CN111202473A - Adjusting device and cleaning robot with same - Google Patents

Adjusting device and cleaning robot with same Download PDF

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Publication number
CN111202473A
CN111202473A CN202010025726.6A CN202010025726A CN111202473A CN 111202473 A CN111202473 A CN 111202473A CN 202010025726 A CN202010025726 A CN 202010025726A CN 111202473 A CN111202473 A CN 111202473A
Authority
CN
China
Prior art keywords
cleaning
ground
driving
fixed
adjusting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010025726.6A
Other languages
Chinese (zh)
Inventor
吉沐园
任正军
王生贵
葛行军
程昊天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Gaussian Automation Technology Development Co Ltd
Original Assignee
Shanghai Gaussian Automation Technology Development Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Gaussian Automation Technology Development Co Ltd filed Critical Shanghai Gaussian Automation Technology Development Co Ltd
Priority to CN202010025726.6A priority Critical patent/CN111202473A/en
Publication of CN111202473A publication Critical patent/CN111202473A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/282Floor-scrubbing machines, motor-driven having rotary tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4041Roll shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4052Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The application discloses adjusting device and cleaning robot who has it. The cleaning robot includes a body bracket and a cleaning device. Wherein, cleaning device passes through adjusting device and installs on the body support. The adjusting device comprises a driving assembly, a first adjusting assembly and a second adjusting assembly. The cleaning device is connected with the body bracket through the first adjusting component and the second adjusting component. When the driving assembly drives the cleaning device to move along the direction vertical to the ground, the first adjusting assembly and the second adjusting assembly drive the cleaning device to be close to or far away from the body support. In the embodiment of the application, the cleaning robot adjusts the distance between the cleaning device and the ground through the driving assembly, the first adjusting assembly and the second adjusting assembly, so that the cleaning device can adapt to the ground with different conditions in the process of cleaning the ground. Therefore, the cleaning robot can achieve better cleaning effect in different conditions, and user experience is improved.

Description

Adjusting device and cleaning robot with same
Technical Field
The application relates to the technical field of robots, in particular to an adjusting device and a cleaning robot with the adjusting device.
Background
With the development of science and technology, the functions realized by the cleaning robot are more and more perfect, and the cleaning robot is widely applied.
In the related art, the cleaning structure used by the cleaning robot for cleaning the floor may include various structures, for example, the cleaning robot may use a brush tray or a rolling brush to clean the floor. However, the relative position of the cleaning structure and the ground is fixed and cannot be adjusted, and the cleaning structure has poor adaptability to the ground condition and poor cleaning effect. Therefore, the problem to be solved is to improve the adaptability of the cleaning structure and the ground.
Disclosure of Invention
In view of this, the present application provides an adjusting device and a cleaning robot having the same.
The adjusting device of the embodiment of the application is used for a cleaning robot, the cleaning robot comprises a body bracket and a cleaning device arranged on the body bracket, and the adjusting device comprises:
the driving assembly can drive the cleaning device to move along the direction vertical to the ground;
the first adjusting assembly comprises a first fixed seat, a second fixed seat and a first connecting rod, the first fixed seat is fixed on the cleaning device, the second fixed seat is fixed on the body support, and the first connecting rod is movably connected with the first fixed seat and the second fixed seat respectively;
the second adjusting assembly comprises a third fixed seat, a fourth fixed seat and a second connecting rod, the third fixed seat is fixed on the cleaning device, the fourth fixed seat is fixed on the body bracket, and the second connecting rod is movably connected with the third fixed seat and the fourth fixed seat respectively;
the first connecting rod and the second connecting rod drive the cleaning device to be close to or far away from the body support when the driving assembly drives the cleaning device to move in the direction vertical to the ground.
Therefore, the cleaning robot can adapt to the ground with different conditions by the arrangement of the driving assembly, the first adjusting assembly and the second adjusting assembly, so that the cleaning robot can achieve better cleaning effect on different ground.
In some embodiments, the drive assembly comprises:
the installation department, the installation department set up in drive assembly keeps away from one side on ground, the installation department includes the dwang, drive assembly passes through the dwang with body support swing joint, drive assembly can wind the dwang rotates.
Thus, the mounting portion connects the driving assembly with the body bracket, and the driving assembly can rotate around the rotating rod relative to the body bracket in the cleaning process of the cleaning robot.
In some embodiments, the drive assembly comprises:
the driving motor comprises a driving part, and the driving part extends out of one side far away from the mounting part;
the first connecting part is fixedly connected with the driving part, and the driving motor drives the driving part to drive the first connecting part to move.
Therefore, through the arrangement of the driving motor and the first connecting part, the driving motor can drive the driving part to drive the first connecting part to move.
In some embodiments, the first connecting portion includes a first connecting member and a second connecting member, the first connecting member is fixedly connected to the driving portion, the second connecting member is provided with a through groove, and the first connecting member is fixedly connected to the second connecting member through the through groove.
In this way, the first connecting piece is connected with the driving part and the second connecting piece through the arrangement of the first connecting piece and the second connecting piece.
In some embodiments, the drive assembly further comprises:
the second connecting portion, the second connecting portion with cleaning device fixed connection, the second connecting portion include the body and certainly the both sides of body along with ground vertically direction to first connecting portion along stretching the curb plate that sets up, the body with the curb plate forms the recess, first connecting portion movably sets up in the recess.
Therefore, through the arrangement of the second connecting part, the second connecting part is respectively connected with the cleaning device and the first connecting part, so that the second connecting part can drive the cleaning device to move relative to the first connecting part.
In some embodiments, the body bracket further comprises a limiting structure, and the second connecting portion further comprises:
the guide rod penetrates through the limiting structure and is fixedly connected with the side plate, and when the driving assembly drives the cleaning device to move in the direction vertical to the ground, the guide rod moves in the limiting structure in the direction vertical to the ground.
Therefore, the second connecting portion enables the cleaning device to be connected with the body support through the connection of the guide rod and the limiting structure fixed on the body support, the cleaning device can move in the direction perpendicular to the ground, and meanwhile, violent shaking of the cleaning device during cleaning of the cleaning robot is avoided.
In some embodiments, the drive assembly further comprises:
the first elastic element penetrates through the second connecting piece, one end of the first elastic element is abutted to the body of the second connecting portion, and when the driving assembly drives the cleaning device to be close to the ground, the first elastic element is abutted to the second connecting portion so that the cleaning device is attached to the ground.
In this way, when the cleaning robot works, the driving assembly drives the cleaning device to be in contact with the ground, and the first elastic element can play a role in buffering between the driving assembly and the cleaning device so as to adapt to the ground with different conditions.
In certain embodiments, the adjustment device further comprises:
the support piece comprises opposite fixed end portions, and the support piece is fixedly connected with the first connecting rod and the second connecting rod through the fixed end portions respectively.
Therefore, the first connecting rod and the second connecting rod are relatively fixed through the arrangement of the supporting piece, and the first connecting rod and the second connecting rod are prevented from shaking in the working process of the cleaning robot.
In certain embodiments, the adjustment device further comprises:
and the second elastic elements comprise a plurality of second elastic elements, part of the second elastic elements are fixedly connected with the fixed end parts and the first connecting rods, and part of the second elastic elements are fixedly connected with the fixed end parts and the second connecting rods.
Therefore, in the cleaning process of the cleaning robot, the cleaning device can be tightly attached to the ground to achieve a better cleaning effect.
The application also provides a cleaning robot, which comprises a body bracket and any one of the adjusting devices, wherein the cleaning device is arranged on the body bracket.
Therefore, the cleaning robot is strong in adaptability to the ground condition, and the cleaning effect of the cleaning robot is improved.
In the adjusting device and the cleaning robot, the driving assembly can drive the cleaning device to move in the direction vertical to the ground through the arrangement of the driving assembly, the first adjusting assembly and the second adjusting assembly. The first adjusting component and the second adjusting component drive the cleaning device to be close to or far away from the body support, and the cleaning device can be tightly attached to the ground in the cleaning process, so that the cleaning effect of the cleaning robot is improved. And the user experience is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a schematic view of the structure of an adjusting device and a cleaning device according to an embodiment of the present application;
FIG. 3 is yet another schematic view of a cleaning robot of an embodiment of the present application;
FIG. 4 is an exploded view of a cleaning robot according to an embodiment of the present application;
FIG. 5 is a partial schematic view of a drive assembly according to an embodiment of the present application;
fig. 6 is a schematic view of a first connection portion of an adjustment device according to an embodiment of the present application;
FIG. 7 is a schematic view showing a second connecting part of the cleaning apparatus according to the embodiment of the present application;
FIG. 8 is a schematic structural diagram of an adjustment device according to an embodiment of the present application;
fig. 9 is a perspective view of a cleaning robot according to an embodiment of the present application.
Description of the main element symbols:
the adjusting device 100, the driving assembly 10, the mounting portion 11, the rotating rod 111, the driving motor 12, the driving portion 121, the first connecting portion 13, the first connecting member 131, the opening slot 1311, the second connecting member 132, the through slot 1321, the through hole 1322, the second connecting portion 14, the body 141, the side plate 142, the limiting hole 1421, the groove 143, the mounting seat 144, the guide rod 145, the first elastic element 15, the first adjusting assembly 20, the first fixing seat 21, the second fixing seat 22, the first connecting rod 23, the second adjusting assembly 30, the third fixing seat 31, the fourth fixing seat 32, the second connecting rod 33, the supporting member 40, the fixing end portion 41, and the second elastic element 50;
a cleaning device 200, a cleaning housing 210, a top plate 211, a first roll brush 220, a second roll brush 230, a dust box 240, a blade 250, a spray member 260, a roll brush driving motor 270;
the body bracket 300, the mounting hole 310, the limiting structure 320 and the limiting groove 321;
a guide wheel 400, a driving wheel 500;
the robot 1000 is cleaned.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
With the development of the technology, the intelligent robot is more and more widely applied. In the field of cleaning, cleaning robots are widely used.
In the related art, the cleaning structure for cleaning the floor by the cleaning robot may include various kinds, for example, the cleaning robot may employ a brush tray or a rolling brush, etc. to clean the floor. However, when the cleaning robot works, the position of the cleaning structure is relatively fixed with respect to the ground, the relative position of the cleaning structure with respect to the ground cannot be adjusted, only the ground with good condition can be cleaned, and the adaptability to different ground conditions is poor, so that the cleaning effect is poor in some cases.
Referring to fig. 1 to 3, an adjusting device 100 for a cleaning robot 1000 is provided in an embodiment of the present application, and the cleaning robot 1000 includes a cleaning device 200 and a body bracket 300. Wherein the cleaning device 200 is mounted on the body bracket 300 by the adjusting device 100.
The adjustment device 100 includes a drive assembly 10, a first adjustment assembly 20, and a second adjustment assembly 30. Wherein the driving assembly 10 is connected with the body bracket 300. The first adjustment assembly 20 includes a first fixed seat 21, a second fixed seat 22, and a first link 23. The first fixing base 21 is fixed to the cleaning device 200. The second fixing seat 22 is fixed on the body bracket 300, and the first connecting rod 131 is movably connected with the first fixing seat 21 and the second fixing seat 22 respectively. The second adjusting assembly 30 includes a third fixing seat 31, a fourth fixing seat 32 and a second connecting rod 33, the third fixing seat 31 is fixed on the cleaning device 200, the fourth fixing seat 32 is fixed on the body bracket 300, and the second connecting rod 33 is movably connected with the third fixing seat 31 and the fourth fixing seat 32 respectively.
When the driving assembly 10 drives the cleaning device 200 to move in a direction perpendicular to the floor, the first link 23 and the second link 33 drive the cleaning device 200 to approach or separate from the body bracket 300.
Specifically, the driving assembly 10 is provided at a side of the body bracket 300 near the ground. The driving assembly 10 has one end connected to the body bracket 300 and the other end connected to the cleaning device 200. The first adjustment assembly 20 is spaced apart from the second adjustment assembly 30. When the cleaning robot 1000 is started, the driving assembly 10 drives the cleaning device 200 to move towards the ground along a direction perpendicular to the ground, the first fixing seat 21 and the third fixing seat 31 fixed on the cleaning device 200 respectively drive the first connecting rod 23 and the second connecting rod 33 to rotate, the cleaning device 200 is far away from the body bracket 300, and the cleaning device 200 is in contact with the ground. When the cleaning apparatus 200 cleans the floor surface while the cleaning robot 1000 moves, the first and second adjusting assemblies 20 and 30 may prevent the cleaning apparatus 200 from shaking in the moving direction. When the cleaning robot 1000 completes cleaning, the driving assembly 10 drives the cleaning device 200 to move in a direction perpendicular to the floor surface such that the cleaning device 200 is away from the floor surface. The first fixing seat 21 and the third fixing seat 31 respectively drive the first connecting rod 23 and the second connecting rod 33 to rotate, and the cleaning device 200 is close to the body support 300.
Further, the connection between the first fixing seat 21, the third fixing seat 31 and the cleaning device 200 and the connection between the second fixing seat 22 and the fourth fixing seat 32 and the body bracket 300 may be through screwing, riveting, welding, and the like, and the specific connection is not limited. For example, the first fixing seat 21, the third fixing seat 31, the second fixing seat 22 and the fourth fixing seat 32 all include threaded holes, and the first fixing seat 21, the third fixing seat 31 and the cleaning device 200 are connected through threads, and the second fixing seat 22 and the fourth fixing seat 32 are connected to the body bracket 300.
Please refer to fig. 2 to 4. The cleaning device 200 may include a cleaning housing 210, a first rolling brush 220, a second rolling brush 230, a dust box 240, and a scraper 250. Wherein, clean casing 210 includes roof 211 and opening, and the opening sets up towards ground, and first fixing base 21 and third fixing base 31 are fixed in on the roof 211 of clean casing 210 respectively. The first rolling brush 220 and the second rolling brush 230 are disposed in the opening of the cleaning housing 210, and the first rolling brush 220 is close to the top plate 211 to prevent the garbage from being caught between the first rolling brush 220 and the top plate 211. The second roll brush 230 has a gap with the top plate 211. The first round brush 220 is disposed near a side on which the cleaning robot 1000 travels. The first and second roll brushes 220 and 230 are in contact and arranged parallel to each other. The dust box 240 is connected to the cleaning housing 210 near the second rolling brush 230, the dust box 240 is provided with an inlet disposed toward the second rolling brush 230, and a scraper 250 is disposed at one side of the inlet near the ground. The scraper 250 is fixed to the cleaning housing 210, and the scraper 250 extends toward the second drum brush 230 to scrape off the garbage attached to the second drum brush 230. The cleaning device 200 further includes a plurality of spraying members 260, the plurality of spraying members 260 are disposed at intervals on one side of the cleaning housing 210 facing the traveling direction of the cleaning robot 1000, and the spraying members 260 are used for spraying atomized liquid, which may be detergent, water, etc., to the first rolling brush 220 and the floor, so as to improve the cleaning effect of the cleaning robot 1000.
When the cleaning robot 1000 cleans, the driving assembly 10 drives the cleaning device 200 to move towards the ground in a direction perpendicular to the ground, and the first connecting rod 23 and the second connecting rod 33 rotate around the second fixing seat 22 and the fourth fixing seat 32, respectively, so that the cleaning device 200 is far away from the body bracket 300. When the first and second rolling brushes 220 and 230 are applied to the ground. The cleaning apparatus 200 is operated and the spray member 260 sprays the atomized liquid toward the first brush roll 220 and the floor.
Further, the cleaning device 200 further includes a roller brush driving motor 270, and the roller brush driving motor 270 may be fixed to the top plate 211 of the cleaning housing 210. The drum brush driving motor 270 may include a plurality of motors, and each of the drum brush driving motors 270 may be connected to one ends of the first and second drum brushes 220 and 230, respectively, in a gear connection, a conveyor belt connection, or the like. For example, in some examples, each of the roller brush drive motors 270 includes a drive pulley, a driven pulley, and a conveyor belt. Each of the driven pulleys is fixed at one end of the first rolling brush 220 and one end of the second rolling brush 230, the driving pulley is connected with the driven pulley by the transmission belt, the driving pulley is driven by the rolling brush driving motor 270 to rotate, and the first rolling brush 220 and the second rolling brush 230 are driven to rotate by the driven pulley driven by the transmission belt. When the drum brush driving motor 270 operates, the drum brush driving motor 270 may drive the first drum brush 220 to rotate clockwise and the second drum brush 230 to rotate counterclockwise, so that the garbage on the ground is drawn into the opening of the cleaning housing 210 by the first drum brush 220 and the second drum brush 230, and then falls into the dust box 240 from the gap between the second drum brush 230 and the top plate 211, and simultaneously the scraper 250 contacts the second drum brush 230 to scrape the garbage attached to the second drum brush 230 into the dust box 240. When the cleaning robot 1000 stops cleaning the floor. The spray member 260 stops spraying the atomized liquid to the first brush roll 220 and the floor, and the first and second brush rolls 220 and 230 stop rotating. The driving assembly 10 drives the cleaning apparatus 200 to move toward the body bracket 300 in a direction perpendicular to the floor surface so that the first and second roll brushes 220 and 230 are separated from the floor surface.
In summary, in the adjusting device 100, the body bracket 300 and the cleaning device 200 of the cleaning robot 1000 of the present application, the driving assembly 10 drives the cleaning device 200 to move in a direction perpendicular to the ground by the arrangement of the driving assembly 10, the first adjusting assembly 20 and the second adjusting assembly 30. So that the first and second roll brushes 220 and 230 can be attached to the floor to sweep the garbage into the dust box 240 during the cleaning process of the cleaning robot 1000. In this way, the cleaning robot 1000 can adapt to different floor conditions. Thereby, the cleaning effect of the cleaning robot 1000 is improved, and the user experience is satisfied.
Referring to fig. 3 and 5, in some embodiments, the driving assembly 10 includes a mounting portion 11, the mounting portion 11 is disposed on a side of the driving assembly 10 away from the ground, the mounting portion 11 includes a rotating rod 111, the driving assembly 10 is movably connected to the body bracket 300 through the rotating rod 111, and the driving assembly 10 can rotate around the rotating rod 111.
Specifically, the body bracket 300 includes a mounting hole 310, and the driving assembly 10 is coupled to the body bracket 300 by penetrating the mounting hole 310 of the body bracket 300 through the rotating lever 111. The driving assembly 10 is movable relative to the body bracket 300 about the rotating rod 111. The cleaning robot 1000 further includes a driving wheel 500 and a guide wheel 400. The cleaning robot 1000 moves by the driving wheels 500 and the guide wheels 400 when cleaning the floor. Wherein, the guide wheel 400 is disposed at a side of the body bracket 300 close to the cleaning robot 1000 to contact with the ground and is spaced apart from the cleaning device 200, and the guide wheel 400 is used to adjust the advancing direction of the cleaning robot 1000. One end of the driving wheel 500 is connected to the body bracket 300 and the other end is in contact with the ground. The driving wheel 500 is also spaced apart from the cleaning device 200. The driving wheels 500 are used to drive the cleaning robot 1000 to travel.
It can be understood that the cleaning robot 1000 is moved by the driving wheels 500 and the guide wheels 400 during the cleaning process of the cleaning robot 1000. And the cleaning apparatus 200 is brought into contact with the floor surface by the driving of the driving assembly 10 to clean the floor surface. If the floor is not good enough, for example, a deceleration strip or a raised obstacle is encountered, the floor and the cleaning device 200 may be pressed against each other, so that one side of the cleaning robot 1000 is lifted, and the guide wheel 400 falls off the floor, so that the cleaning robot 1000 cannot move in the predetermined direction. Through the arrangement of the rotating rod 111, if the ground is not good, the raised ground is pressed against the cleaning device 200, the cleaning device 200 acts on the driving assembly 10, and the driving assembly 10 can rotate a certain angle around the rotating rod 111, so that the ground is prevented from extruding the cleaning device 200 to influence the movement of the cleaning robot 1000.
Thus, through the arrangement of the rotating rod 111, the driving assembly 10 can rotate relative to the body bracket 300 around the rotating rod 111 during the cleaning process of the cleaning robot 1000. So that the cleaning robot 1000 can normally clean the floor without being disturbed by the terrain.
In certain embodiments, the drive assembly 10 further includes a drive motor 12 and a first connection 13. The driving motor 12 includes a driving portion 121, and the driving portion 121 extends from a side away from the mounting portion 11. The first connecting portion 13 is fixedly connected to the driving portion 121, and the driving motor 12 drives the driving portion 121 to drive the first connecting portion 13 to move.
Specifically, the driving motor 12 may drive the extension and contraction of the driving part 121 in the vertical direction of the ground. The drive motor 12 may be a linear motor. The driving portion 121 and the first connecting portion 13 may be connected by various connection methods, such as welding, riveting, clamping, screwing, and the like, and are not limited specifically. For example, the driving portion 121 and the first connecting portion 13 may be screwed, and the driving portion 121 and the first connecting portion 13 are respectively provided with a screw hole, and the driving portion 121 and the first connecting portion 13 are fixedly connected by a screw.
Referring to fig. 6, in some embodiments, the first connecting portion 13 includes a first connecting member 131 and a second connecting member 132. The first connecting member 131 is fixedly connected to the driving portion 121, the second connecting member 132 is provided with a through slot 1321, and the first connecting member 131 is fixedly connected to the second connecting member 132 through the through slot 1321.
Specifically, one side of the first connecting member 131 close to the driving part 121 includes an open slot 1311, and the first connecting member 131 is sleeved on the driving part 121 through the open slot 1311. A through slot 1321 is formed in the middle of the second connecting member 132, and the second connecting member 132 is sleeved into the first connecting member 131 through the through slot 1321 and is fixedly connected through a bolt. The second connecting member 132 may be integrally formed from a metal plate, and the specific material is not limited. For example, the second connecting member 132 may be integrally formed of a steel plate.
Referring to fig. 3 and 7, in some embodiments, the driving assembly 10 further includes a second connecting portion 14, the second connecting portion 14 is fixedly connected to the cleaning device 200, the second connecting portion 14 includes a main body 141 and a side plate 142 extending from two sides of the main body 141 to the first connecting portion 13 along a direction perpendicular to the ground, the main body 141 and the side plate 142 form a groove 143, and the first connecting portion 13 is movably disposed in the groove 143.
Specifically, the second connecting portion 14 further includes a mounting seat 144, and the mounting seat 144 can be fixedly connected to the side plate 142 of the second connecting portion 14 and the top plate 211 of the cleaning housing 210 by screws. Thereby fixedly connecting the second connecting portion 14 with the cleaning device 200 through the mounting seat 144. The side plate 142 further includes a limiting hole 1421, and the limiting hole 1421 is disposed opposite to the fixed positions of the first connecting member 131 and the second connecting member 132. When the cleaning robot 1000 cleans, the cleaning device 200 is pressed against the ground, and if the ground is bad, the cleaning device 200 drives the second connecting portion 14 to move relative to the first connecting portion 13, and the limiting hole 1421 is a range of movement of the second connecting portion 14 relative to the first connecting portion 13. In this way, the second connecting portion 14 is arranged such that the cleaning device 200 can move relative to the driving assembly 10 during the cleaning process of the cleaning robot 1000.
Referring to fig. 3, in some embodiments, the main body frame 300 further includes a limiting structure 320, the second connecting portion 14 further includes a guide rod 145, the guide rod 145 penetrates through the limiting structure 320 and is fixedly connected to the side plate 142, and when the driving assembly 10 drives the cleaning device 200 to move along the direction perpendicular to the ground, the guide rod 145 moves along the direction perpendicular to the ground in the limiting structure 320.
Specifically, the limiting structure 320 is disposed on one side of the body bracket 300 close to the ground, the limiting structure 320 includes a limiting groove 321, and the guide rod 145 of the second connecting portion 14 is movably connected with the limiting groove 321 of the limiting structure 320. When the driving assembly 10 drives the cleaning device 200 to move in a direction perpendicular to the floor, the cleaning device 200 drives the second connecting portion 14, so that the guide rod 145 moves in the limiting groove 321.
In this way, the second connecting portion 14 is connected to the limiting structure 320 fixed on the body bracket 300 through the guide rod 145, so that the cleaning device 200 is connected to the body bracket 300, the cleaning device 200 can move in the direction perpendicular to the ground, and the cleaning device 200 is prevented from shaking violently during the cleaning process of the cleaning robot 1000.
Referring to fig. 2, 6 and 7, in some embodiments, the driving assembly 10 further includes a first elastic element 15. The first elastic element 15 is disposed on the second connecting member 132 in a penetrating manner, one end of the first elastic element 15 abuts against the body 141 of the second connecting portion 14, and when the driving assembly 10 drives the cleaning device 200 to approach the ground, the first elastic element 15 abuts against the second connecting portion 14 so that the cleaning device 200 is attached to the ground.
Specifically, both sides of the through slot 1321 of the second connector 132 include through holes 1322. The first elastic element 15 may include a plurality of first elastic elements 15, and one end of each of the plurality of first elastic elements 15 may penetrate through the through hole 1322 to be pressed against the body 141 of the second connecting portion 14. The first elastic element 15 can adjust the relative position of the first connecting portion 13 and the second connecting portion 14. The driving assembly 10 drives the cleaning device 200 to move towards the ground along a direction perpendicular to the ground, when the cleaning device 200 contacts the ground, the cleaning device 200 generates a reaction force, the first connecting portion 13 and the second connecting portion 14 press the first elastic element 15, so that the first elastic element 15 generates elastic deformation to play a role in buffering, and the elastic deformation generated by the first elastic element 15 enables the first rolling brush 220 and the second rolling brush 230 to be attached to the ground. When the cleaning device 200 is used for cleaning the floor, if the floor is not good, the floor presses the first rolling brush 220 or the second rolling brush 230, the cleaning device 200 drives the second connecting portion 14 to move relative to the first connecting portion 131, and presses the first elastic element 15 on one side, and the first elastic element 15 can ensure that the first rolling brush 220 and the second rolling brush 230 are always attached to the floor when the cleaning robot 1000 cleans the floor, so that a better cleaning effect is achieved. In this way, through the arrangement of the first elastic element 15, the first elastic element 15 can play a role in buffering between the driving assembly 10 and the cleaning device 200 to adapt to different conditions of the floor during the floor cleaning process of the cleaning robot 1000.
Referring to fig. 8, in some embodiments, the adjusting device 100 further includes a supporting member 40, the supporting member 40 includes opposite fixing ends 41, and the supporting member 40 is fixedly connected to the first link 23 and the second link 33 through the fixing ends 41.
Specifically, the support 40 is connected to the first link 23 and the second link 33 through the fixed end 41 at the side of the first link 23 and the second link 33 close to the cleaning device 200, respectively. The supporting member 40 may be integrally formed of a metal sheet. Through the arrangement of the supporting member 40, the first connecting rod 23 and the second connecting rod 33 are relatively fixed, so that the shaking of the cleaning device 200, which drives the first connecting rod 23 and the second connecting rod 33 under the action of the ground, of the cleaning robot 1000 in the process of cleaning the ground is reduced.
In some embodiments, the adjusting device 100 further includes a second elastic element 50, the second elastic element 50 includes a plurality of parts, a portion of the second elastic element 50 is fixedly connected to the fixed end 41 and the first link 23, and a portion of the second elastic element 50 is fixedly connected to the fixed end 41 and the second link 33.
It can be appreciated that the cleaning device 200 moves in conformity with the floor surface during the cleaning of the floor surface by the cleaning robot 1000. If the ground is bad, the raised ground presses the cleaning device 200 to drive the first link 23 and the second link 33 to press the support member 40. The fixed end portions 41 at both sides of the support 40 are connected to the first link 23 and the second link 33 by the second elastic member 50, respectively, so that the first link 23 and the second link 33 buffer the pressing of the support 40. Meanwhile, the second elastic element 40 can also reduce the shaking of the cleaning device 200, so that the cleaning device 200 can be always attached to the ground.
Referring to fig. 9, the present application also provides a cleaning robot 1000, and the cleaning robot 1000 includes the adjusting device 100, the cleaning device 200, and the body bracket 300 according to any one of the embodiments. Wherein the adjusting device 100 is connected with the cleaning device 200 and the body bracket 300, respectively. The cleaning apparatus 200 is mounted on the body frame 300 by the adjusting apparatus 100.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. An adjusting device for a cleaning robot including a body bracket and a cleaning device mounted on the body bracket, the adjusting device comprising:
the driving assembly can drive the cleaning device to move along the direction vertical to the ground;
the first adjusting assembly comprises a first fixed seat, a second fixed seat and a first connecting rod, the first fixed seat is fixed on the cleaning device, the second fixed seat is fixed on the body support, and the first connecting rod is movably connected with the first fixed seat and the second fixed seat respectively;
the second adjusting assembly comprises a third fixed seat, a fourth fixed seat and a second connecting rod, the third fixed seat is fixed on the cleaning device, the fourth fixed seat is fixed on the body bracket, and the second connecting rod is movably connected with the third fixed seat and the fourth fixed seat respectively;
the first connecting rod and the second connecting rod drive the cleaning device to be close to or far away from the body support when the driving assembly drives the cleaning device to move in the direction vertical to the ground.
2. The adjustment device of claim 1, wherein the drive assembly comprises:
the installation department, the installation department set up in drive assembly keeps away from one side on ground, the installation department includes the dwang, drive assembly passes through the dwang with body support swing joint, drive assembly can wind the dwang rotates.
3. The adjustment device of claim 2, wherein the drive assembly comprises:
the driving motor comprises a driving part, and the driving part extends out of one side far away from the mounting part;
the first connecting part is fixedly connected with the driving part, and the driving motor drives the driving part to drive the first connecting part to move.
4. The adjusting device according to claim 3, wherein the first connecting portion comprises a first connecting member and a second connecting member, the first connecting member is fixedly connected with the driving portion, the second connecting member is provided with a through groove, and the first connecting member is fixedly connected with the second connecting member through the through groove.
5. The adjustment device of claim 4, wherein the drive assembly further comprises:
the second connecting portion, the second connecting portion with cleaning device fixed connection, the second connecting portion include the body and certainly the both sides of body along with ground vertically direction to first connecting portion along stretching the curb plate that sets up, the body with the curb plate forms the recess, first connecting portion movably sets up in the recess.
6. The adjustment device of claim 5, wherein the body bracket further comprises a limiting structure, the second connection portion further comprising:
the guide rod penetrates through the limiting structure and is fixedly connected with the side plate, and when the driving assembly drives the cleaning device to move in the direction vertical to the ground, the guide rod moves in the limiting structure in the direction vertical to the ground.
7. The adjustment device of claim 6, wherein the drive assembly further comprises:
the first elastic element penetrates through the second connecting piece, one end of the first elastic element is abutted to the body of the second connecting portion, and when the driving assembly drives the cleaning device to be close to the ground, the first elastic element is abutted to the second connecting portion so that the cleaning device is attached to the ground.
8. The adjustment device of claim 1, further comprising:
the support piece comprises opposite fixed end portions, and the support piece is fixedly connected with the first connecting rod and the second connecting rod through the fixed end portions respectively.
9. The adjustment device of claim 8, further comprising:
and the second elastic elements comprise a plurality of second elastic elements, part of the second elastic elements are fixedly connected with the fixed end parts and the first connecting rods, and part of the second elastic elements are fixedly connected with the fixed end parts and the second connecting rods.
10. A cleaning robot comprising a body frame, a cleaning device mounted on the body frame, and an adjustment device according to any one of claims 1-9.
CN202010025726.6A 2020-01-10 2020-01-10 Adjusting device and cleaning robot with same Pending CN111202473A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010025726.6A CN111202473A (en) 2020-01-10 2020-01-10 Adjusting device and cleaning robot with same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010025726.6A CN111202473A (en) 2020-01-10 2020-01-10 Adjusting device and cleaning robot with same

Publications (1)

Publication Number Publication Date
CN111202473A true CN111202473A (en) 2020-05-29

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Family Applications (1)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07236604A (en) * 1994-02-28 1995-09-12 Amano Corp Floor surface polishing machine having pad pressing force adjusting function
CN201948948U (en) * 2011-01-20 2011-08-31 广东白云清洁科技有限公司 Angle and height regulating structure for brush disc of ground washing vehicle
CN204654824U (en) * 2015-06-05 2015-09-23 福建农林大学 A kind of intelligent floor-sweeping floor-mopping robot
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108937751A (en) * 2018-07-28 2018-12-07 安徽南博机器人有限公司 A kind of adjustable floor-cleaning machine of round brush

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07236604A (en) * 1994-02-28 1995-09-12 Amano Corp Floor surface polishing machine having pad pressing force adjusting function
CN201948948U (en) * 2011-01-20 2011-08-31 广东白云清洁科技有限公司 Angle and height regulating structure for brush disc of ground washing vehicle
CN204654824U (en) * 2015-06-05 2015-09-23 福建农林大学 A kind of intelligent floor-sweeping floor-mopping robot
CN108685527A (en) * 2018-04-03 2018-10-23 黄永怀 A kind of intelligent robot for dedusting
CN108937751A (en) * 2018-07-28 2018-12-07 安徽南博机器人有限公司 A kind of adjustable floor-cleaning machine of round brush

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