CN113974491B

CN113974491B - Rolling brush quick detach system and intelligent robot of sweeping floor

Info

Publication number: CN113974491B
Application number: CN202111215456.6A
Authority: CN
Inventors: 李振; 骆杨; 苗凯; 韩璞; 谢伟; 王生贵
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2023-06-27
Anticipated expiration: 2041-10-19
Also published as: CN113974491A

Abstract

The application relates to a round brush quick detach structure and intelligent robot of sweeping floor. The roll brush quick detach system includes: the baffle is detachably arranged on the side face of the intelligent sweeping robot; the swing arm is arranged on the side surface of the baffle and is connected with the rolling brush; the balance shaft penetrates through the intelligent sweeping robot and is connected with the swing arm; and the locking device penetrates through the swing arm and is connected with the balance shaft so as to be used for fastening the swing arm. Through the scheme, the roller brush can be quickly and conveniently disassembled and assembled under the condition of simple work and even no tool.

Description

Rolling brush quick detach system and intelligent robot of sweeping floor

Technical Field

The application relates to the technical field of intelligent cleaning, in particular to a rolling brush quick-release system and an intelligent sweeping robot.

Background

With the development of automation technology and artificial intelligence, the requirements of intelligent robots are becoming more and more widespread. The intelligent sweeping robot is suitable for various outdoor environments, such as: scenic spots, industrial parks, plant roads, etc.

The existing intelligent sweeping robots are roughly divided into two types, namely a vacuum sweeping robot and a rolling brush sweeping robot. The rolling brush type floor sweeping robot is characterized in that a plurality of rolling brushes are arranged at the bottom of the robot, and the kinetic energy of the rolling brushes is utilized to sweep garbage and sand into a dustbin, so that the cleaning purpose is realized. In the use of intelligent robot that sweeps floor, often need dismantle the round brush from intelligent robot body that sweeps floor and wash, change. However, in the prior art, when the rolling brush on the robot body is detached, special supporting detaching tools are often required to be used by professional technicians, and extremely high requirements are provided for the professionality of the technicians and the suitability of detaching work.

Therefore, it is urgently required to design a rolling brush quick-dismantling structure with simple structure and easy disassembly and an intelligent sweeping robot.

Disclosure of Invention

Based on the above, it is necessary to provide a rolling brush quick-dismantling structure with simple structure and easy disassembly and an intelligent sweeping robot aiming at the technical problems.

In one aspect, a round brush quick detach system installs on intelligent robot of sweeping floor, round brush quick detach system includes: the baffle is detachably arranged on the side face of the intelligent sweeping robot; the swing arm is arranged on the side surface of the baffle and is connected with the rolling brush; the balance shaft penetrates through the intelligent sweeping robot and is connected with the swing arm; and the locking device penetrates through the swing arm and is connected with the balance shaft so as to be used for fastening the swing arm. The locking device is used for locking the swing arm, so that the beneficial effect that the rolling brush can be rapidly disassembled is achieved.

Further, the baffle is detachably mounted on the intelligent sweeping robot in a hanging, clamping and/or bolting mode. The baffle plate can be mounted and dismounted by using simple tools even without using work.

Further, a through hole is formed in the baffle; a pressure head shaft is arranged in the through hole and fixedly connected with the rolling brush; and a bearing seat is sleeved outside the pressure head shaft. The rolling brush can rotate along with the pressure head shaft, so that the beneficial effect of cleaning the ground is realized; the bearing seat is sleeved outside the pressure head shaft, so that the abrasion degree of the pressure head shaft can be reduced, and the stability of the pressure head shaft can be improved.

Further, the locking device is a handle and a connecting rod; the connecting rod is connected with the balance shaft through threads or clamping grooves. The locking effect on the swing arm and the rolling brush is realized through the cooperation operation of the handle and the connecting rod; in the process of dismounting and mounting the swing arm, a worker uses the handle as a stress point, and the swing arm can be dismounted only by small force.

Further, a first mounting hole and a second mounting hole are formed in the swing arm; the bearing seat passes through the first mounting hole and is fixedly connected with the baffle plate; and a thrust bearing is arranged in the second mounting hole. The swing arm is connected with the rolling brush and the balance shaft.

Further, the thrust bearing includes: the shaft barrel penetrates through the second mounting hole; the transverse section of the outer ring of the shaft cylinder is non-circular, so that the shaft cylinder and the second mounting hole cannot mutually rotate in the process of floating the swing arm up and down; the shaft collar is arranged at the front end of the shaft barrel and fixed on the swing arm, so that the stability of the whole thrust bearing is improved; the shaft shoulder is arranged at the tail end of the shaft barrel and used for preventing the connecting rod from falling off, so that the connecting rod cannot fall off from the thrust sleeve in the process of disassembling the rolling brush, and meanwhile, the connecting rod is more smoothly connected with the balance shaft in the process of installing the swing arm.

Further, the balance shaft penetrates through the shaft collar and is positioned in the shaft barrel; the connecting rod penetrates through the shaft shoulder, is positioned in the shaft cylinder and is connected with the balance shaft. On one hand, the balance shaft is connected with the connecting rod more tightly, and on the other hand, friction force among the balance shaft, the connecting rod and the second mounting hole is reduced.

Further, the connecting rod is in threaded connection with the balance shaft; the connecting rod is a screw rod, and the end part of the balance shaft is provided with a screw hole in threaded connection with the screw rod. The connecting rod is more tightly connected with the balance shaft, and has the beneficial effects of simple structure and low manufacturing difficulty.

Further, a floating hole is formed in the baffle; the pressure head shaft penetrates through the floating hole and is fixedly connected with the rolling brush. So that the rolling brush can float up and down in a certain height, and the damage of the ground to the rolling brush is reduced while the cleaning capability of the rolling brush is ensured. The baffle is detachably arranged on the intelligent sweeping robot through a plurality of butterfly nuts. The baffle is provided with a floating hole; the pressure head shaft penetrates through the floating hole and is fixedly connected with the rolling brush. The baffle stability is ensured, and meanwhile, a worker can disassemble and assemble the baffle by using simple work even without tools.

On the other hand, the intelligent floor sweeping robot comprises a robot body, wherein a rolling brush quick-release system is arranged on the robot body.

The rolling brush quick-release system comprises a baffle detachably arranged on the intelligent sweeping robot; a balance shaft transversely penetrating through the intelligent sweeping robot; swing arms with two ends respectively connected with the rolling brush and the balance shaft; and the locking device penetrates through the swing arm and is connected with the balance shaft. The swing arm is firmly fixed when the locking device is locked, so that the rolling brush quick-release system can be kept in a stable state in the working process of the intelligent sweeping robot, and the ground is cleaned. When the rolling brush needs to be detached from the intelligent sweeping robot, the locking device is opened, so that the rolling brush is smoothly detached from the intelligent sweeping robot. The rolling brush quick-dismantling system and the intelligent sweeping robot can achieve the beneficial effects of simple structure and simplicity and convenience in disassembly.

Drawings

FIG. 1 is a schematic diagram (I) of an intelligent sweeping robot in an embodiment;

FIG. 2 is a schematic diagram (II) of an intelligent sweeping robot in an embodiment;

FIG. 3 is a schematic diagram of a quick-release system of a roller brush according to an embodiment;

FIG. 4 is an enlarged view of a portion of FIG. 1 at A;

FIG. 5 is a partial enlarged view at B in FIG. 2;

FIG. 6 is a schematic diagram of the mounting structure of a large and small roll brush motor in one embodiment;

fig. 7 is a schematic diagram of a connection structure between a balance shaft and a connecting rod in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

Example 1

As shown in fig. 3 to 7, a quick-release system for a roller brush is installed on an intelligent sweeping robot, and includes: the rolling brush assembly is a double rolling brush, the small rolling brush 118 is arranged on the front side of the intelligent sweeping robot in the working running direction, the large rolling brush 111 is arranged on the rear side of the intelligent sweeping robot in the working running direction, and the large rolling brush 111 and the small rolling brush 118 are arranged on the intelligent sweeping robot through baffles on two sides of the machine; the baffle comprises a left baffle 113 and a right baffle 107 which are detachably arranged on two sides of the intelligent sweeping robot, and the installation positions of the left baffle 113 and the right baffle 107 are not limited, and the baffle is only required to be detachably arranged on two sides of the intelligent sweeping robot; swing arms including a left swing arm 109 provided outside the left barrier 113 and a right swing arm located outside the right barrier 107; the balance shaft 105 penetrates through the intelligent sweeping robot and is rotatably connected with one end of the right swing arm 102; locking means for securing the right swing arm 102.

In one embodiment, the axes of the small roller brush 118, the large roller brush 111 and the balance 105 are disposed parallel to each other.

In a specific embodiment, the right baffle 107 is detachably mounted on the intelligent sweeping robot by means of a hanging connection, a clamping connection and/or a bolting connection. When the right baffle 107 is detachably mounted on the intelligent sweeping robot in a hanging manner, a plurality of hooks are arranged on the robot body of the intelligent sweeping robot, a plurality of hanging rings are arranged on the right baffle 107 corresponding to any one of the hooks, and one-to-one hanging of the hanging rings and the hooks is achieved. When right side baffle 107 is detachably installed on the intelligent robot of sweeping the floor through the mode of joint, be provided with a plurality of spacing groove on the body of intelligent robot, correspond arbitrary spacing groove on the right side baffle 107 and be provided with a plurality of stopper, only need guarantee to correspond spacing groove and the stopper joint that sets up, can realize the stable installation of right side baffle 107. When the right baffle 107 is detachably mounted on the intelligent sweeping robot in a threaded connection manner, threaded connection of the right baffle 107 and the robot body can be achieved in a bolt or butterfly nut manner. It should be understood that the mounting positions of the limiting groove and the limiting block, and the hook and the hanging ring are not necessarily required, for example: can set up the stopper on the robot body, correspond the spacing groove with the stopper and set up on right side baffle 107, do not limit the concrete mounted position of stopper and spacing groove, the person of skill in the art can carry out reasonable selection to the mounted position of stopper and spacing groove according to actual conditions, only need guarantee the joint of spacing groove and stopper, ensure that right side baffle 107 is installed steadily can. Similarly, the mounting positions of the hook and the hanging ring are not limited, and the hooking of the hook and the hanging ring and the stable mounting of the right baffle 107 are only required.

In a specific embodiment, as shown in fig. 4, the right baffle 107 is detachably mounted on the intelligent sweeping robot through a plurality of butterfly nuts.

In this embodiment, a through hole is provided on the right baffle 107; a rotating shaft is arranged in the through hole and is fixedly connected with the large rolling brush 111; and a bearing seat is sleeved outside the rotating shaft.

In this embodiment, the rotating shaft is a cam rotating shaft or a ram shaft.

In a specific embodiment, a first pressure head shaft and a second pressure head shaft are respectively arranged at two sides of the large rolling brush 111, wherein a bearing seat is sleeved at the end part of the second pressure head shaft, and the second pressure head shaft is fixed on the right swing arm 102 through the bearing seat. Similarly, a bearing seat is sleeved on the end part of the first pressure head shaft, the first pressure head shaft is fixed on the left swing arm 109 through the bearing seat, and a driven V-belt driving wheel is arranged on the end part of the second pressure head shaft. Bearing blocks are sleeved on the first pressure head shaft and the second pressure head shaft respectively so as to reduce abrasion caused by friction force of the pressure head shafts.

In this embodiment, as shown in fig. 5-6, a large rolling brush motor 116 is disposed on the intelligent sweeping robot, a driving V belt pulley 110 is disposed at a power output end of the motor, the driving V belt pulley 110 is connected with a driven V belt pulley 112 through a driving belt, the driving belt transmits power generated by the motor to the driven V belt pulley 112, and the driven V belt pulley 112 drives a pressing head shaft to coaxially rotate, so as to drive the large rolling brush 111 to operate. Further, a tensioner 123 is provided on the left swing arm, and the tensioner 123 is provided between the driving V-pulley 110 and the driven V-pulley 112, so that the transmission belt can maintain an appropriate tension during power transmission, avoiding the transmission belt from slipping.

In a specific embodiment, as shown in fig. 4 and 6, the rolling brush quick-dismantling system further comprises a transmission shaft fixed on the intelligent sweeping robot and used for transmitting power to enable the small rolling brush 118 to perform rotating operation, and the left end of the transmission shaft is provided with a synchronous belt driven wheel 106. The robot body is also provided with a small rolling brush 118 motor 117, the power output end of the small rolling brush 118 motor 117 is provided with a synchronous belt driving wheel 108, and the synchronous belt driving wheel 108 is connected with a synchronous belt driven wheel 106 through synchronous belt transmission, so that the power output by the small rolling brush 118 motor 117 is transmitted to the synchronous belt driven wheel 106, and the small rolling brush 118 is driven to operate.

In a specific embodiment, as shown in FIG. 5, a roll brush quick release systemAlso comprises a detachable connecting part connected toIntelligent floor sweeping robotA left baffle 113 on the upper part, a transmission shaft penetrating the left baffle 113 for ensuring the stability of the operation of the small rolling brush 118 The left end of the transmission shaft is provided with a connecting plate 114, the connecting plate 114 is arranged outside the left baffle 113, and one end of the connecting plate is connected with the transmission shaft The shaft is fixedly connected with one end of the shaft is fixedly connected withIntelligent floor sweeping robotAnd (3) upper part. If during operation, the small roller brush 118 needs to be removed from the housing The robot can be disassembled to disassemble the small roll brush 118 as follows: first, the small roller brush 118 is fixedly connected Is removed, and then the left side barrier 113 detachably and fixedly mounted on the robot is removed, most preferably The removal of the small roller brush 118 is then effected.

In a specific embodiment, as shown in FIG. 5, a roll brush quick release systemAnd also includes a left baffle 113 arranged outside A left swing arm 109, one end of the left swing arm 109 is fixedly connected with the end of the first ram shaft, and the other end is connected with the balance shaft The ends are fixedly connected for securing the stability of the large roll brush 111. The top of the left swing arm 109 is connected with a liftingLowering element 115, raise The top of the drop element 115 is fixedly attached to the robot,the large roll brush 111 can be lifted and lowered by the lifting member 115,so as to make a large roll The brush 111 can be lifted up and down to meet different working requirements.In a specific embodiment, the first pressure head shaft, the second pressure head shaft and the transmission shaft are respectively sleeved with an anti-winding rubber sleeve at positions directly exposed outside, so that the situation that the rolling brush cannot work normally due to the fact that garbage such as ropes is wound on the first pressure head shaft, the second pressure head shaft and/or the transmission shaft in the working process is avoided.

In this embodiment, the locking means are a handle 101 and a connecting rod 119; the connecting rod 119 is screwed or clamped with the balance shaft 105.

When the connecting rod 119 is connected with the clamping groove of the balance shaft 105, the balance shaft 105 is provided with a counter bore connected with the connecting rod 119, a guide groove and a clamping groove are arranged in the counter bore, and the connecting rod 119 is provided with a clamping block matched with the clamping groove in a clamping manner. The specific installation process is as follows: the connecting rod 119 stretches into the counter bore, the clamping block moves to the position of the clamping groove along the guide groove, the connecting rod 119 is rotationally clamped into the clamping groove, and therefore stable connection of the connecting rod 119 and the balance shaft 105 is achieved, and the beneficial effects of fixing the right swing arm 102 and improving stability of the large rolling brush 111 are achieved.

In a specific embodiment, the connecting rod 119 is threadedly coupled to the balance shaft 105; screw one end is provided with screw 120, and the tip of connecting rod 119 is provided with the external screw thread to ensure that connecting rod 119 and balance shaft can spin and close, guarantee to connect stably. Wherein: the screwing length of the screw hole 120 is equal to that of the external screw thread, namely, only the part of the connecting rod 119 in threaded connection with the balance shaft is provided with the external screw thread. It should be understood that the connecting rod 119 may be provided with a screw hole 120, and the balance shaft 105 may be provided with an external thread, so long as the connecting rod 119 and the balance shaft are ensured to be screwed together, and the connection stability of the connecting rod 119 and the balance shaft is ensured. Similarly, the screwing length of the screw hole 120 is equal to that of the external screw thread, i.e., the external screw thread is provided only at the position of the balance shaft in threaded connection with the screw hole 120.

In this embodiment, the right swing arm 102 is provided with a first mounting hole and a second mounting hole; the bearing seat passes through the first mounting hole and is fixedly connected with the right baffle 107; and a thrust bearing is arranged in the second mounting hole.

In this embodiment, the thrust bearing includes: a shaft tube 121, the shaft tube 121 penetrating through the second mounting hole; the transverse section of the outer ring of the shaft barrel 121 is non-circular; a collar which is provided at the front end of the shaft tube 121 and is fixed to the right swing arm 102; the shaft shoulder 122 is disposed at the tail end of the shaft barrel 121, so as to prevent the connecting rod 119 from falling off.

In a specific embodiment, the balance shaft 105 extends through the collar and is positioned within the shaft barrel 121; the connecting rod 119 penetrates through the shaft shoulder 122, is positioned in the shaft barrel 121 and is connected with the balance shaft 105. The position of the shoulder 122 in contact with the connecting rod 119 is provided with an internal thread in threaded connection with the connecting rod 119, i.e. when the connecting rod 119 is in a non-connected state with the balance shaft, the connecting rod 119 cannot be directly extracted from the shaft cylinder 121 through the shoulder 122, i.e. if the connecting rod 119 needs to be taken out of the thrust sleeve, the connecting rod 119 needs to be manually unscrewed from the thrust sleeve.

In this embodiment, a steel sleeve is disposed at one end of the balance shaft 105 near the thrust sleeve, and a washer is disposed between the steel sleeve and the collar.

In this embodiment, the right baffle 107 is provided with a floating hole 103; the ram shaft passes through the floating hole 103 and is fixedly connected with the large rolling brush 111.

Example two

As shown in fig. 1 to 2, an intelligent floor sweeping robot includes a robot body 200 on which a robot body 100 is provided. It should be understood that the robot body 200 may be disposed at one side of the intelligent sweeping robot, or may be disposed at both sides of the intelligent sweeping robot. That is, one end of the large roll brush 111 may be detachably mounted on the robot body 200 through a quick-release system of the large roll brush 111, and the other end of the large roll brush 111 may be directly fixed on the robot body 200, as shown in fig. 2. The robot body 200 may be provided on both the left and right sides of the robot body 200, and the large roll brush 111 may be detachably attached to the robot body 200.

The invention relates to a quick disassembly system of a rolling brush and an intelligent sweeping robot, which are characterized in that: holding the handle 101 to rotate the connecting rod 119 out of the balance shaft 105, wherein the connecting rod 119 is not connected with the balance shaft 105 any more, then taking down the right swing arm 102, unscrewing the butterfly nut, taking down the right baffle 107 from the robot body 200, or just putting down the right baffle 107, namely just removing the butterfly nut, the upper part of the right baffle 107 of which is fixed on the intelligent sweeping robot; finally, the large roll brush 111 is removed from the robot body 200.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A two round brush quick detach systems installs on intelligent robot of sweeping floor, its characterized in that includes:

the rolling brush assembly comprises a first rolling brush at the front side of the working running direction of the intelligent sweeping robot and a second rolling brush at the rear side of the working running direction of the intelligent sweeping robot;

the baffle comprises a left baffle and a right baffle, the left baffle and the right baffle are respectively and detachably arranged on two sides of the intelligent sweeping robot, and the left baffle and the right baffle are respectively arranged corresponding to the two first rolling brushes and the second rolling brushes and are arranged along the axial direction perpendicular to the first rolling brushes;

the swing arm comprises a left swing arm arranged on the side surface of the left baffle plate and a right swing arm arranged on the side surface of the right baffle plate;

the balance shaft penetrates through the intelligent sweeping robot, and two ends of the balance shaft are respectively connected with the left swing arm and the right swing arm;

the locking device penetrates through the right swing arm and is connected with the balance shaft so as to be used for fastening the right swing arm, and the axes of the shaft of the first rolling brush, the shaft of the second rolling brush and the balance shaft are arranged in parallel;

the bottom of the lifting element is connected to the top of the left swing arm, and the top of the lifting element is fixedly connected to the intelligent sweeping robot;

the floating hole is arranged on the right baffle, a pressure head shaft is arranged in the floating hole, one end of the left swing arm is fixedly connected with the end part of the pressure head shaft, and the other end of the left swing arm is fixedly connected with the end part of the balance shaft.

2. The double-rolling-brush quick-release system according to claim 1, wherein the baffle is detachably mounted on the intelligent sweeping robot in a hanging, clamping and/or bolting manner.

3. The dual roll brush quick release system of claim 2, wherein the ram shaft is sleeved with a bearing housing.

4. The dual roll brush quick release system of claim 3, wherein the locking device is a handle and a connecting rod; the connecting rod is connected with the balance shaft through threads or clamping grooves.

5. The double-roller-brush quick release system of claim 4, wherein the right swing arm is provided with a first mounting hole and a second mounting hole; the bearing seat passes through the first mounting hole and is fixedly connected with the right baffle; and a thrust bearing is arranged in the second mounting hole.

6. The dual roll brush quick release system of claim 5, wherein the thrust bearing comprises:

the shaft barrel penetrates through the second mounting hole; the transverse section of the outer ring of the shaft cylinder is non-circular;

the shaft collar is arranged at the front end of the shaft barrel and is fixed on the swing arm;

the shaft shoulder is arranged at the tail end of the shaft cylinder and used for preventing the connecting rod from falling off.

7. The dual roll brush quick release system of claim 6, wherein the balance shaft extends through the collar and is positioned within the shaft barrel; the connecting rod penetrates through the shaft shoulder, is positioned in the shaft cylinder and is connected with the balance shaft.

8. The dual roll brush quick release system of claim 7, wherein the connecting rod is threadably connected to the balance shaft; the connecting rod is a screw rod, and the end part of the balance shaft is provided with a screw hole in threaded connection with the screw rod.

9. An intelligent floor sweeping robot comprising a robot body, wherein the robot body is provided with the double-rolling-brush quick-release system as claimed in any one of claims 1 to 8.