CN114652206B

CN114652206B - Cleaning robot

Info

Publication number: CN114652206B
Application number: CN202210306629.3A
Authority: CN
Inventors: 李亮; 林建忠; 张斌; 万军
Original assignee: Guangdong Yingfeng Intelligent Environmental Sanitation Technology Co ltd; Zhejiang University ZJU
Current assignee: Guangdong Yingfeng Intelligent Environmental Sanitation Technology Co ltd; Zhejiang University ZJU
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-11-25
Anticipated expiration: 2042-03-25
Also published as: CN114652206A

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a cleaning robot, which comprises: a box body; a delivery pipe mechanism; the suction nozzle mechanism comprises a fixed plate component, a front side plate and a deflection plate, wherein the front side plate is rotatably arranged on the fixed plate component and forms a first concave cavity with an opening facing the ground together with the fixed plate component; the deflection plate is obliquely arranged in the first cavity and is rotatably connected with the fixed plate component, and a suction hole is formed in the deflection plate; the volume adjusting mechanism comprises a first driving assembly, a clamping hook member, a first transmission assembly and a lifting assembly, wherein the front end of the clamping hook member is clamped on the front side plate, and the rear end of the clamping hook member is in driving connection with the first driving assembly and can rotate relative to the fixing plate assembly; the upper end of the lifting assembly is in driving connection with the first driving assembly, the lower end of the lifting assembly extends into the first cavity and is connected with the deflection plate, and the cleaning robot has the advantages that the volume of the suction nozzle can be changed, and the suction and pickup efficiency of the cleaning robot is improved.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

In recent years, along with the development of social economy and the improvement of technological level, street sanitation cleaning gradually enters an intelligent and mechanized era, and an on-duty sanitation cleaning robot can liberate cleaning personnel from sanitation cleaning work, effectively reduce the workload of the cleaning personnel in the aspect of sanitation cleaning, and relieve the fatigue degree of the cleaning personnel in the process of sanitation cleaning. However, the suction nozzle of the existing cleaning robot has a fixed volume and can only suck and pick up garbage with a certain volume, for example, a small-volume suction nozzle can only suck garbage with low density and small volume but cannot suck garbage with larger length or volume (such as mineral water bottles), so that the cleaning robot has low suction and pick-up efficiency and poor cleaning effect.

Disclosure of Invention

The invention aims to provide a cleaning robot which has the advantages that the volume of a suction nozzle can be changed, and the suction and pickup efficiency of the cleaning robot is improved.

In order to achieve the above object, the present invention provides a cleaning robot including:

a box body;

a delivery pipe mechanism;

the suction nozzle mechanism comprises a fixed plate component, a front side plate and a deflection plate, wherein the front side plate is rotatably arranged at the front end of the fixed plate component and forms a first concave cavity with an opening facing the ground together with the fixed plate component; the deflection plate is obliquely arranged in the first cavity and is rotatably connected with the front side of the fixed plate component, and a suction hole for communicating the conveying pipe mechanism with the box body is formed in the deflection plate;

the volume adjusting mechanism comprises a first driving assembly, a clamping hook member, a first transmission assembly and a lifting assembly, wherein the front end of the clamping hook member is clamped on the front side plate, and the rear end of the clamping hook member is in driving connection with the first driving assembly and can rotate relative to the fixing plate assembly; the upper end of the lifting assembly is in driving connection with the first driving assembly, and the lower end of the lifting assembly extends into the first cavity and is connected with the deflection plate.

In an embodiment of the present invention, the nozzle mechanism further includes an elastic pressing plate that is obliquely disposed in the first cavity and has an inclination direction opposite to that of the deflection plate, and a rear end of the deflection plate abuts against the elastic pressing plate.

In an embodiment of the invention, the cleaning robot further comprises a height adjusting mechanism arranged between the box body and the suction nozzle mechanism, the height adjusting mechanism comprises a connecting seat, a telescopic shaft and a spring, the connecting seat is arranged below the box body, the telescopic shaft can be movably arranged at the bottom of the connecting seat up and down and is connected with the suction nozzle mechanism, a second concave cavity is formed in the connecting seat, the upper end of the spring abuts against the top of the second concave cavity, and the lower end of the spring abuts against the top of the telescopic shaft.

In an embodiment of the invention, the cleaning robot further comprises a second driving assembly, the driving end of which is provided with a first straight gear, and the outer peripheral wall of the telescopic shaft is provided with a second straight gear which is used for being meshed with the first straight gear.

In an embodiment of the invention, the cleaning robot further comprises a rotation limiting mechanism, the rotation limiting mechanism comprises a third straight gear and a screw rod bolt, the third straight gear is in driving connection with the second driving assembly, the screw rod bolt is arranged along the horizontal direction, the third straight gear is sleeved on the screw rod bolt and is in threaded connection with the screw rod bolt, and a U-shaped groove for inserting the screw rod bolt is arranged on the telescopic shaft along the vertical direction.

In an embodiment of the present invention, the duct mechanism includes a first duct disposed below the housing and communicating with the first duct, a second duct disposed in the first cavity and having a lower end communicating with the suction pick-up hole, and a connecting assembly including an upper flange and a lower flange detachably connected, the upper flange being disposed at the lower end of the first duct and communicating with the first duct, the lower flange being disposed below the upper flange and communicating with the second duct.

In the embodiment of the invention, the connecting assembly further comprises a connecting column arranged at the bottom of the upper flange, the lower flange is provided with a connecting hole for the connecting column to be inserted into, and the lower end of the connecting column is provided with a plurality of forked plates which can be unfolded or folded along the circumferential direction of the connecting column.

In the embodiment of the invention, the connecting column is provided with a hollow inner cavity, the lower end of the forked plate is rotatably connected with the connecting column, the circumferential wall of the connecting column is provided with a forked plate return groove for accommodating the forked plate, a telescopic rod is arranged in the inner cavity, and the telescopic end of the telescopic rod is connected with the upper end of the forked plate through a pull wire.

In an embodiment of the invention, the coupling assembly further comprises a resilient rubber pad arranged between the upper flange and the lower flange.

In an embodiment of the invention, the cleaning robot further comprises a pressing mechanism, the pressing mechanism comprises a lifting assembly which is arranged below the box body and is in driving connection with the second driving assembly, a first electromagnet is arranged at the lower end of the lifting assembly, and a second electromagnet matched with the first electromagnet is arranged on the upper flange.

According to the technical scheme, the cleaning robot is provided with a box body, a conveying pipe mechanism, a suction nozzle mechanism and a volume adjusting mechanism, wherein the suction nozzle mechanism comprises a fixed plate component, a front side plate which is rotatably arranged at the front end of the fixed plate component and forms a first concave cavity with an opening facing the ground together with the fixed plate component, and a deflection plate which is obliquely arranged in the first concave cavity and can deflect; volume adjustment mechanism includes first drive assembly, hook piece, the first drive assembly that sets up along the horizontal direction and the lifting means who sets up along vertical direction, hook piece's front end card is established on the curb plate in the front, first drive assembly drives first drive assembly simultaneously, hook piece and lifting means to make curb plate and deflector deflect from top to bottom in the front, and then change the volume of suction nozzle mechanism, so that reinforcing suction nozzle mechanism picks up the ability and the efficiency of inhaling of rubbish, enlarge cleaning machines people's application scope, promote cleaning machines people's wholeness ability.

Drawings

FIG. 1 is a first structural schematic view of a suction nozzle mechanism in an embodiment of the present invention;

FIG. 2 is a second construction view of the nozzle mechanism in the embodiment of the present invention (the expansion member is in the expanded state);

FIG. 3 is a second construction view of the nozzle mechanism in the embodiment of the present invention (the retracted state of the extensible member);

FIG. 4 is a schematic structural view of a volume adjustment mechanism in an embodiment of the present invention;

FIG. 5 is a partial schematic view of a hold-down mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a connecting column in an embodiment of the present invention (with the bifurcation panels deployed);

FIG. 7 is a schematic structural view of a connecting column in an embodiment of the present invention (with the bifurcation panels in a collapsed state);

FIG. 8 is a schematic structural view of a hold-down mechanism in an embodiment of the present invention;

FIG. 9 is a schematic structural view of a height adjustment mechanism and a rotation limiting mechanism in an embodiment of the present invention;

FIG. 10 is a schematic structural view (bottom view) of a moving mechanism in the embodiment of the present invention;

fig. 11 is a schematic structural view (side view) of a moving mechanism in the embodiment of the present invention.

Description of the reference numerals

1. Box 2 conveying pipe mechanism

201. First delivery tube 202 second delivery tube

203. Connecting component 2031 upper flange

2032. Lower flange 2033 connecting column

2034. Forked plate 2035 telescopic rod

2036. Elastic rubber pad 3 suction nozzle mechanism

301. Top board on fixed board subassembly 3011

3012. Rear side panel 302 front side panel

303. Resilient compression plate for deflector plate 304

305. Rubber plate 4 volume adjusting mechanism

401. First drive assembly 4011 fourth spur gear

402. Hook member 403 first transmission component

4031. Fifth spur gear 4032 first rack

4033. First rail 404 lift assembly

4041. Second rack 4042 second guide rail

4043. Connecting block 4044 telescoping piece

405. Second drive assembly 4051 first bevel gear

4052. Second bevel gear 4053 third bevel gear

4054. Fourth bevel gear 4055 sixth spur gear

4056. First connecting shaft 4057 second connecting shaft

5. Height adjusting mechanism 501 connecting seat

502. Telescopic shaft 503 spring

504. Second spur gear 505 ferrule

6. Second drive assembly 601 first straight gear

602. Second motor 7 rotation limiting mechanism

701. Third spur gear 702 screw rod bolt

703. Screw bolt mounting seat 704 fifth bevel gear

705. Sixth bevel gear 706 seventh spur gear

707. Eighth spur gear 708 third connecting shaft

709. Fourth connecting shaft 8 pressing mechanism

801. Lifting assembly 8011 guide seat

8012. Connecting arm of guide rod 8013

8014. First lead screw seat 8015 first lead screw

8016. First feed screw nut 8017 second feed screw nut

9. Moving mechanism 901 transverse guide rail assembly

9011. First transverse guide rail 9012 and second transverse guide rail

902. Longitudinal guide 903 transverse movement telescopic rod

904. Third electromagnet for longitudinally moving telescopic rod 905

906. Fifth electromagnet

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The embodiment of the invention provides a novel cleaning robot, which is a sanitation cleaning robot, and as shown in fig. 1-11, the cleaning robot comprises a box body 1, a conveying pipe mechanism 2, a suction nozzle mechanism 3 and a volume adjusting mechanism 4, wherein a storage cavity for storing garbage is formed in the box body 1; the conveying pipe mechanism 2 is used for conveying the garbage sucked and picked up by the suction nozzle mechanism 3 into the storage cavity; the suction nozzle mechanism 3 comprises a fixed plate component 301, a front side plate 302 and a deflection plate 303, wherein the fixed plate component 301 comprises an upper top plate 3011, a rear side plate 3012, a left side plate and a right side plate, the upper top plate 3011 is arranged along the horizontal direction, the rear side plate 3012 is arranged on the rear side of the upper top plate 3011 along the vertical direction, and the left side plate and the right side plate are respectively arranged on the left side and the right side of an assembly formed by the upper top plate 3011 and the rear side plate 3012; the front side plate 302 is rotatably arranged at the front end of the fixed plate assembly 301 and forms a first concave cavity with an opening facing the ground together with the fixed plate assembly 301, the upper end of the front side plate 302 is rotatably connected with the front end of the fixed plate assembly 301, the lower end of the front side plate 302 deflects around the upper end when the front side plate 302 rotates, and the internal volume of the first concave cavity is increased; the deflecting plate 303 is obliquely arranged in the first concave cavity and is rotatably connected with the front side of the fixed plate component 301, namely the front end of the deflecting plate 303 is hinged with the front side of the fixed plate component 301, a suction and picking hole communicated with the storage cavity of the box body 1 through the conveying pipe mechanism 2 is formed in the deflecting plate 303, a suction and picking cavity for sucking and picking up garbage is formed among the deflecting plate 303, the front side plate 302, the left side plate and the right side plate, the suction and picking cavity accommodates the garbage, the cleaning robot sucks the garbage, and the garbage enters the storage cavity through the suction and picking hole and the conveying pipe mechanism 2; the volume adjusting mechanism 4 comprises a first driving assembly 401, a hook member 402, a first transmission assembly 403 arranged in the horizontal direction and a lifting assembly 404 arranged in the vertical direction, the first driving assembly 401 is a first motor arranged on a first motor mounting seat, the first motor mounting seat is arranged above an upper top plate 3011, the output end of the first motor is provided with a fourth spur gear 4011, the first transmission assembly 403 comprises a fifth spur gear 4031, a first rack 4032 and a first guide rail 4033, the fifth spur gear 4031 is simultaneously meshed with the fourth spur gear 4011 and the first rack 4032, and the first guide rail 3 is arranged on the upper top plate 3011 in the horizontal direction and is provided with a first guide groove used for movably guiding the first rack 4032; the front end of the hook member 402 is clamped on the front side plate 302, the rear end of the hook member 402 is provided with a first fulcrum and a second fulcrum, the first fulcrum is rotatably connected with the fixing plate assembly 301, the second fulcrum is positioned above the front side of the first fulcrum and is connected with the front end of the first transmission assembly 403, the hook member 402 is L-shaped, one side edge of the L-shaped hook member 402 is fixed with the front side plate 302, the rear end of the other side edge (i.e. the end close to the first transmission assembly) is provided with the first fulcrum and the second fulcrum, a hook member supporting seat is further arranged above the upper top plate 3011 and is rotatably connected with the first fulcrum, the second fulcrum is connected with the front end of the first rack 4032 through a pull wire, the rear end of the first transmission assembly 403 is drivingly connected with the first driving assembly 401, the first rack 4032 is meshed with the fifth spur gear 4031, and when the first straight gear sequentially rotates through the motor, the power of the fourth spur gear 4011, the fifth spur gear 4031 and the first spur gear 4032 is integrally transmitted to the hook member 402, and then the hook member 402 rotates to drive the front side plate 302 to deflect forwards; the upper end of the lifting component 404 is in driving connection with the first driving component 401, the lower end of the lifting component 404 extends into the first concave cavity and is connected with the deflection plate 303, specifically, the volume adjusting mechanism 4 further comprises a second transmission component 405, the second transmission component 405 comprises a first bevel gear 4051, a second bevel gear 4052, a third bevel gear 4053, a fourth bevel gear 4054, a sixth spur gear 4055, a first connecting shaft 4056 and a second connecting shaft 4057, the first bevel gear 4051 is also arranged at the output end of the first motor, the second bevel gear 4052 is arranged at the first end of the first connecting shaft 4056, the third bevel gear 4053 is arranged at the second end of the first connecting shaft 4056, the fourth bevel gear 4054 is arranged at the first end of the second connecting shaft 4057 and is meshed with the third bevel gear 4053, and the sixth spur gear 4055 is arranged at the second end of the second connecting shaft 4057; the lifting assembly 404 includes a second rack 4041, a second guide rail 4042 and a connecting block 4043, the second rack 4041 is arranged in the vertical direction, and the upper end of the second rack 4041 is engaged with the sixth spur gear 4055, the connecting block 4043 is arranged above the rear end of the deflecting plate 303, the lower end of the second rack 4041 extends into the first cavity and is hinged to the top of the connecting block 4043, the second guide rail 4042 is arranged above the upper top plate 3011 and is formed with a second guide groove for movably guiding the second rack 4041, when the first motor rotates, the first motor sequentially passes through the first bevel gear 4051, the second bevel gear 4052, the first connecting shaft 4056, the third bevel gear 4053, the fourth bevel gear 4054, the second connecting shaft 4057 and the sixth spur gear 4055, and the second rack 4041 and the connecting block 4043 to rotate upward around the hinge point of the front end of the deflecting plate 303, so that the deflecting plate 303 integrally rotates around the hinge point of the front end of the deflecting plate 303, and the front side plate 302 and the deflecting plate 303 can be simultaneously driven by the first motor in the first preset direction, and the volume of the deflecting plate 303 can be further increased, and the volume of the deflecting bottle can be more efficiently sucked (e.g., the volume of the deflected bottle can be sucked and the deflected or the volume can be more efficiently sucked and can be accommodated; when rotating in a second preset direction (the second preset direction is opposite to the first preset direction), the first motor can simultaneously drive the front side plate 302 and the deflection plate 303 to rotate, so that the volume of the suction pickup cavity is reduced, the suction force in the suction pickup cavity is stronger, and garbage with larger weight can be sucked and picked up.

In one embodiment of the invention, lifting assembly 404 is a telescoping member 4044 (e.g., a pneumatic rod or cylinder), and the telescoping end of telescoping member 4044 extends into the first cavity and is hingedly connected to attachment block 4043.

In an embodiment of the present invention, the nozzle mechanism 3 further includes an elastic pressing plate 304, the elastic pressing plate 304 is obliquely disposed in the first cavity, and an oblique direction of the elastic pressing plate 304 is opposite to an oblique direction of the deflecting plate 303, that is, an upper end of the elastic pressing plate 304 is connected to a rear end of the upper top plate 3011, a lower end of the elastic pressing plate 304 is inclined forward, the nozzle mechanism 3 further includes a rubber plate 305 disposed below the elastic pressing plate 304, the rubber plate 305 is disposed in a vertical direction, a rear end of the deflecting plate 303 abuts on the elastic pressing plate 304, and when the rear end of the deflecting plate 303 deflects from bottom to top, the rubber plate 305 or the elastic pressing plate 304 is pressed toward the rear side plate 3012, so as to prevent the garbage from entering a space above the deflecting plate 303 from a gap between the deflecting plate 303 and the rear side plate 3012 and being unable to be successfully sucked.

In an embodiment of the present invention, the cleaning robot further includes a height adjusting mechanism 5 disposed between the box body 1 and the suction nozzle mechanism 3 and used for adjusting the height of the suction nozzle mechanism 3, the height adjusting mechanism 5 includes a connecting seat 501, a telescopic shaft 502 and a spring 503, the connecting seat 501 is disposed below the box body 1, the telescopic shaft 502 is movably disposed at the bottom of the connecting seat 501 up and down and connected with the suction nozzle mechanism 3, the cleaning robot in this embodiment further includes a third driving assembly, the third driving assembly is in driving connection with the telescopic shaft 502, and when the telescopic shaft 502 extends, the suction nozzle mechanism 3 moves downward; when the telescopic shaft 502 is shortened, the suction nozzle mechanism 3 moves upward; the height adjusting mechanism 5 further comprises a cylindrical clamping sleeve 505 sleeved outside the connecting seat 501, the upper end of the telescopic shaft 502 is movably connected with the lower end of the clamping sleeve 505 up and down, a second cavity is formed on the connecting seat 501, the upper end of the spring 503 abuts against the top of the second cavity, the lower end of the spring 503 abuts against the top of the telescopic shaft 502, when the suction nozzle mechanism 3 passes through a road with a higher terrain, the suction nozzle mechanism 3 can compress the spring 503 by virtue of ground supporting force to enable the spring 503 to retract, and at the moment, the suction nozzle mechanism 3 is lifted in a self-adaptive manner within a certain height range; when the suction nozzle mechanism 3 passes through a road surface with a low terrain, the suction nozzle mechanism 3 falls to the ground due to self gravity, at this time, the spring 503 extends, and the suction nozzle mechanism 3 is self-adaptively lowered within a certain range.

In the embodiment of the present invention, the cleaning robot further includes a second driving assembly 6 having a first spur gear 601 at a driving end thereof, and a second spur gear 504 for meshing with the first spur gear 601 is provided on an outer circumferential wall of the telescopic shaft 502. In this embodiment, the second driving assembly 6 is movably disposed at the bottom of the housing 1, the second driving assembly 6 includes a second motor 602 disposed along the vertical direction and a first spur gear 601 disposed at the driving end of the second motor 602, when the second motor 602 rotates, power is transmitted to the telescopic shaft 502 through the first spur gear 601 and the second spur gear 504 in sequence, and then the telescopic shaft 502, that is, the suction nozzle mechanism 3 below the telescopic shaft 502 is driven to rotate, which is beneficial to expanding the suction range of the suction nozzle mechanism 3, in addition, when the cleaning robot cleans on a narrow road and is inconvenient to turn around, the cleaning robot can be controlled to directly reverse (as shown in fig. 2), the suction nozzle mechanism 3 can rotate 180 degrees during reversing, after the suction nozzle mechanism 3 rotates, the front side plate 302 can be controlled to correspondingly deflect in the direction of reversing, which is convenient for air flow to enter the suction cavity to enhance the suction effect on garbage, so that the cleaning robot can normally perform cleaning operation without affecting the cleaning efficiency even during reversing.

In an embodiment of the present invention, the cleaning robot further includes a moving mechanism 9 for changing a position of the second driving assembly 6, the moving mechanism 9 includes a transverse rail assembly 901, a longitudinal rail 902, a transverse moving telescopic rod 903, and a longitudinal moving telescopic rod 904, the longitudinal rail 902 is located below the transverse rail assembly 901 and can move along an axial direction of the transverse rail assembly 901, specifically, the transverse rail assembly 901 includes a first transverse rail 9011 and a second transverse rail 9012 both located below the box 1 and spaced apart in a horizontal direction, one end of the longitudinal rail 902 is disposed on the first transverse rail 9011, and the other end of the longitudinal rail 902 is disposed on the second transverse rail 9012; the second motor 602 is movably arranged on the longitudinal guide rail 902 along the vertical direction, the transverse moving telescopic rod 903 is arranged below the box body 1 along the horizontal direction (namely the transverse direction) and is longitudinally arranged between the first transverse guide rail 9011 and the second transverse guide rail 9012, the telescopic tail end of the transverse moving telescopic rod 903 is provided with a third electromagnet 905, the second motor 602 is provided with a fourth electromagnet, when the position of the second motor 602 in the transverse direction needs to be changed, the transverse moving telescopic rod 903 is controlled to stretch and contract to enable the tail end of the transverse moving telescopic rod to be in contact with the second motor 602, then the third electromagnet 905 and the fourth electromagnet are electrified to attract each other, the transverse moving telescopic rod 903 is controlled to stretch again until the transverse moving telescopic rod reaches the transverse preset position, the second motor 602 is moved to the transverse preset position to enable the third electromagnet 905 and the fourth electromagnet to be powered off, and the longitudinal guide rail 902 and the second motor 602 synchronously move in the process; the longitudinal moving telescopic rod 904 is longitudinally arranged below the longitudinal guide rail 902 and can move along with the movement of the longitudinal guide rail 902, a fifth electromagnet 906 is arranged at the telescopic tail end of the longitudinal moving telescopic rod 904, when the longitudinal position of the second motor 602 needs to be changed, the longitudinal moving telescopic rod 904 is firstly controlled to be telescopic so that the tail end of the longitudinal moving telescopic rod is in contact with the second motor 602, then the fifth electromagnet 906 and the fourth electromagnet are electrified so that the fifth electromagnet 906 and the fourth electromagnet are attracted, then the longitudinal moving telescopic rod 904 is controlled to be telescopic again until the longitudinal moving telescopic rod reaches a longitudinal preset position, and the fifth electromagnet 906 and the fourth electromagnet are powered off after the second motor 602 moves to the longitudinal preset position. In the present embodiment, when the second motor 602 is at the first preset position, the first spur gear 601 and the second spur gear 504 are engaged. Furthermore, two ends of the longitudinal guide rail 902 are matched with the first transverse guide rail 9011 and the second transverse guide rail 9012 through dovetail mechanisms, so that the connection stability of the longitudinal guide rail 902 and the first transverse guide rail 9011 and the second transverse guide rail 9012 is enhanced, and the longitudinal guide rail 902 can be prevented from falling; similarly, the second motor 602 is matched with the longitudinal rail 902 through a dovetail mechanism, so that the connection stability of the longitudinal rail 902 and the second motor 602 is enhanced, and the second motor 602 can be prevented from falling.

In the embodiment of the invention, the cleaning robot further comprises a rotation limiting mechanism 7, the rotation limiting mechanism 7 comprises a third spur gear 701 and a screw rod plug pin 702 which are in driving connection with the second driving assembly 6, the screw rod plug pin 702 is arranged along the horizontal direction, the third spur gear 701 is sleeved on the screw rod plug pin 702 and is in threaded connection with the screw rod plug pin 702, and a U-shaped groove for inserting the screw rod plug pin 702 is arranged on the telescopic shaft 502 along the vertical direction. Specifically, the rotation limiting mechanism 7 includes a third spur gear 701, a screw rod pin 702, a screw rod pin mounting seat 703, a fifth bevel gear 704, a sixth bevel gear 705, a seventh spur gear 706, an eighth spur gear 707, a third connecting shaft 708, and a fourth connecting shaft 709, the screw rod pin mounting seat 703 is cylindrical and is disposed below the box body 1 along the horizontal direction, the third spur gear 701 is disposed at one end of the screw rod pin mounting seat 703 along the vertical direction, one end of the screw rod pin 702 is disposed on the third spur gear 701 in a penetrating manner and forms an internal thread connection with the third spur gear 701, a plug hole for inserting the screw rod pin 702 is disposed on the ferrule 505, the position of the plug hole corresponds to the position of a U-shaped groove (the U-shaped groove is disposed along the vertical direction), and the other end of the screw rod pin 702 can pass through the screw rod pin mounting seat 703 and the plug hole and extend into the U-shaped groove; a seventh spur gear 706 is provided at one end of the third connecting shaft 708 and engaged with the third spur gear 701, a fifth bevel gear 704 is provided at the other end of the third connecting shaft 708, a sixth bevel gear 705 is provided at one end of the fourth connecting shaft 709 and engaged with the fifth bevel gear 704, and an eighth spur gear 707 is provided at the other end of the fourth connecting shaft 709 and engaged with the first spur gear 601, specifically, when the second motor 602 moves to a second preset position, the third spur gear 701 and the first spur gear 601 are engaged together, and at this time, the second motor 602 can drive the screw bolt 702 to move in its axial direction to insert or withdraw from the U-shaped groove, and further, when the screw bolt 702 is inserted into the U-shaped groove, the suction nozzle mechanism 3 can only perform height adjustment but cannot rotate.

In an embodiment of the present invention, the delivery pipe mechanism 2 includes a first delivery pipe 201, a second delivery pipe 202 and a connecting assembly 203, the first delivery pipe 201 and the second delivery pipe 202 are both telescopic bellows, the first delivery pipe 201 is disposed below the box body 1 and the upper end of the first delivery pipe 201 is communicated with the storage cavity, the second delivery pipe 202 is disposed in the first cavity and the lower end of the second delivery pipe 202 is communicated with the suction and pick-up hole, the connecting assembly 203 includes an upper flange 2031 and a lower flange 2032 which are detachably connected and communicated with each other, the upper flange 2031 is disposed at the lower end of the first delivery pipe 201 and is communicated with the first delivery pipe 201, the upper flange 2031 is communicated with the upper end of the second delivery pipe 202 through the lower flange 2032, when the suction nozzle mechanism 3 is in an operating state, the upper flange 2031 is connected with the lower flange 2032, and the sucked and picked-up garbage sequentially passes through the suction and pick-up hole, the second delivery pipe 202, the lower flange 2032, the upper flange 2031 and the first delivery pipe 201 and then enters the storage cavity.

In an embodiment of the present invention, the connection assembly 203 further includes a connection column 2033 disposed at the bottom of the upper flange 2031, the lower flange 2032 is provided with a connection hole into which the connection column 2033 is inserted, the lower end of the connection column 2033 is provided with a plurality of forked plates 2034 that can be unfolded or folded along the circumferential direction of the connection column 2033, when the upper flange 2031 and the lower flange 2032 are required to be connected together, the forked plates 2034 are first controlled to be in a folded state so that the connection column 2033 can pass through the connection hole, and when the connection column 2033 extends into the connection hole and the forked plates 2034 are located below the connection hole, the forked plates 2034 are then controlled to be in an unfolded state so that the forked plates 2034 are clamped below the connection hole to realize the connection between the upper flange 2031 and the lower flange 2032; when the upper flange 2031 and the lower flange 2032 need to be separated, the forked plate 2034 is first controlled to be in a folded state from an unfolded state, and then the connecting column 2033 is withdrawn from the connecting hole.

In an embodiment of the present invention, the connection column 2033 has a hollow inner cavity, the connection column 2033 includes a cylindrical portion and an inverted conical portion located below the cylindrical portion, the lower end of the forked plate 2034 is rotatably connected to the connection column 2033, that is, the lower end of the forked plate 2034 is hinged to the inverted conical portion, a forked plate return groove for accommodating the forked plate 2034 is provided on the circumferential wall of the connection column 2033, the forked plate return groove in this embodiment is provided on the circumferential wall of the cylindrical portion, a retractable pull rod is provided in the inner cavity, a retractable end of the pull rod is connected to the upper end of the forked plate 2034 through a pull wire, one end of the pull wire is connected to the upper end of the forked plate 2034, the other end of the pull wire is connected to the retractable end of the pull rod, the pull rod is connected to a third driving component (not shown in the figure) of the cleaning robot, when the pull rod is in an extended state, the pull wire is in a relaxed state, the forked plate 2034 is in an extended state because of gravity is tilted, at this time, the forked plate 2034 is clamped below the connection hole, and the upper flange 2031 is connected to the lower flange 2; when the pull rod is retracted upwards, the pull rope is tensioned, the telescopic end of the pull rod pulls the forked plate 2034 through the pull rope to draw inwards in the forked plate return groove along the circumferential direction, and at the moment, the connecting column 2033 can move upwards to withdraw from the connecting hole, so that the upper flange 2031 and the lower flange 2032 are separated.

In an embodiment of the present invention, the connection assembly 203 further includes an elastic rubber pad 2036 disposed between the upper flange 2031 and the lower flange 2032, specifically, the elastic rubber pad 2036 and the upper flange 2031 are connected together and have a first through hole for garbage to pass through, the elastic rubber pad 2036 is further provided with a second through hole for the connection column 2033 to pass through, when the upper flange 2031 and the lower flange 2032 are required to be connected together, a downward pressure is applied to the upper flange 2031 so that the upper flange 2031 moves downward to compress the elastic rubber pad 2036 and make the connection column 2033 pass through the connection hole on the lower flange 2032, when the forked plate 2034 is unfolded and under the connection hole, the pressure applied to the upper flange 2031 is removed, at this time, the elastic rubber pad 2036 is changed from a compressed state to an extended state, and then the connection column 2033 moves upward to tightly clamp the forked plate 2034 under the lower flange 2032, thereby further enhancing the tightness of the connection between the upper flange 2031 and the lower flange 2032.

In an embodiment of the present invention, the cleaning robot further includes a pressing mechanism 8, the pressing mechanism 8 includes a lifting assembly 801 disposed below the box 1 and in driving connection with the second driving assembly 6, a first electromagnet is disposed at a lower end of the lifting assembly 801, and a second electromagnet matched with the first electromagnet is disposed on the upper flange 2031. Specifically, the lifting assembly 801 includes a guide seat 8011, a guide rod 8012, a connecting arm 8013, a first screw seat 8014, a first screw 8015 (in this embodiment, the first screw 8015 is a T-shaped screw), a first screw nut 8016 and a second screw nut 8017, the guide seat 8011 is disposed at the bottom of the casing 1 and has a first guide groove for guiding the movement of the guide rod 8012, the guide rod 8012 is disposed in a vertical direction and an upper end of the guide rod 8012 is caught in the first guide groove, the first screw seat 8014 is disposed below the casing 1 in the vertical direction and has a second guide groove for guiding the first screw 8015, an upper end of the first screw 8015 extends into the second guide groove, the first screw nut 8016 capable of engaging with the first straight gear 601 is fixed on an outer peripheral wall of the first screw seat 8015, the second screw nut 8017 is fitted on the first screw 8015 and forms a threaded connection with the second screw nut 8017, the connecting arm 8013 is disposed in the horizontal direction and fixed to the second screw nut 8012 and the guide rod 8012; connecting lugs corresponding to the guide rod 8012 up and down are arranged above the upper flange 2031, a sixth electromagnet is arranged above the connecting lugs, and a seventh electromagnet is arranged below the guide rod 8012; after the second motor 602 rotates, the second motor 602 sequentially drives the first straight gear 601, the first lead screw nut 8016 and the first lead screw 8015 to rotate, the first lead screw 8015 further drives the second lead screw nut 8017 to move up and down along the first lead screw 8015, and at this time, the connecting arm 8013 and the guide rod 8012 also move up and down along the vertical direction. When the upper flange 2031 and the lower flange 2032 are required to be connected, the sixth electromagnet and the seventh electromagnet are controlled to be electrified, and then the second motor 602 drives the connecting arm 8013 and the guide rod 8012 to move downwards, so that the connecting column 2033 can be inserted into the connecting hole; when the suction nozzle mechanism 3 needs to be rotated, the electrical connection between the sixth electromagnet and the seventh electromagnet should be disconnected, and then the upper flange 2031 and the lower flange 2032 are separated, so as to prevent the first delivery pipe 201 from being distorted and deformed; when the nozzle mechanism 3 is in the normal operating state, the electrical connection between the sixth electromagnet and the seventh electromagnet should be disconnected and the guide rod 8012 should be moved upward to avoid affecting the extension and retraction of the first feed pipe 201. Further, when the second motor 602 moves to the third preset position, the first lead screw nut 8016 and the first spur gear 601 are meshed together.

The invention provides a cleaning robot which is provided with a box body, a conveying pipe mechanism, a suction nozzle mechanism and a volume adjusting mechanism, wherein the suction nozzle mechanism comprises a fixed plate component, a front side plate which is rotatably arranged at the front end of the fixed plate component and forms a first concave cavity with an opening facing the ground together with the fixed plate component, and a deflection plate which is obliquely arranged in the first concave cavity and can deflect; volume adjustment mechanism includes first drive assembly, the hook piece, the first drive assembly that sets up along the horizontal direction and the promotion subassembly that sets up along vertical direction, the front end card of hook piece is established on preceding curb plate, first drive assembly drives first drive assembly simultaneously, hook piece and promotion subassembly, so that preceding curb plate and deflector deflect from top to bottom, and then change the volume of suction nozzle mechanism, so that reinforcing suction nozzle mechanism is to the ability of picking up and the efficiency of picking up of inhaling of rubbish, enlarge cleaning machines people's application scope, promote cleaning machines people's wholeness ability.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the specific features in any suitable way, and the invention will not be further described in relation to the possible combinations in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention.

Claims

1. A cleaning robot, characterized in that the cleaning robot comprises:

a box body (1);

a delivery pipe mechanism (2);

the suction nozzle mechanism (3) comprises a fixed plate assembly (301), a front side plate (302) and a deflection plate (303), wherein the front side plate (302) is rotatably arranged at the front end of the fixed plate assembly (301) and forms a first cavity with an opening facing the ground together with the fixed plate assembly (301); the deflection plate (303) is obliquely arranged in the first cavity and is rotatably connected with the front side of the fixed plate assembly (301), and a suction pick-up hole for communicating the conveying pipe mechanism (2) with the box body (1) is formed in the deflection plate (303);

the volume adjusting mechanism (4) comprises a first driving assembly (401), a clamping hook member (402), a first transmission assembly (403) and a lifting assembly (404), wherein the front end of the clamping hook member (402) is clamped on the front side plate (302), and the rear end of the clamping hook member (402) is in driving connection with the first driving assembly (401) and can rotate relative to the fixing plate assembly (301); the upper end of the lifting assembly (404) is in driving connection with the first driving assembly (401), and the lower end of the lifting assembly (404) extends into the first cavity and is connected with the deflection plate (303).

2. The cleaning robot according to claim 1, wherein the nozzle mechanism (3) further comprises an elastic pressing plate (304), the elastic pressing plate (304) is obliquely disposed in the first cavity and an inclination direction of the elastic pressing plate (304) is opposite to an inclination direction of the deflection plate (303), and a rear end of the deflection plate (303) abuts on the elastic pressing plate (304).

3. The cleaning robot according to claim 1, further comprising a height adjusting mechanism (5) disposed between the box body (1) and the suction nozzle mechanism (3), wherein the height adjusting mechanism (5) comprises a connecting seat (501), a telescopic shaft (502) and a spring (503), the connecting seat (501) is disposed below the box body (1), the telescopic shaft (502) is movably disposed at the bottom of the connecting seat (501) up and down and connected with the suction nozzle mechanism (3), a second cavity is formed on the connecting seat (501), the upper end of the spring (503) abuts against the top of the second cavity, and the lower end of the spring (503) abuts against the top of the telescopic shaft (502).

4. The cleaning robot as claimed in claim 3, further comprising a second driving assembly (6) having a first spur gear (601) at a driving end thereof, wherein a second spur gear (504) for engaging with the first spur gear (601) is provided on an outer circumferential wall of the telescopic shaft (502).

5. The cleaning robot as claimed in claim 4, further comprising a rotation limiting mechanism (7), wherein the rotation limiting mechanism (7) comprises a third spur gear (701) and a screw rod bolt (702) which are in driving connection with the second driving assembly (6), the screw rod bolt (702) is arranged along a horizontal direction, the third spur gear (701) is sleeved on the screw rod bolt (702) and in threaded connection with the screw rod bolt (702), and a U-shaped groove for the screw rod bolt (702) to insert is formed in the telescopic shaft (502).

6. The cleaning robot according to claim 4, wherein the duct mechanism (2) includes a first duct (201), a second duct (202), and a connecting assembly (203), the first duct (201) being disposed below the case (1) and communicating with the first duct (201), the second duct (202) being disposed in the first cavity and communicating with the suction hole at a lower end of the second duct (202), the connecting assembly (203) including an upper flange (2031) and a lower flange (2032) which are detachably connected, the upper flange (2031) being disposed at a lower end of the first duct (201) and communicating with the first duct (201), the lower flange (2032) being disposed below the upper flange (2031) and communicating with the second duct (202).

7. The cleaning robot as claimed in claim 6, wherein the connection assembly (203) further includes a connection column (2033) disposed at the bottom of the upper flange (2031), a connection hole for inserting the connection column (2033) is disposed on the lower flange (2032), and a plurality of branched plates (2034) which can be unfolded or folded along the circumferential direction of the connection column are disposed at the lower end of the connection column (2033).

8. The cleaning robot according to claim 7, wherein the connecting column (2033) has a hollow inner cavity, the lower end of the forked plate (2034) is rotatably connected to the connecting column (2033), a forked plate return groove for accommodating the forked plate (2034) is provided on the circumferential wall of the connecting column (2033), a telescopic rod (2035) is provided in the inner cavity, and the telescopic end of the telescopic rod (2035) is connected to the upper end of the forked plate (2034) through a pull wire.

9. A cleaning robot according to claim 8, characterized in that the connection assembly (203) further comprises an elastic rubber pad (2036) arranged between the upper flange (2031) and the lower flange (2032).

10. The cleaning robot as claimed in claim 6, further comprising a pressing mechanism (8), wherein the pressing mechanism (8) comprises a lifting assembly (801) disposed below the box body (1) and in driving connection with the second driving assembly (6), a first electromagnet is disposed at a lower end of the lifting assembly (801), and a second electromagnet matched with the first electromagnet is disposed on the upper flange (2031).