CN112914431A - Cleaning assembly and cleaning robot - Google Patents
Cleaning assembly and cleaning robot Download PDFInfo
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- CN112914431A CN112914431A CN202110323260.2A CN202110323260A CN112914431A CN 112914431 A CN112914431 A CN 112914431A CN 202110323260 A CN202110323260 A CN 202110323260A CN 112914431 A CN112914431 A CN 112914431A
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- cleaning
- connecting rod
- cleaning module
- torsion
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses a cleaning assembly and a cleaning robot, wherein the cleaning assembly is arranged on a main body of the cleaning robot and comprises a cleaning module, a first connecting rod, a second connecting rod and a lifting driving device; the cleaning module is used for cleaning the surface to be cleaned; both ends of the first connecting rod and both ends of the second connecting rod are respectively connected to the cleaning module and the main body in a swinging manner so as to form a four-connecting-rod structure among the first connecting rod, the cleaning module, the second connecting rod and the main body, and the cleaning module is lifted or lowered by the reciprocating motion of the four-connecting-rod structure; the lifting driving device is used for driving the four-bar linkage structure to reciprocate. The four-bar linkage structure is driven by the lifting driving device to reciprocate, and the cleaning module can be lifted or lowered by the reciprocating motion of the four-bar linkage structure, so that the cleaning robot can lift or lower the cleaning module, and the adaptability of the cleaning robot is improved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning assembly and a cleaning robot.
Background
With the development of science and technology, cleaning robots are increasingly used in the lives of people. The cleaning robot comprises a cleaning module, and the cleaning robot can clean a surface to be cleaned by using the cleaning module. However, the cleaning module of the existing cleaning robot cannot be lifted and maintained at the lifted position, thereby being disadvantageous to improve the adaptability of the cleaning robot.
Disclosure of Invention
It is an object of the present invention to provide a cleaning assembly that can raise or lower a cleaning module to improve the adaptability of a cleaning robot.
Another object of the present invention is to provide a cleaning robot that can raise or lower a cleaning module to improve the adaptability of the cleaning robot.
In order to achieve the above object, the present invention provides a cleaning assembly mounted on a main body of a cleaning robot, the cleaning assembly including a cleaning module, a first link, a second link, and a lifting driving device; the cleaning module is used for cleaning a surface to be cleaned; both ends of the first connecting rod and both ends of the second connecting rod are respectively connected to the cleaning module and the main body in a swinging manner so as to form a four-connecting-rod structure among the first connecting rod, the cleaning module, the second connecting rod and the main body, and the cleaning module is lifted or lowered by the reciprocating motion of the four-connecting-rod structure; the lifting driving device is used for driving the four-bar linkage structure to reciprocate.
Optionally, the cleaning module comprises a mounting seat and a cleaning piece, the cleaning piece is fixedly or rotatably mounted on the mounting seat, and the cleaning module is connected with the first connecting rod and the second connecting rod through the mounting seat.
Optionally, the four-bar linkage is a parallelogram linkage.
Optionally, a connection position of the cleaning module and the first connecting rod and a connection position of the cleaning module and the second connecting rod are opposite to each other in the vertical direction, and a connection position of the main body and the first connecting rod and a connection position of the main body and the second connecting rod are opposite to each other in the vertical direction.
Optionally, the cleaning assembly further comprises a torque application device acting on the first link and/or the second link; when the cleaning module meets an obstacle, the four-bar linkage structure deforms to enable the cleaning module to be pushed upwards, and the torsion applying device is pushed by the four-bar linkage structure to store elastic potential energy; when the cleaning module is separated from the obstacle, the cleaning module is assisted to fall back downwards by the release of the elastic potential energy of the torsion force applying device.
Optionally, the lifting driving device includes a transmission structure, and the transmission structure can drive the first link to rotate in a first direction so as to lift the cleaning module upwards under the action of the four-bar linkage structure; the torque force applying device is arranged on the transmission structure, and the torque force applying device can be driven by the transmission structure to push the first connecting rod to rotate in a second direction so that the cleaning module falls back downwards under the action of the four-connecting-rod structure.
Optionally, the transmission structure comprises a rotating body on which the torque applying device is disposed; when the rotating body rotates in a third direction, the first connecting rod rotates in the first direction to enable the cleaning module to be lifted upwards; when the rotating body rotates in the fourth direction, the torsion applying device pushes the first connecting rod to rotate in the second direction so that the cleaning module falls back downwards.
Optionally, the torsion applying device comprises a torsion spring, and the torsion spring comprises a torsion spring body and a first torsion arm and a second torsion arm connected to the torsion spring body; the rotating body is provided with a shaft part, the torsion spring body is sleeved on the shaft part, the first torsion arm is clamped on the rotating body, and the second torsion arm acts on the first connecting rod; when the rotating body rotates in the fourth direction, the second torque arm is driven to press down the first connecting rod so as to enable the first connecting rod to rotate in the second direction; when the cleaning module meets an obstacle, the deformation of the four-bar linkage structure enables the second torsion arm to be pushed by the first connecting bar so that the torsion spring stores elastic potential energy.
Optionally, a protrusion is disposed on the rotating body, and when the rotating body rotates in a third direction, the protrusion pushes the first link to rotate in the first direction.
Optionally, the lifting driving device includes a rotating body, and the rotating body is fixedly connected to the first connecting rod.
Optionally, the cleaning assembly includes two cleaning modules arranged in parallel, and the first connecting rod and the second connecting rod are connected between the two cleaning modules and the main body; the lift drive device includes lift driving motor, drive mechanism, lead screw, slide and conduct two gears of rotator, lift driving motor passes through the drive mechanism transmission is connected the lead screw is with the drive the lead screw rotates, the slide with lead screw threaded connection in order to go up and down under the effect of lead screw, the relative both sides of slide are formed with two rack portions, two rack portion respectively with two gear engagement, two the gear is used for driving respectively and corresponds first connecting rod respectively.
Optionally, the cleaning assembly includes two cleaning modules arranged in parallel, and the first connecting rod and the second connecting rod are connected between the two cleaning modules and the main body; the lifting driving device comprises a lifting driving motor, a transmission mechanism, a worm and two worm gears serving as the rotating bodies, the lifting driving motor is in transmission connection with the worm through the transmission mechanism to drive the worm to rotate, and the two worm gears are respectively meshed with the two opposite sides of the worm and are used for driving the corresponding first connecting rods.
In order to achieve another object, the present invention provides a cleaning robot including the cleaning assembly as described above.
The four-bar linkage structure is driven by the lifting driving device to reciprocate, and the cleaning module can be lifted or lowered by the reciprocating motion of the four-bar linkage structure, so that the cleaning robot can lift or lower the cleaning module, and the adaptability of the cleaning robot is improved.
Drawings
Fig. 1 is a perspective view of a cleaning assembly according to a first embodiment of the present invention.
Fig. 2 is a perspective view of the cleaning assembly of fig. 1 from another perspective.
Fig. 3 is an exploded view of the cleaning assembly of fig. 1.
Fig. 4 is a schematic top view of the cleaning assembly of fig. 1.
Fig. 5 is a schematic sectional view taken along line a-a of fig. 4.
Fig. 6 is a schematic perspective view of fig. 1 with a part of the structure hidden.
Fig. 7 is a perspective view of fig. 1 from another perspective after a portion of the structure is hidden.
Fig. 8 is a perspective view of a cleaning assembly according to a second embodiment of the present invention.
Fig. 9 is a schematic top view of the cleaning assembly of fig. 1.
Fig. 10 is a schematic cross-sectional view taken along line B-B of fig. 9.
FIG. 11 is a cross-sectional view of a cleaning assembly according to a third embodiment of the present invention.
Fig. 12 is a perspective view of a cleaning assembly according to a fourth embodiment of the present invention.
The reference numbers illustrate:
Detailed Description
In order to explain technical contents, structural features, and effects of the present invention in detail, the following detailed description is given with reference to the embodiments and the accompanying drawings.
Fig. 1 to 7 show a cleaning assembly according to a first embodiment of the present invention, which is mounted on a main body (not shown) of a cleaning robot, the cleaning assembly including a cleaning module 1, a first link 2, a second link 3, and a lifting driving means; the cleaning module 1 is used for cleaning a surface to be cleaned; both ends of the first connecting rod 2 and both ends of the second connecting rod 3 are respectively connected to the cleaning module 1 and the main body in a swinging manner so as to form a four-connecting-rod structure among the first connecting rod 2, the cleaning module 1, the second connecting rod 3 and the main body, and the cleaning module 1 is lifted or lowered by the reciprocating motion of the four-connecting-rod structure; the lifting driving device is used for driving the four-bar linkage structure to reciprocate.
When the lifting driving device drives the four-bar linkage structure to reciprocate, the position of the main body of the four-bar linkage structure is relatively fixed, the first connecting rod 2 and the second connecting rod 3 rotate back and forth around the connecting positions of the first connecting rod 2 and the second connecting rod 3 on the main body, and the cleaning module 1 rises or falls along with the reciprocating motion of the four-bar linkage structure, so that the cleaning module 1 can be lifted or lowered according to needs, the adaptability of the cleaning robot is improved, for example, when the cleaning module 1 is too dirty and needs to return to be cleaned, the cleaning module 1 can be lifted through control, secondary pollution can be avoided, and meanwhile, the cleaning robot can rapidly advance.
In this embodiment, both ends of the first link 2 and both ends of the second link 3 are pivotally connected to the cleaning module 1 and the main body, respectively.
In this embodiment, the first link 2 and the second link 3 may be connected to the same structure of the main body at the same time, or may be connected to different structures of the main body. Alternatively, the first link 2 and the second link 3 may be connected to a housing of the main body.
In this embodiment, the cleaning module 1 includes a mounting seat 10 and a cleaning member 11, the cleaning member 11 is mounted on the mounting seat 10, and the cleaning module 1 is connected to the first link 2 and the second link 3 through the mounting seat 10.
Referring to fig. 1, specifically, the mounting base 10 includes a mounting base body 101 and a third connecting rod 102, the cleaning member 11 is mounted on the mounting base body 101, the third connecting rod 102 is fixedly connected to the mounting base body 101, and the mounting base 10 is connected to the first connecting rod 2 and the second connecting rod 3 through the third connecting rod 102.
In particular, the cleaning member 11 is rotatably mounted to the mounting base 10, and furthermore, the cleaning member may be fixedly mounted to the mounting base 10. In order to rotate the cleaning elements 11, a rotary drive motor 12 can be mounted on the mounting base 10 and can be in driving connection with the cleaning elements 11.
Referring to fig. 1 and 5, in a specific example, the mounting base body 101 includes a base 103 and a side plate 104, the rotary driving motor 12 is mounted on the base 103, an output shaft 121 of the rotary driving motor 12 extends downward out of the base 103 to be in transmission connection with the cleaning member 11, and the third connecting rod 102 is mounted on the side plate 104.
Of course, the cleaning elements 11 may also be fixedly mounted on the mounting base 10, and the invention is not limited thereto.
In a specific example, the cleaning module 1 is a floor mopping module, but it should not be limited thereto, for example, the cleaning module 1 may also be a floor sweeping module.
In summary, the cleaning module 1 is not limited in any way to the invention.
In this embodiment, the four-bar linkage is preferably a parallelogram linkage.
Specifically, the connection position of the cleaning module 1 and the first link 2 and the connection position of the cleaning module 1 and the second link 3 are vertically opposite, and the connection position of the main body and the first link 2 and the connection position of the main body and the second link 3 are vertically opposite. By this technical means, the cleaning module 1 can be lifted and lowered in the vertical direction. Of course, the cleaning module 1 is not limited to being lifted and lowered in the vertical direction.
Optionally, the cleaning module 1 is pivoted to the first link 2, the cleaning module 1 is pivoted to the second link 3, the main body is pivoted to the first link 2, and the main body is pivoted to the second link 3.
In this embodiment, the cleaning assembly further comprises a torque application means acting on the first link 2 and/or the second link 3; when the cleaning module 1 meets an obstacle, the four-bar structure deforms to enable the cleaning module 1 to be pushed upwards, and the torsion applying device is pushed by the four-bar structure to store elastic potential energy; when the cleaning module 1 is separated from the obstacle, the cleaning module 1 is assisted by the release of the elastic potential energy of the torsion applying device and falls back downwards. Through the setting of torsion applying device, when cleaning robot cleaned unevenness's the face of waiting to clean, be favorable to realizing that the self-adaptation of cleaning module 1 floats.
The present invention is not limited with respect to the specific form and arrangement of the "torque application means".
Specifically, the lifting driving device comprises a transmission structure, and the transmission structure can drive the first connecting rod 2 to rotate in a first direction so as to enable the cleaning module 1 to be lifted upwards under the action of the four-connecting-rod structure; the torsion applying device is arranged on the transmission structure and can push the first connecting rod 2 to rotate in the second direction under the driving of the transmission structure so that the cleaning module 1 falls back downwards under the action of the four-connecting-rod structure.
Here, the first link 2 is defined as a link driven by the elevation driving means, and may be any one of two links between the cleaning module 1 and the main body; of course, the case where the first link 2 and the second link 3 are simultaneously driven by the elevation driving means is not excluded here. In a specific example, the first link 2 is located above the second link 3, but is not limited thereto. The transmission structure can be realized in various ways, as long as the transmission structure can drive the first connecting rod 2 to rotate in the first direction and can drive the torque applying device to push the first connecting rod 2 to rotate in the second direction. Of course, the case where the torsion applying means can push the first link 2 and the second link 3 at the same time is not excluded here.
Through setting up the torsion applying device on transmission structure, can utilize the cooperation of torsion applying device and first connecting rod 2 to realize the self-adaptation of cleaning module 1 on the one hand and float, on the other hand is convenient for realize the installation of torsion applying device.
Of course, the torque applying device in the present invention is not limited to be provided on the transmission structure. The torque application means may simply serve to assist the cleaning module 1 in self-adaptive flotation.
As an alternative implementation, the transmission structure comprises a rotating body 4, and the torsion applying device is arranged on the rotating body 4; when the rotating body 4 rotates in the third direction, the first link 2 rotates in the first direction to lift the cleaning module 1 upward; when the rotating body 4 rotates in the fourth direction, the torque force applying device pushes the first link 2 to rotate in the second direction so that the cleaning module 1 falls back down. The torsion applying device is arranged on the rotating body 4, so that the torsion applying device is driven to push the first connecting rod 2.
It should be noted that when the rotating body 4 rotates in the third direction, the first connecting rod 2 is preferably rotated in the first direction by the direct driving of the rotating body 4, but is not limited thereto, for example, the transmission structure may further include other structures for driving the first connecting rod 2 to rotate in the first direction. In addition, the embodiment that the rotating body 4 can directly drive the first link 2 and the second link 3 and the torsion applying device can directly push the first link 2 and the second link 3 is not excluded.
Preferably, the axis of rotation of the first link 2 substantially coincides with the axis of rotation of the rotary body 4. But is not limited thereto.
Specifically, the first link 2 is pivotally connected to the main body through a rotating shaft a, and the rotating body 4 is rotatably disposed on the rotating shaft a, for example, the rotating body 4 is in clearance fit with the rotating shaft a.
Referring to fig. 3 and 6, as a preferred implementation, the torsion applying device includes a torsion spring 5, the torsion spring 5 includes a torsion spring body 51, and a first torsion arm 52 and a second torsion arm 53 connected to the torsion spring body 51; the rotating body 4 is provided with a first shaft part 41, the torsion spring body 51 is sleeved on the first shaft part 41, the first torsion arm 52 is clamped on the rotating body 4, and the second torsion arm 53 acts on the first connecting rod 2; when the rotating body 4 rotates in the fourth direction, the second torque arm 53 is driven to press the first connecting rod 2 downwards so as to rotate in the second direction; when the cleaning module 1 encounters an obstacle, the deformation of the four-bar linkage structure causes the second torsion arm 53 to be pushed by the first link 2 so that the torsion spring 5 stores elastic potential energy, and when the cleaning module 1 is disengaged from the obstacle, the release of the elastic potential energy of the torsion spring 5 presses the first link 2 to assist the cleaning module 1 to fall back downwards. By this means, not only can the torsion spring 5 be stably provided on the rotating body 4, but also stable engagement of the torsion spring 5 and the first link 2 can be achieved.
It is to be noted that it is not excluded here that the torsion spring 5 acts both on the first link 2 and on the second link 3.
In order to stably mount the torsion spring 5 on the rotating body 4, the rotating body 4 is provided with a locking hole 42 to be locked with the first torsion arm 52 of the torsion spring 5.
Referring to fig. 7, as a preferred implementation manner, the rotating body 4 is provided with a protrusion 43, and when the rotating body 4 rotates in the third direction, the protrusion 43 pushes the first link 2 to rotate in the first direction. By this means, the first link 2 can be reliably pushed.
Referring to fig. 6 and 7, in a specific example, the first link 2 and the second link 3 are both plate-shaped, two ends of the first link 2 and the second link 3 are respectively provided with a rotating shaft a, b, c, d, and two ends of each rotating shaft a, b, c, d are respectively pivoted to the main body and the cleaning module 1. One end of the first connecting rod 2 is formed with a notch 21, and the rotating body 4 is partially located at the notch 21 and is in clearance fit with the rotating shaft a. The protruding portions 43 are provided on both side walls of the rotating body 4, but the protruding portions 43 are not limited to the side walls of the rotating body 4.
In a specific example, the rotary body 4 is a worm wheel. However, the rotating body 4 is not limited to the form of a worm wheel, and for example, in the second embodiment of the present invention, the rotating body 4 is a gear.
Referring to fig. 6, in a specific example, the cleaning assembly includes two cleaning modules 1 arranged in parallel, and a first connecting rod 2 and a second connecting rod 3 are connected between the two cleaning modules 1 and the main body; the lifting driving device comprises a lifting driving motor 6, a transmission mechanism 7, a worm 8 and two worm wheels serving as rotating bodies 4, the lifting driving motor 6 is in transmission connection with the worm 8 through the transmission mechanism 7 to drive the worm 8 to rotate, and the two worm wheels are respectively meshed with two opposite sides of the worm 8 and are used for driving the corresponding first connecting rods 2. By the technical means, the four-bar linkage structure can be reliably driven to reciprocate.
Referring to fig. 1 and 3, in a specific example, a cover G is disposed above the two worm wheels and the worm 8, a shaft hole G1 is formed on the cover G, and a second shaft portion 81 rotatably engaged with the shaft hole G1 is disposed at the top of the worm 8.
Figures 8 to 10 show a cleaning assembly according to a second embodiment of the present invention. The main difference between this embodiment and the first embodiment is the elevation drive.
Specifically, in this embodiment, the cleaning assembly includes two cleaning modules 1 arranged in parallel, and a first link 2 and a second link 3 are connected between the two cleaning modules 1 and the main body; the lifting driving device comprises a lifting driving motor 6 ', a transmission mechanism 7 ', a screw rod 8 ', a sliding seat 9 ' and two gears serving as rotating bodies 4 ', the lifting driving motor 6 ' is in transmission connection with the screw rod 8 ' through the transmission mechanism 7 ' to drive the screw rod 8 ' to rotate, the sliding seat 9 ' is in threaded connection with the screw rod 8 ' to lift under the action of the screw rod 8 ', two rack parts 91 ' are formed on two opposite sides of the sliding seat 9 ', the two rack parts 91 ' are respectively meshed with the two gears, and the two gears are respectively used for driving the corresponding first connecting rods 2. By means of the technical means, the four-bar structure can be reliably driven to reciprocate.
In particular, the slide 9 ' is slidingly arranged on the guide rod 92 ' to ensure a reliable sliding of the slide 9 '.
In this embodiment, the rotating body 4' plays the same role as the rotating body 4 in the first embodiment.
Referring to fig. 8 and 9, in a specific example, a cover G ' is disposed above the two gears and the slider 9 ', a screw hole G1 ' and a guide hole G2 ' are formed on the cover G ', the top of the screw 8 ' is disposed in the screw hole G1 ', and the guide rod 92 ' is disposed in the guide hole G2 '.
Figure 11 shows a cleaning assembly of a third embodiment of the present invention. The main difference between this embodiment and the first embodiment is that the rotating body 4 is not provided with a torque applying device, and the rotating body 4 is fixedly connected with the first connecting rod 2 to drive the first connecting rod 2 to rotate in the first direction and the second direction so as to reciprocate the four-bar linkage structure, thereby realizing the lifting of the cleaning module 1'. It is not excluded here that the rotary body 4 is fixedly connected both to the first connecting rod 2 and to the second connecting rod 3.
In particular, the first link 2 is pivoted to the body by a rotation axis a' on which the rotary body 4 is provided, preferably in the form of a key connection. The rotating body 4 rotates to drive the first connecting rod 2 to rotate through the rotating shaft a'.
In order to further enable an adaptive floating cleaning of the cleaning module 1 ', this embodiment has a spring T built into the cleaning module 1'. Of course, the embodiment can also adopt other ways to realize the self-adaptive floating of the cleaning module 1, for example, a torsion force applying device can be arranged to act on the four-bar structure.
Figure 12 shows a cleaning assembly of a fourth embodiment of the present invention.
The main difference between this embodiment and the second embodiment is that the rotating body 4 ' is not provided with a torsion applying device, and the first connecting rod 2 of the rotating body 4 ' is fixedly connected to drive the first connecting rod 2 to rotate in the first direction and the second direction so as to reciprocate the four-bar linkage structure, thereby realizing the lifting of the cleaning module 1 '. It is not excluded here that the rotary body 4' is fixedly connected both to the first connecting rod 2 and to the second connecting rod 3.
In particular, the first link 2 is pivoted to the body by means of a rotation axis a 'on which the rotation body 4' rests, preferably in the form of a key connection. When the rotating body 4 'rotates, the first connecting rod 2 is driven to rotate through the rotating shaft a'.
In order to further enable an adaptive floating cleaning of the cleaning module 1 ', this embodiment has a spring T built into the cleaning module 1'. Of course, the embodiment can also be used in other ways to achieve the self-adaptive floating of the cleaning module 1', for example, a torsion applying device can be arranged to act on the four-bar linkage structure.
In addition, the invention also discloses a cleaning robot which comprises the cleaning assembly.
The above disclosure is only a preferred embodiment of the present invention, which is convenient for those skilled in the art to understand and implement, and certainly not to limit the scope of the present invention, which is not intended to be covered by the present invention.
Claims (13)
1. A cleaning assembly mounted on a main body of a cleaning robot, the cleaning assembly comprising:
the cleaning module is used for cleaning a surface to be cleaned;
the two ends of the first connecting rod and the two ends of the second connecting rod are respectively connected to the cleaning module and the main body in a swinging mode so that a four-connecting-rod structure is formed among the first connecting rod, the cleaning module, the second connecting rod and the main body, and the cleaning module is lifted or lowered by the reciprocating motion of the four-connecting-rod structure; and
and the lifting driving device is used for driving the four-bar linkage structure to reciprocate.
2. The cleaning assembly of claim 1, wherein the cleaning module includes a mount and a cleaning member fixedly or rotatably mounted to the mount, the mount being connected to the first and second links.
3. The cleaning assembly of claim 1, wherein the four-bar linkage is a parallelogram linkage.
4. The cleaning assembly of claim 1, wherein the connection location of the cleaning module to the first link and the connection location of the cleaning module to the second link are vertically aligned, and the connection location of the main body to the first link and the connection location of the main body to the second link are vertically aligned.
5. The cleaning assembly of claim 1,
the torsion applying device acts on the first connecting rod and/or the second connecting rod;
when the cleaning module meets an obstacle, the four-bar linkage structure deforms to enable the cleaning module to be pushed upwards, and the torsion applying device is pushed by the four-bar linkage structure to store elastic potential energy;
when the cleaning module is separated from the obstacle, the cleaning module is assisted to fall back downwards by the release of the elastic potential energy of the torsion force applying device.
6. The cleaning assembly of claim 5,
the lifting driving device comprises a transmission structure, and the transmission structure can drive the first connecting rod to rotate in a first direction so as to enable the cleaning module to be lifted upwards under the action of the four-connecting-rod structure;
the torque force applying device is arranged on the transmission structure, and the torque force applying device can be driven by the transmission structure to push the first connecting rod to rotate in a second direction so that the cleaning module falls back downwards under the action of the four-connecting-rod structure.
7. The cleaning assembly of claim 6,
the transmission structure comprises a rotating body, and the torsion applying device is arranged on the rotating body;
when the rotating body rotates in a third direction, the first connecting rod rotates in the first direction to enable the cleaning module to be lifted upwards;
when the rotating body rotates in the fourth direction, the torsion applying device pushes the first connecting rod to rotate in the second direction so that the cleaning module falls back downwards.
8. The cleaning assembly of claim 7,
the torsion applying device comprises a torsion spring, and the torsion spring comprises a torsion spring body, a first torsion arm and a second torsion arm which are connected to the torsion spring body;
the rotating body is provided with a shaft part, the torsion spring body is sleeved on the shaft part, the first torsion arm is clamped on the rotating body, and the second torsion arm acts on the first connecting rod;
when the rotating body rotates in the fourth direction, the second torque arm is driven to press down the first connecting rod so as to enable the first connecting rod to rotate in the second direction;
when the cleaning module meets an obstacle, the deformation of the four-bar linkage structure enables the second torsion arm to be pushed by the first connecting bar so that the torsion spring stores elastic potential energy.
9. The cleaning assembly of claim 7, wherein the rotating body is provided with a protrusion, and when the rotating body rotates in the third direction, the protrusion pushes the first link to rotate in the first direction.
10. The cleaning assembly of claim 1, wherein the lift drive comprises a rotating body fixedly connected to the first link.
11. The cleaning assembly of any one of claims 7 to 10,
the cleaning assembly comprises two cleaning modules which are arranged in parallel, and the first connecting rod and the second connecting rod are connected between the two cleaning modules and the main body;
the lift drive device includes lift driving motor, drive mechanism, lead screw, slide and conduct two gears of rotator, lift driving motor passes through the drive mechanism transmission is connected the lead screw is with the drive the lead screw rotates, the slide with lead screw threaded connection in order to go up and down under the effect of lead screw, the relative both sides of slide are formed with two rack portions, two rack portion respectively with two gear engagement, two the gear is used for driving respectively and corresponds first connecting rod respectively.
12. The cleaning assembly of any one of claims 7 to 10,
the cleaning assembly comprises two cleaning modules which are arranged in parallel, and the first connecting rod and the second connecting rod are connected between the two cleaning modules and the main body;
the lifting driving device comprises a lifting driving motor, a transmission mechanism, a worm and two worm gears serving as the rotating bodies, the lifting driving motor is in transmission connection with the worm through the transmission mechanism to drive the worm to rotate, and the two worm gears are respectively meshed with the two opposite sides of the worm and are used for driving the corresponding first connecting rods.
13. A cleaning robot comprising a cleaning assembly as claimed in any one of claims 1 to 12.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110323260.2A CN112914431B (en) | 2021-03-25 | 2021-03-25 | Cleaning assembly and cleaning robot |
| EP22164247.3A EP4062817B1 (en) | 2021-03-25 | 2022-03-24 | Cleaning assembly and cleaning robot |
| US17/704,033 US20220304536A1 (en) | 2021-03-25 | 2022-03-25 | Cleaning assembly and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110323260.2A CN112914431B (en) | 2021-03-25 | 2021-03-25 | Cleaning assembly and cleaning robot |
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| Publication Number | Publication Date |
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| CN112914431A true CN112914431A (en) | 2021-06-08 |
| CN112914431B CN112914431B (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110323260.2A Active CN112914431B (en) | 2021-03-25 | 2021-03-25 | Cleaning assembly and cleaning robot |
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| Country | Link |
|---|---|
| US (1) | US20220304536A1 (en) |
| EP (1) | EP4062817B1 (en) |
| CN (1) | CN112914431B (en) |
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| CN115769996A (en) * | 2021-09-06 | 2023-03-10 | 追觅创新科技(苏州)有限公司 | Cleaning device and cleaning equipment |
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Also Published As
| Publication number | Publication date |
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| EP4062817B1 (en) | 2023-08-16 |
| EP4062817A1 (en) | 2022-09-28 |
| US20220304536A1 (en) | 2022-09-29 |
| CN112914431B (en) | 2022-06-21 |
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Address after: 518000, Building 1, Yunzhongcheng A2901, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Address before: 523000 room 508, unit 1, building 17, No.4, Xinzhu Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. |
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