CN114699016A - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN114699016A CN114699016A CN202210325554.3A CN202210325554A CN114699016A CN 114699016 A CN114699016 A CN 114699016A CN 202210325554 A CN202210325554 A CN 202210325554A CN 114699016 A CN114699016 A CN 114699016A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 123
- 230000001681 protective effect Effects 0.000 claims description 30
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- 230000008569 process Effects 0.000 description 3
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- 230000009471 action Effects 0.000 description 1
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Classifications
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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
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
- A47L11/4002—Installations of electric equipment
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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
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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
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention discloses a cleaning robot, which comprises at least two machine bodies and at least one driving module arranged on each machine body, wherein the at least two machine bodies have two or more connection forms, and the driving module is arranged at the bottom of the machine bodies and can rotate relative to the machine bodies so as to be matched with the traveling directions of the at least two machine bodies in different connection forms. According to the invention, through the scheme, the connection mode of the machine body can be changed, the cleaning range is expanded to improve the cleaning efficiency, or the width of the machine body is reduced to improve the passing rate, and meanwhile, the driving direction of the driving module is consistent with the walking direction of the cleaning robot in the deformation of the cleaning robot.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot.
Background
At present, cleaning machines people can replace people to accomplish cleaning work, for example, sweep the floor robot, drag the floor robot, and wipe window robot etc. some cleaning machines people on the market have improved clean efficiency, set up cleaning member of cleaning machines people into deformable structure, and cleaning member can enlarge clean scope through warping in order to change, when facing spacious clean environment to promote clean efficiency, can also solve the clean problem at dead angle through warping.
However, the cleaning robot body cannot be deformed, and when facing a more complex cleaning environment, the cleaning robot cannot solve the problem only by deforming the cleaning member, for example, when the cleaning robot passes through a narrow passageway, the width of the cleaning robot body is larger than that of the passageway, and for example, when the cleaning robot faces the lower part of a sofa or a bed with the height limit smaller than the height of the machine body, the cleaning robot cannot enter the passageway for cleaning.
Disclosure of Invention
The main object of the present invention is to provide a cleaning robot, which aims to enable the cleaning robot to be deformed to adapt to a cleaning environment.
In order to achieve the above object, the present invention provides a cleaning robot, including at least two robot bodies and at least one driving module mounted on each of the robot bodies, where the at least two robot bodies have two or more connection forms, and the driving module is disposed at the bottom of the robot bodies and can rotate relative to the robot bodies to match with the traveling directions of the at least two robot bodies in different connection forms.
In some embodiments of the present invention, the at least two machine bodies include a first machine body and a second machine body, the driving modules are correspondingly mounted at the bottoms of the first machine body and the second machine body, and the cleaning robot further includes two locking structures and is respectively mounted on the first machine body and the second machine body;
the first machine body can rotate relative to the second machine body to change a connection state, and the driving module can turn to a target advancing direction of the machine body corresponding to the driving module and is locked at a turning angle through the corresponding locking structure.
In some embodiments of the present invention, each of the drive modules includes a gimbal mount and a drive assembly; the upper end of each universal support is connected with each machine body in a rotating mode, and the lower end of each universal support is fixedly connected with each driving assembly.
In some embodiments of the present invention, each of the universal supports includes a rotating shaft and a rotating seat, one end of each of the rotating shafts is rotatably mounted at the bottom of each of the machine bodies and is vertically disposed, each of the rotating seats is fixedly mounted at the other end of each of the rotating shafts, and each of the driving assemblies is fixedly mounted at one side of each of the rotating seats close to the traveling surface.
In some embodiments of the present invention, a clamping column is convexly disposed on a side surface of each rotating shaft, each locking structure includes a sleeve fixedly mounted at a bottom of each machine body, each sleeve is provided with a guide groove and a first clamping groove and a second clamping groove communicated with the guide groove, each first clamping groove and each second clamping groove are respectively disposed at two ends of the guide groove, and each clamping column can slide along each guide groove and is clamped in each first clamping groove or each second clamping groove;
the connection form of the cleaning machine comprises a first connection form that each clamping column is clamped in the first clamping groove and a second connection form that each clamping column is clamped in the second clamping groove.
In some embodiments of the present invention, the first machine body and the second machine body both have a first splicing surface and a second splicing surface which are perpendicular to each other, and the connection form of the cleaning machine includes a first connection form in which the first machine body is spliced with the first splicing surface of the second machine body, and a second connection form in which the first machine body is spliced with the second splicing surface of the second machine body;
each guide groove extends along the circumferential direction of each sleeve, each first clamping groove and each second clamping groove respectively extend upwards from two ends of each guide groove, when the cleaning robot is in a first connection state, each clamping column is clamped in each first clamping groove, and when the cleaning robot is in a second connection state, each clamping column is clamped in each second clamping groove.
In some embodiments of the present invention, each of the first splicing surfaces intersects with each of the second splicing surfaces, and the first machine body and the second machine body are rotatably connected at a position where each of the first splicing surfaces intersects with each of the second splicing surfaces.
In some embodiments of the present invention, the driving assembly includes a protective shell, a shock-absorbing member, and a road wheel, the protective shell is fixedly installed at one side of the rotating base close to a traveling surface of the cleaning robot, and the shock-absorbing member is installed between the protective shell and the road wheel.
In some embodiments of the invention, the shock absorption member comprises a connecting member and an elastic member, two ends of the connecting member are respectively rotatably connected with the protective shell and the travelling wheel, the axes of the two ends of the connecting member are horizontal and perpendicular to the travelling direction of the cleaning robot, and the elastic member elastically presses between one end of the connecting member close to the travelling wheel and the protective shell;
a propping lug is arranged on one side of the connecting piece back to the travelling wheel and is positioned on one side of the rotating axis of the travelling wheel, which is far away from the travelling surface;
the elastic piece comprises a torsion spring which is rotatably arranged on the inner side of the protective shell and can rotate around the axis of the torsion spring, the torsion spring is provided with a fixed end and a torsion end, the fixed end is fixed on the side wall of the protective shell, and the torsion end abuts against the upper end of the abutting convex block; an installation shaft is convexly arranged on the inner side wall of the protective shell in a direction parallel to the axis direction of the travelling wheel, and the torsion spring is sleeved on the installation shaft.
In some embodiments of the invention, a face of the link adjacent to the running surface is provided as a lifting ramp which can guide an obstacle to a wheel surface of the road wheel.
In some embodiments of the invention, the cleaning robot further comprises a control module, the drive assembly comprises a steering motor electrically connected to the control module, and the control module can control an output shaft rotation angle of the steering motor.
In some embodiments of the present invention, when the at least two machine bodies are in different connection configurations, each of the driving modules rotates to the same driving direction relative to the machine body, and an angle of each of the driving modules relative to the ground is not changed, so as to match a walking direction of the cleaning robot in each of the connection configurations.
According to the invention, through the scheme, the cleaning robot can expand the cleaning range by changing the connection mode among the machine bodies to improve the cleaning efficiency, or reduce the width of the machine body to improve the passing rate, and meanwhile, the driving direction of the driving module is consistent with the walking direction of the cleaning robot when the cleaning robot deforms.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of the cleaning robot of FIG. 1 in another connection configuration;
FIG. 3 is a schematic side view of a cleaning robot according to an embodiment of the present invention;
FIG. 4 is a schematic side view of the cleaning robot of FIG. 3 in another connection configuration;
FIG. 5 is a schematic structural view of a locking structure and a rotating shaft of the cleaning robot according to the present invention;
FIG. 6 is a schematic structural diagram of a driving module of the cleaning robot according to the present invention;
fig. 7 is a schematic structural diagram of a driving assembly in the cleaning robot of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
124 | |
| 110 | |
125 | Connecting |
| 111 | |
1251 | |
| 112 | |
1252 | Lifting |
| 113 | |
126 | |
| 114 | |
1261 | |
| 120 | |
1262 | Fixed |
| 121 | |
1263 | |
| 1211 | |
127 | |
| 1212 | |
130 | |
| 1213 | |
131 | |
| 122 | |
1311 | |
| 123 | |
1312 | |
| 1231 | |
1313 | Second card slot |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions relating to "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
The present invention provides a cleaning robot 100, the cleaning robot 100 may be a sweeping robot, a mopping and sweeping integrated robot, a hand-push cleaner, a driving type cleaner, etc. for cleaning a floor, and the cleaning robot 100 may also be a window cleaning robot for cleaning a window glass.
Referring to fig. 1 to 4, the cleaning robot 100 includes at least two robot bodies 110 and at least one driving module 120 mounted on each robot body 110, the at least two robot bodies 110 have two or more connection configurations, and the driving module 120 is mounted at the bottom of the robot body 110 and can rotate relative to the robot body 110 to match with the traveling directions of the at least two robot bodies 110 in different connection configurations.
The number of the at least two machine bodies 110 may be 2, 3, 4, etc.; each machine body 110 can be an individual body capable of operating independently or can be connected to cooperate with each other; the connection modes between the machine bodies 110 are various, and may be a rotation connection, a detachable connection, or a sliding connection, which is not specifically limited herein.
The mode of changing the connection state of the machine bodies 110 may be actively changed, for example, the cleaning robot 100 is provided with a vision sensor, and when the cleaning robot 100 detects that the front traveling road is wide, the connection state between the machine bodies 110 is automatically changed, so that the cleaning surface is enlarged to accelerate the cleaning efficiency, and when the front traveling road is narrow, the body span range is reduced to increase the passing rate.
The connection mode of the robot body 110 may be passively changed, for example, a tactile sensor is disposed at one side of the traveling direction of the cleaning robot 100, and when the cleaning robot 100 touches an obstacle during traveling and the direction of the obstacle is sensed by the tactile sensor, the body is retracted to avoid the obstacle. The connection form of the main body 110 may be changed manually, and when the main bodies 110 are detachably connected, the manual change is generally performed, for example, the main body 110 a is detached from one side of the main body 110B and is mounted on the other side of the main body 110B, and the connection form of the main body 110 is changed in many ways, which is not described herein again.
Above-mentioned drive module 120's structure is various, set up according to specific application, for example, cleaning machines people 100 is for sweeping the floor the robot, drag floor the robot or other work in the robot of smooth road surface, this drive module 120 can set up to common driving motor and tire or track, if, cleaning machines people 100 is for wiping the window robot again, drive module 120 can set up the several sucking disc in the periphery of tire or track in order to adsorb on window glass, it walks on window glass to conveniently wipe the window robot and attach to, this drive module 120's structure is still very many, it is not repeated here at all.
The driving direction of each driving module 120 may be the same as the driving direction of the driving module 120 with reference to the traveling surface of the cleaning robot 100, and the apparatus body 110 may rotate with reference to the driving module 120, or the driving direction of the driving module 120 may be changed with reference to the traveling surface of the cleaning robot 100, and the driving direction of the driving module 120 with respect to the apparatus body 110 may be the same, and the manner in which the driving module 120 rotates with respect to the apparatus body 110 is not particularly limited.
The steering mode of the driving module 120 may be electronically controlled to rotate, or may be mechanically driven to steer the driving module 120 when the machine body 110 changes the connection state, or may be steered by manual operation, which is not specifically limited herein.
The present invention, through the above-described scheme, enables the cleaning robot to increase the cleaning efficiency by changing the connection manner of the robot body 110 to expand the cleaning range, or to reduce one or more of the width, length and height of the body to increase the throughput rate, for example, when the height limit of the cleaning robot facing the aisle is lower than the height of the cleaning robot, the cleaning robot may reduce the height of the body by deforming to pass through the aisle, and further, the driving module 120 may change the driving direction until it matches the walking direction of the cleaning robot 100 when the cleaning robot 100 is deformed.
The connection form of the machine body 110 of the cleaning robot 100 is different, for example, the two machine bodies 110 can rotate relatively, the traveling wheels on the two machine bodies 110, namely the left traveling wheel and the right traveling wheel, if the left traveling wheel and the right traveling wheel rotate at the same angle along with the corresponding machine body 110, the left traveling wheel and the right traveling wheel are possibly in opposite directions, and the directions are perpendicular or in a non-parallel direction, at the moment, the left traveling wheel and the right traveling wheel can not provide driving force in the same direction, so that the cleaning robot 100 can not move normally, and the driving module 120 can solve the problem well relative to the machine body 110, so that the driving directions of the traveling wheels can be kept consistent, and the traveling directions in different connection forms can be matched.
Referring to fig. 1 to 4, in some embodiments of the present invention, the at least two robot bodies 110 include a first robot body 111 and a second robot body 112, the driving modules 120 are correspondingly installed at the bottoms of the first robot body 111 and the second robot body 112, and the cleaning robot 100 further includes two locking structures 130 respectively installed on the first robot body 111 and the second robot body 112; the first machine body 111 can rotate relative to the second machine body 112 to change the connection configuration, and the driving module 120 can steer to the target traveling direction of the machine body 110 corresponding to the driving module and lock the steering angle by the corresponding locking structure 130.
With this arrangement, when the cleaning robot 100 is switched between the first connection mode and the second connection mode, the two driving modules 120 respectively located at the bottom of the first machine body 111 and the bottom of the second machine body 112 can be turned to the target cleaning direction of the cleaning robot 100, so as to avoid the problem that the target cleaning direction is not consistent with or has deviation from the actual cleaning direction.
The locking structure 130 is various, the locking structure 130 may be an electronic lock capable of controlling the rotation of the driving motor, the locking structure 130 may also be a mechanical lock, the driving module 120 is opened or locked manually, the locking structure 130 may also be an electrically controlled mechanical lock, the opening and closing of the mechanical lock is controlled electronically, and the locking structure 130 is not limited specifically here.
Referring to fig. 5 to 7, in some embodiments of the present invention, each driving module 120 includes a gimbal 121 and a driving assembly 122; the upper end of each universal support 121 is rotatably connected to each machine body 110, and the lower end of each universal support 121 is fixedly connected to each driving assembly 122. With this arrangement, the driving unit 122 can rotate in all directions in the horizontal direction via the universal bearing 121, and can more flexibly cope with the change of the connection form of the machine body 110.
The universal support 121 is connected with the machine body 110 in various ways, and the universal support 121 can be connected with the shaft hole of the machine body 110, a bearing, and the like; the universal support 121 and the driving assembly 122 are fixedly connected in various manners, the universal support 121 may be welded to the driving assembly 122, and may also be fixed to the driving assembly 122 by bolts, and the universal support 121 and the machine body 110 are rotatably connected to each other, and the driving assembly 122 is fixedly connected to each other in many manners, which are not listed here.
With reference to fig. 5 to 7, in some embodiments of the present invention, each universal supporting base 121 includes a rotation shaft 1211 and a rotation base 1212, one end of each rotation shaft 1211 is rotatably mounted at the bottom of each machine body 110 and is disposed along the vertical direction, each rotation base 1212 is fixedly mounted at the other end of each rotation shaft 1211, and each driving assembly 122 is fixedly mounted at one side of each rotation base 1212 close to the traveling surface. With such an arrangement, when the driving module 120 turns relative to the machine body 110, the driving assembly 122 and the rotating base 1212 rotate together with the rotating shaft 1211 relative to the machine body 110, and the structure is simple and easy to manufacture.
The above-mentioned axial position-limiting manner of the rotating shaft 1211 is various, for example, when the cleaning robot 100 is used for cleaning the floor, the rotating shaft 1211 can limit the axial movement of the rotating shaft 1211 itself by using the bidirectional pressure from the machine body 110 and the driving assembly 122, respectively, the rotating shaft 1211 can further fix a coaxial clamping disc at the upper end, and a sleeve 131 is disposed at the bottom of the machine body 110, the rotating shaft 1211 is installed in the sleeve 131, and the clamping disc is clamped on the upper end of the sleeve 131. The axial position of the rotating shaft 1211 is also many and is not limited in any way.
Referring to fig. 5, in some embodiments of the present invention, each of the rotation shafts 1211 is convexly provided with a locking post 1213 at a side thereof, each of the locking structures 130 includes a sleeve 131 fixedly mounted at a bottom of each of the machine bodies 110, each of the sleeves 131 is provided with a guide groove 1311 and a first locking groove 1312 and a second locking groove 1313 communicated with the guide groove 1311, each of the first locking groove 1312 and the second locking groove 1313 is respectively disposed at two ends of the guide groove 1311, and each of the locking posts 1213 is slidable along each of the guide grooves 1311 and is locked in each of the first locking groove 1312 or the second locking groove 1313. With this arrangement, when the driving module 120 rotates relative to the machine body 110, the locking pillar 1213 slides in the guiding groove 1311 until being locked with the first locking groove 1312 or the second locking groove 1313, the driving module 120 and the machine body 110 are fixed relative to each other, and the cleaning robot 100 completes the connection configuration transformation.
The above-mentioned bayonet 1213 may be a cylinder, or a prism, such as a quadrangular prism, a hexagonal prism, etc.; the first card slot 1312 and the second card slot 1313 may have the same structure or different structures, for example, but not limited to, an elastic latch is disposed at a connection position between the first card slot 1312 and the guide slot 1311, when the clip column 1213 slides from the guide slot 1311 to the first card slot 1312, a certain force is required to compress the elastic latch to allow the clip column 1213 to pass through, and after the clip column 1213 enters the first card slot 1312, the elastic latch limits the clip column 1213. The structure of the clip 1213 and the clip groove is various, and is not listed here.
Preferably, with continued reference to fig. 5, in some embodiments of the present invention, one end of the guiding groove 1311 extends upward to form a first locking groove 1312. With such an arrangement, when the locking pillar 1213 slides to the end of the guide groove 1311 close to the first locking groove 1312, the sleeve 131 and the machine body 110 fall under the action of gravity, the locking pillar 1213 enters the first locking groove 1312, and the driving module 120 can be locked with the machine body 110, which is simple in structure.
Further, an end of the guide groove 1311 remote from the first card groove 1312 extends upward to form a second card groove 1313. By this scheme, when the connection configuration between the machine bodies 110 of the cleaning robot 100 is changed, the rotation shaft 1211 may first move downward relative to the sleeve 131 to disengage the clip column 1213 from the first clip groove 1312, and then the driving assembly 122 turns, so that the clip column 1213 slides in the guide groove 1311 from the end of the guide groove 1311 close to the first clip groove 1312 to the end of the guide groove 1311 close to the second clip groove 1313 until abutting against the inner side wall of the guide groove 1311, and finally the clip column 1213 moves upward relative to the sleeve 131 to clip into the second clip groove 1313.
Referring to fig. 1 to 4, in some embodiments of the present invention, the first machine body 111 and the second machine body 112 have a first joint surface 113 and a second joint surface 114 perpendicular to each other, and the connection configuration of the cleaning machine includes a first connection configuration in which the first joint surface 113 of the first machine body 111 and the second joint surface 113 of the second machine body 112 are jointed, and a second connection configuration in which the second joint surface 114 of the first machine body 111 and the second machine body 112 are jointed; each guide groove 1311 extends along the circumferential direction of each sleeve 131, each first slot 1312 and each second slot 1313 extend upward from both ends of the guide groove 1311, each latching post 1213 is latched in each first slot 1312 when the cleaning robot 100 is in the first connection configuration, and each latching post 1213 is latched in each second slot 1313 when the cleaning robot 100 is in the second connection configuration. With such an arrangement, each machine body 110 has a simple structure and is convenient to manufacture and process.
The shapes of the first splicing surface 113 and the second splicing surface 114 are set according to the shapes of the machine bodies 110 corresponding to each other, and the first splicing surface 113 and the second splicing surface 114 may be a plane or a curved surface, which is not specifically limited herein.
The extending direction of each guide groove 1311 along the circumferential direction of each sleeve 131 may be horizontally or obliquely extending, and the extending length of each guide groove 1311 along the circumferential direction of each sleeve 131 may be 1/2 or 1/4 of the circumferential length of the sleeve 131, and is provided in combination with the extending direction of the guide groove 1311, and is not particularly limited.
The connection mode of the first machine body 111 and the second machine body 112 is various, for example, the two machine bodies 110 can be detachably connected, the first splicing surface 113 and the second splicing surface 114 of the two machine bodies 110 are both provided with corresponding detachable connection structures, specifically, when the cleaning robot 100 is in the connection mode that the first splicing surface 113 is spliced, a user can split the two machine bodies 110 by the first splicing surface 113 in a manual mode, and the second splicing surfaces 114 of the two machine bodies 110 are attached and fixed.
Preferably, with continued reference to fig. 1 to 4, in some embodiments of the present invention, each first splicing surface 113 and each second splicing surface 114 are disposed in an intersection, and the first machine body 111 and the second machine body 112 are rotatably connected at the intersection of each first splicing surface 113 and each second splicing surface 114. With such an arrangement, the structure is simple, and the two machine bodies 110 can be easily connected in a changed manner.
The two machine bodies 110 are connected in a rotating mode in various structures, by way of example and not limitation, the two machine bodies 110 can be connected through hinges or through shaft holes, specifically, a rotating shaft 1211 with axes arranged in the vertical direction is arranged at the intersection of the long splicing surface and the short splicing surface of one of the two machine bodies 110, a sleeve 131 with axes arranged in the vertical direction is arranged at the intersection of the other long splicing surface and the short splicing surface of the other machine body 110, and the rotating shaft 1211 is rotatably installed in the sleeve 131. There are many ways of connecting the two machine bodies 110 in a rotating manner, which are not listed here.
In order to solve the above problem, in some embodiments of the present invention, the driving assembly 122 includes a protective housing 123, a shock absorbing member 124, and a traveling wheel 127, the protective housing 123 is fixedly installed on one side of the rotating base 1212 close to the traveling surface of the cleaning robot 100, and the shock absorbing member 124 is installed between the protective housing 123 and the traveling wheel 127. With the arrangement, the problem that cleaning is not in place due to the fact that the cleaning robot 100 vibrates the body or one end of the cleaning robot tilts when encountering obstacles or pothole road surfaces is avoided.
The protective shell 123 may be made of plastic, metal, or the like, the protective shell 123 may be fixedly mounted on the rotating base 1212 by welding, bolting, clamping, or the like, and the shock absorber may be a hydraulic shock absorber or a pneumatic shock absorber, which is not limited herein.
Further, referring to fig. 6 and 7, in order to increase the friction between the road wheel 127 and the traveling surface and prevent the road wheel 127 from slipping, in some embodiments of the present invention, the wheel surface of the road wheel 127 is patterned to increase the coefficient of friction with the traveling surface. Through this scheme, effectively reduced the production of above-mentioned problem.
Referring to fig. 6, in some embodiments of the present invention, the shock absorbing member 124 includes a connecting member 125 and an elastic member 126, two ends of the connecting member 125 are respectively rotatably connected to the protective shell 123 and the traveling wheel 127, and both axes of the connecting member 125 are horizontal and perpendicular to the traveling direction of the cleaning robot 100, and the elastic member 126 elastically presses between one end of the connecting member 125 close to the traveling wheel 127 and the protective shell 123. So set up, when walking wheel 127 received vertical impact force, connecting piece 125 was close to machine body 110 along with walking wheel 127 together, and the spring compression is out of shape and elastic potential energy increases, and when the spring diastole, connecting piece 125 played the damping effect, turned into the elastic potential energy heat energy consumption.
The elastic member 126 is various, the elastic member 126 may be a spring, a rubber block, etc., and the connecting member 125 is rotatably connected to the protective shell 123 and the traveling wheel 127 in various ways, such as a shaft hole connection, or a bearing connection, which are not specifically limited herein.
The structure of the above-mentioned connecting piece 125 is various, for example, the connecting piece 125 is a connecting rod, and the friction coefficient of one end of the connecting rod connected with the protective shell 123 is relatively large, and for example, the connecting piece 125 is a piston cylinder and a piston slidably mounted in the piston cylinder, the piston is rotatably connected with the axle of the traveling wheel 127, and the piston cylinder is rotatably connected with the protective shell 123, and the structure of the connecting piece 125 is also numerous, which is not repeated herein.
Preferably, with continued reference to fig. 6 and 7, in some embodiments of the present invention, the side of the connecting member 125 opposite to the traveling wheel 127 is provided with a supporting protrusion 1251, and the supporting protrusion 1251 is located on the side of the rotation axis 1211 of the traveling wheel 127 away from the traveling surface; the elastic member 126 includes a torsion spring 1261, the torsion spring 1261 is rotatably mounted inside the protection casing 123 and can rotate around its axis, the torsion spring 1261 has a fixed end 1262 and a torsion end 1263, the fixed end 1262 is fixed on a side wall of the protection casing 123, and the torsion end 1263 abuts against an upper end of the abutting projection 1251. So set up, simple structure makes things convenient for the preparation processing.
The above-mentioned torsion spring 1261 is rotatably installed inside the protective case 123, for example, the protective case 123 may have a sleeve fixed to an inner wall thereof, the sleeve being installed outside the torsion spring 1261 and coaxially installed with the torsion spring 1261, and both ends of the torsion spring 1261 extending from both ends of the sleeve; preferably, in some embodiments of the present invention, an installation shaft 1231 is convexly provided on the inner sidewall of the protective shell 123 along a direction parallel to the axis of the road wheel 127, and the torsion spring 1261 is sleeved on the installation shaft 1231. So configured, the torsion spring 1261 is easy to install.
Further, referring to fig. 6 and 7, considering that the road wheels 127 cannot be overturned when the cleaning robot 100 encounters an obstacle with a height exceeding the radius of the road wheels 127, in some embodiments of the present invention, a lifting inclined surface 1252 is provided on a side of the connecting member 125 close to the traveling surface, and the lifting inclined surface 1252 can guide the obstacle to the wheel surface of the road wheels 127. Through this scheme, can effectively solve above-mentioned problem.
To further facilitate the user, in some embodiments of the present invention, the cleaning robot 100 further includes a control module, and the driving assembly 122 includes a steering motor electrically connected to the control module, and the control module can control the rotation angle of an output shaft of the steering motor. With the arrangement, when the cleaning robot 100 deforms, the control module can control the output shaft of the steering motor to steer to a target angle, so that steering is automatically completed without operation of a user.
The control module may be a single chip, a PWM controller, or other structural components capable of sending and receiving commands, and is not limited in particular.
Through the above scheme, the connection form of the robot body 110 can also be changed by means of the friction force between the tread of each traveling wheel 127 and the ground, for example, when the cleaning robot 100 includes two robot bodies 110 and each robot body 110 is provided with a driving module 120, the left and right traveling wheels 127 always keep relatively immobile with the ground in the process of changing from the first connection form to the second connection form, at this time, the two robot bodies 110 are relatively movable, the sleeve 131 rotates relative to the sleeved gimbal 121 until the clamping column 1213 of the rotating shaft 1211 of the gimbal 121 slides out of the first clamping groove 1312 and slides into the second clamping groove 1313, and the switching is completed to the second connection form; in the process of changing the two traveling wheels 127 from the second connection form to the first connection form, each traveling wheel 127 is always kept relatively stationary with the ground, at this time, the two machine bodies 110 are relatively moving, each sleeve 131 rotates relative to the corresponding sleeved gimbal 121 until the clamping column 1213 of the rotation shaft 1211 of the gimbal 121 slides out of the second clamping groove 1313 and slides into the first clamping groove 1312, and the switching is completed to the first connection form.
In order to match the traveling direction of the cleaning robot 100 in each connection mode, the traveling direction of each connection mode may be different, and the gimbal 121 may be driven to rotate to a target direction by the driving structure, and at this time, the traveling wheels 127 are parallel.
In some embodiments of the present invention, when at least two of the machine bodies 110 are in different connection configurations, each of the driving modules 120 rotates to the same driving direction with respect to the machine body 110, and each of the driving modules 120 has a constant angle with respect to the ground so as to match the walking direction of the cleaning robot 100 in each connection configuration. With this arrangement, when the cleaning robot 100 changes the connection form, the connection form can be changed by changing the positional relationship of the machine body 110 with respect to the driving module 120 without changing the angle of the driving module 120 with respect to the floor.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. The cleaning robot is characterized by comprising at least two machine bodies and at least one driving module arranged on each machine body, wherein the at least two machine bodies are in two or more connection forms, and the driving module is arranged at the bottom of the machine bodies and can rotate relative to the machine bodies so as to be matched with the walking directions of the at least two machine bodies in different connection forms.
2. The cleaning robot as claimed in claim 1, wherein the at least two robot bodies include a first robot body and a second robot body, the driving module is correspondingly mounted at the bottom of the first robot body and the second robot body, and the cleaning robot further includes two locking structures respectively mounted on the first robot body and the second robot body;
the first machine body can rotate relative to the second machine body to change a connection state, and the driving module can turn to a target advancing direction of the machine body corresponding to the driving module and is locked at a turning angle through the corresponding locking structure.
3. The cleaning robot of claim 2, wherein each of the drive modules includes a gimbal mount and a drive assembly; the upper end of each universal support is connected with each machine body in a rotating mode, and the lower end of each universal support is fixedly connected with each driving assembly.
4. The cleaning robot as claimed in claim 3, wherein each of said universal supports includes a rotating shaft and a rotating base, one end of each of said rotating shafts is rotatably mounted to a bottom of each of said machine bodies and is vertically disposed, each of said rotating bases is fixedly mounted to the other end of each of said rotating shafts, and each of said driving units is fixedly mounted to a side of each of said rotating bases adjacent to the traveling surface.
5. The cleaning robot as claimed in claim 4, wherein each of the rotation shafts has a protrusion protruding from a side surface thereof, each of the locking structures includes a sleeve fixedly mounted to a bottom of each of the machine bodies, each of the sleeves has a guide groove and first and second engaging grooves communicating with the guide groove, each of the first and second engaging grooves is disposed at both ends of the guide groove, and each of the locking posts is slidable along the guide groove and engaged with each of the first and second engaging grooves;
the connection form of the cleaning machine comprises a first connection form that each clamping column is clamped in the first clamping groove and a second connection form that each clamping column is clamped in the second clamping groove.
6. The cleaning robot of claim 5, wherein the first and second machine bodies each have perpendicular first and second mating surfaces, and the connection configurations of the cleaning machine include a first connection configuration in which the first machine body is mated with the first mating surface of the second machine body, and a second connection configuration in which the first machine body is mated with the second mating surface of the second machine body;
each guide groove extends along the circumferential direction of each sleeve, each first clamping groove and each second clamping groove respectively extend upwards from two ends of each guide groove, when the cleaning robot is in a first connection state, each clamping column is clamped in each first clamping groove, and when the cleaning robot is in a second connection state, each clamping column is clamped in each second clamping groove.
7. The cleaning robot as claimed in claim 6, wherein each of the first joining surfaces intersects each of the second joining surfaces, and the first and second machine bodies are rotatably connected at the intersection of each of the first joining surfaces and each of the second joining surfaces.
8. The cleaning robot of claim 3, wherein the driving assembly includes a protective housing, a shock absorbing member, and a road wheel, the protective housing is fixedly mounted on a side of the rotating base adjacent to a traveling surface of the cleaning robot, and the shock absorbing member is mounted between the protective housing and the road wheel.
9. The cleaning robot as claimed in claim 8, wherein the shock absorbing member includes a connecting member and an elastic member, both ends of the connecting member are respectively rotatably connected to the protective shell and the traveling wheel, and both ends are disposed with their axes horizontal and perpendicular to the traveling direction of the cleaning robot, and the elastic member elastically presses between one end of the connecting member near the traveling wheel and the protective shell;
a propping convex block is arranged on one side of the connecting piece back to the travelling wheel, and the propping convex block is positioned on one side of the rotating axis of the travelling wheel away from the travelling surface;
the elastic piece comprises a torsion spring which is rotatably arranged on the inner side of the protective shell and can rotate around the axis of the torsion spring, the torsion spring is provided with a fixed end and a torsion end, the fixed end is fixed on the side wall of the protective shell, and the torsion end abuts against the upper end of the abutting convex block; an installation shaft is convexly arranged on the inner side wall of the protective shell in a direction parallel to the axis of the travelling wheel, and the torsion spring is sleeved on the installation shaft.
10. The cleaning robot of claim 9, wherein a face of the link adjacent the travel surface is configured as a lift ramp that directs the obstacle to a wheel surface of the travel wheel.
11. The cleaning robot of claim 3, further comprising a control module, wherein the drive assembly includes a steering motor electrically connected to the control module, and wherein the control module controls an output shaft rotation angle of the steering motor.
12. The cleaning robot of claim 1, wherein when the at least two bodies are in different connection configurations, each driving module rotates to the same driving direction relative to the body, and each driving module is at a constant angle relative to the ground to match the walking direction of the cleaning robot in each connection configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210325554.3A CN114699016A (en) | 2022-03-30 | 2022-03-30 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210325554.3A CN114699016A (en) | 2022-03-30 | 2022-03-30 | Cleaning robot |
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| CN114699016A true CN114699016A (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210325554.3A Pending CN114699016A (en) | 2022-03-30 | 2022-03-30 | Cleaning robot |
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| CN113261877A (en) * | 2020-02-17 | 2021-08-17 | 苏州宝时得电动工具有限公司 | Cleaning robot |
| CN214712419U (en) * | 2020-12-24 | 2021-11-16 | 珠海格力电器股份有限公司 | Cleaning equipment and robot of sweeping floor |
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| CN105101855A (en) * | 2013-04-15 | 2015-11-25 | 伊莱克斯公司 | Robotic vacuum cleaner with protruding sidebrush |
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