting mechanism; when the swing mechanism 1 moves the stopper mechanism to the second position, the swing arm 3, which rotates together with the stopper mechanism, is located at the third position and is in the extended state (as shown in fig. 2). When the oscillating arm 3 is subjected to an external force, the elastic member 5 brings the oscillating arm 3 into a contracted state (as shown in fig. 3). Furthermore, the resilient element 5 returns the oscillating arm 3 to the initial position again when the external force is removed.
More specifically, in the present embodiment, the limit mechanism may include a first limit plate 2a and a second limit plate 2b that are fixed to the swing mechanism 1 and form an angle therebetween, which may be set according to a desired range of motion of the swing arm. In the present embodiment, the second stopper plate 2b is located closer to the outside of the cleaning robot than the first stopper plate 2 a. The oscillating arm 3 is located between the first stopper plate 2a and the second stopper plate 2 b. A first end of the elastic member 5 is connected to the first stopper plate 2a, and a second end of the elastic member 5 is connected to the swing arm 3. When the swing arm 3 is located at the first limit plate 2a side, the fourth position is obtained; when the swing arm 3 is located on the second restriction plate 2b side, it is in the third position.
In another embodiment, the limiting mechanism may include a first limiting plate and a second limiting plate, the swing arm is located between the first limiting plate and the second limiting plate, but the first end of the elastic element is connected to the second limiting plate 2b, and the second end of the elastic element is connected to the swing arm 3, and when the swing arm 3 is located at the first limiting plate 2a side, the fourth position is assumed; when the swing arm 3 is located on the second restriction plate 2b side, it is in the third position.
In another aspect, the limiting mechanism may include a first limiting plate and a second limiting plate, and the swing arm is located between the first limiting plate and the second limiting plate, but the elastic element may include a first elastic element and a second elastic element, the first elastic element connecting the first limiting plate and the swing arm, and the second elastic element connecting the second limiting plate and the swing arm. The swing arm can be in different positions according to different stress states of the elastic element.
In another embodiment, the limiting mechanism may be omitted, the first end of the elastic element is fixedly connected with the swing mechanism, and the second end of the elastic element is connected with the swing arm. The elastic element is used for enabling the swinging arm to rotate along with the swinging mechanism, when external force is applied to the swinging arm, the swinging arm has a certain swinging amplitude, and after the external force is removed, the swinging arm can return to the initial position.
Fig. 4-5 illustrate another aspect of the edge brush retraction system for a cleaning robot of the present invention.
As shown in fig. 4 and 5, in the present embodiment, the limiting mechanism 2 includes an upper limiting cover 21 and a lower limiting cover 22, the upper limiting cover 21 and the lower limiting cover 22 are connected by limiting posts 201 on two sides, the upper limiting cover 21 is a hollow ring structure, which enables the accommodating cavity of the swing arm to be sleeved therein, and the accommodating cavity of the swing arm 3 can rotate in the hollow ring structure, a tooth-shaped structure 221 is disposed on the rear side of the lower limiting cover 22, in this embodiment, the swing mechanism is a gear, and the limiting mechanism 2 is driven by cooperating with the tooth-shaped structure. Specifically, a gear as a swing mechanism is driven by a motor (i.e., a side brush driving motor 43 described later).
The limiting column is used for limiting the swing amplitude of the swing arm.
One end of the elastic member 5 is connected to the first fixing lever 211 of the upper limit cover 21, and the other end is connected to the second fixing lever 31 of the swing arm 3.
The side brush body 41 is connected to a gear train 44, and the side brush driving motor drives the side brush to rotate by driving the gear train.
When the side brush 4 is in the extended state, the limit mechanism 2 limits the extended position and the retracted position of the swing arm 3 when the side brush 4 receives an external force. The limiting mechanism comprises a limiting column 201, the limiting column 201 comprises a first limiting column 202 and a second limiting column 203, when the swing arm is abutted by the first limiting column 202, the swing arm is in an extending state, and when the swing arm is abutted by the second limiting column 203, the swing arm is in a contracting state. The swing arm 3 is provided with a containing cavity of the side brush driving motor 43 and is sleeved in the limiting mechanism. The swing arm 3 is hollow and internally provided with a gear set 44, and the side brush driving motor 43 drives the side brush through the gear set 44, which has the advantage that the driving component of the side brush is arranged on the rotating shaft of the swing arm 3, thereby avoiding the driving component of the large-size side brush from swinging together with the side brush.
In addition, when the side brush is in an exposed state and the cleaning robot reaches a corner, the outer edge of the side brush can touch the corner when the side brush is exposed. In the present invention, when the side brush is not exposed, the side brush main body 41 is not exposed from the outer edge of the cleaning robot, and the brush bristles 42 are exposed from the outer edge of the cleaning robot to perform cleaning operation.
Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions. Therefore, the foregoing description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of one or both of the structure and function may be substantially changed without departing from the spirit of the present invention.
Claims (7)
1. A side brush telescoping system for a cleaning robot, comprising: a swing mechanism, an elastic element, a swing arm, and an edge brush;
the first end of the swing arm is rotatably connected with the swing mechanism, and the second end of the swing arm is provided with the side brush;
the first end of the elastic element is connected with the swinging mechanism, and the second end of the elastic element is connected with the swinging arm;
the side brush is switched between an exposed state and a non-exposed state through the swinging mechanism and the elastic element.
2. The edge brush retraction system according to claim 1, further comprising a stop mechanism connected to the swing mechanism, the first end of the resilient element being connected to the stop mechanism.
3. The edge brush telescoping system of claim 2, wherein the limit mechanism comprises a first limit plate and a second limit plate connected to the swing mechanism, the swing arm being positioned between the first limit plate and the second limit plate.
4. The edge brush retraction system according to claim 3, wherein a first end of said resilient element is connected to said first stop plate, said resilient element exerting pressure on said swing arm to bring it into an extended position adjacent to said second stop plate in the absence of an external force.
5. The edge brush telescoping system of claim 3, wherein the first end of the resilient element is connected to the second stop plate, and the resilient element applies a pulling force to the swing arm to bring the swing arm into an extended state adjacent to the second stop plate when no external force is applied.
6. A method of operating a side brush retraction system according to any of claims 1 to 6, comprising the steps of:
firstly, the cleaning robot starts to carry out cleaning operation, and a swing mechanism enables a swing arm to extend out, so that a side brush is in an exposed state;
and step two, when the side brush is subjected to external force, the side brush can be converted to the unexposed state, and when the external force is removed, the side brush is recovered to the exposed state.
7. The method of operating a side brush retraction system according to claim 6,
in the first step, a vision sensor judges whether the cleaning robot reaches a corner, and if the cleaning robot reaches the corner, a swing arm extends out; if the swing arm is away from the corner, the swing arm is contracted.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018113790035 | 2018-11-19 | ||
| CN201811379003 | 2018-11-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111195107A true CN111195107A (en) | 2020-05-26 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921657813.2U Active CN210931187U (en) | 2018-11-19 | 2019-09-30 | Side brush telescopic system for cleaning robot |
| CN201910942312.7A Pending CN111195107A (en) | 2018-11-19 | 2019-09-30 | Side brush telescopic system for cleaning robot and working method thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921657813.2U Active CN210931187U (en) | 2018-11-19 | 2019-09-30 | Side brush telescopic system for cleaning robot |
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| Country | Link |
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| CN (2) | CN210931187U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287975A (en) * | 2021-06-11 | 2021-08-24 | 科沃斯机器人股份有限公司 | Cleaning robot, control method and movable cleaner assembly |
| CN113796780A (en) * | 2021-09-01 | 2021-12-17 | 无锡太湖学院 | Intelligent cleaning robot with identification function |
| CN114699015A (en) * | 2022-03-30 | 2022-07-05 | 深圳银星智能集团股份有限公司 | Cleaning robot |
| CN117617829A (en) * | 2024-01-24 | 2024-03-01 | 科沃斯家用机器人有限公司 | Cleaning robot and control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938503B (en) * | 2020-08-03 | 2022-04-12 | 谢文杰 | Wireless dust collector |
-
2019
- 2019-09-30 CN CN201921657813.2U patent/CN210931187U/en active Active
- 2019-09-30 CN CN201910942312.7A patent/CN111195107A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287975A (en) * | 2021-06-11 | 2021-08-24 | 科沃斯机器人股份有限公司 | Cleaning robot, control method and movable cleaner assembly |
| CN113796780A (en) * | 2021-09-01 | 2021-12-17 | 无锡太湖学院 | Intelligent cleaning robot with identification function |
| CN114699015A (en) * | 2022-03-30 | 2022-07-05 | 深圳银星智能集团股份有限公司 | Cleaning robot |
| CN117617829A (en) * | 2024-01-24 | 2024-03-01 | 科沃斯家用机器人有限公司 | Cleaning robot and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN210931187U (en) | 2020-07-07 |
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