CN114808813B

CN114808813B - Side brush device and cleaning robot with same

Info

Publication number: CN114808813B
Application number: CN202210397764.3A
Authority: CN
Inventors: 谢伟; 苗凯; 乐毅; 李振; 秦宝星
Original assignee: Suzhou Gaozhixian Automation Technology Co Ltd
Current assignee: Suzhou Gaozhixian Automation Technology Co Ltd
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2024-03-22
Anticipated expiration: 2042-04-15
Also published as: CN114808813A

Abstract

The invention relates to the technical field of intelligent robots, and discloses an edge brush device and a cleaning robot with the same. The side brush device comprises a frame, a driving mechanism, a telescopic mechanism, a lifting mechanism and a side brush assembly, wherein the telescopic mechanism comprises a transmission rod assembly, a rotating hinge and a first reset piece; the lifting mechanism comprises a cam, a swinging piece and a lifting connecting rod, the cam is in transmission connection with the driving mechanism, and a sliding groove is formed in the cam; the swinging piece is rotationally connected with the frame, one end of the swinging piece is provided with a sliding connection shaft, the sliding connection shaft is arranged in the sliding connection groove in a sliding manner, and the swinging piece can be driven to rotate through the sliding connection groove when the cam rotates; the other end of the swinging piece is positioned in the lifting connecting rod and is abutted against the lifting connecting rod, the lifting connecting rod is rotatably connected to the frame, and the lifting connecting rod can be driven by the swinging piece to rotate and lift or descend; a second resetting piece is arranged between the frame and the lifting connecting rod. The invention has simple structure, good anti-collision effect, high trafficability in narrow space, large cleaning width and capability of realizing welt cleaning.

Description

Side brush device and cleaning robot with same

Technical Field

The invention relates to the technical field of intelligent robots, in particular to an edge brush device and a cleaning robot with the same.

Background

The cleaning robot is used for cleaning various indoor and outdoor environments, the edge brush structure is usually installed at the front end of the cleaning robot body and used for cleaning garbage on the road surface to the middle of the cleaning robot body, and then the garbage can is cleaned by the rolling brush.

The trafficability characteristic in narrow and small space is guaranteed for traditional cleaning robot, and the limit brush cleaning width is usually less, because cleaning robot navigation deviation again, in order to prevent limit brush collision road bed or other obstacles in cleaning process, usually adopt to remain the settlement work from obstacle safe distance when the path planning, lead to cleaning robot to clean like this has the blind area, can't paste the limit and clean, influence result of use. In the prior art, an edge brush anti-collision structure is generally adopted to improve the trafficability of a narrow space and the cleaning width of the edge brush structure. However, the side brush anti-collision structure in the prior art has complex design, high cost and poor avoidance effect, and can cause direct damage to components such as a side brush motor. Therefore, the existing side brush anti-collision structure cannot play an ideal anti-collision function.

Disclosure of Invention

Based on the above, the invention aims to provide the edge brush device which has the advantages of simple structure, good anti-collision effect, high trafficability in a narrow space, large cleaning width and capability of realizing edge bonding cleaning, and the cleaning robot with the edge brush device, so as to solve the problems in the prior art.

In order to achieve the above purpose, the invention adopts the following technical scheme:

an edge brush device comprising:

a frame;

the driving mechanism is arranged on the frame;

the telescopic mechanism comprises a transmission rod assembly, a rotating hinge and a first resetting piece, wherein two ends of the transmission rod assembly are respectively connected with the driving mechanism and the rotating hinge, and the first resetting piece is connected between the frame and the transmission rod assembly;

the lifting mechanism comprises a cam, a swinging piece and a lifting connecting rod, wherein the cam is in transmission connection with the driving mechanism, and a sliding connection groove is formed in the cam; the swing piece is rotationally connected with the rack, one end of the swing piece is provided with a sliding connection shaft, the sliding connection shaft is slidably arranged in the sliding connection groove, and the cam can drive the swing piece to rotate through the sliding connection groove when rotating; the other end of the swinging piece is positioned in the lifting connecting rod and is abutted against the lifting connecting rod, the lifting connecting rod is rotatably connected to the frame, and the lifting connecting rod can be driven by the swinging piece to rotationally lift or descend; a second reset piece is arranged between the frame and the lifting connecting rod; one end of the lifting connecting rod, which is far away from the frame, is connected with the rotating hinge;

the side brush assembly is fixedly connected with the rotating hinge, can be passively contracted and lifted under the action of external force, and is reset after the external force is eliminated.

As a preferred aspect of the side brush device, the driving mechanism includes:

a driving member;

the first end of the first transmission chain is fixedly connected with the driving piece, and the second end of the first transmission chain is fixedly connected with the transmission rod assembly;

the transmission shaft is rotatably arranged on the frame, and the cam is fixed on the transmission shaft through a connecting sleeve;

the first chain wheel is fixed on the transmission shaft and meshed with the first transmission chain for transmission.

As a preferable scheme of the side brush device, the rack comprises a mounting plate, and a first fixing frame and a second fixing frame are fixed on the mounting plate;

the first fixing frame is used for fixedly supporting the transmission shaft;

one end of the first reset piece is connected with the second fixing frame, and the other end of the first reset piece is connected with the transmission rod assembly; the lifting connecting rod is rotatably connected to the second fixing frame, one end of the second resetting piece is connected with the second fixing frame, and the other end of the second resetting piece is connected with the lifting connecting rod.

As a preferable scheme of the side brush device, the transmission rod assembly comprises a first transmission rod and a second transmission rod which are arranged in an angle way, one end of the first transmission rod is fixedly connected with the second end of the first transmission chain, and the other end of the first transmission rod is hinged with one end of the second transmission rod; the other end of the second transmission rod is connected with the rotating hinge, and two ends of the first reset piece are respectively connected with the second fixing frame and the first transmission rod.

As a preferable scheme of the side brush device, a first arc-shaped chute and a first connecting hole are formed in the first transmission rod; the first fixing frame is further fixedly provided with a third fixing frame, the third fixing frame is provided with a first adapter piece and a first sliding piece, the first adapter piece penetrates through the first connecting hole to be connected with the first transmission rod in a rotating mode, and the first sliding piece penetrates through the first arc-shaped sliding groove to be connected with the first transmission rod in a sliding mode.

As a preferred scheme of limit brush device, rotate the hinge and include first connecting piece, second connecting piece, third connecting piece and fourth connecting piece, first connecting piece is L shape, its one end with limit brush subassembly fixed connection, the other end with the second connecting piece with third connecting piece is articulated, the second connecting piece with fourth connecting piece fixed connection, the third connecting piece is articulated with the second transfer line, the fourth connecting piece with the lifting connecting rod rotates to be connected.

As a preferred scheme of limit brush device, telescopic machanism still includes anticollision position switch, anticollision position switch is fixed in on the fourth connecting piece, when the passive shrink of hinge rotates, first connecting piece can trigger anticollision position switch.

As a preferable scheme of the side brushing device, the sliding connection groove comprises a first clamping part, a second clamping part and a third clamping part, and the swinging piece is static when the sliding connection shaft slides from the first clamping part to the second clamping part; when the sliding connection shaft slides from the second clamping connection part to the third clamping connection part, the cam can drive the swinging piece to rotate; when the sliding connection shaft slides from the third clamping connection part to the first clamping connection part, the swinging piece is static.

As a preferable scheme of the side brush device, the swinging piece comprises a first rod part and a second rod part which are arranged in an angle, and the upper end of the first rod part is provided with the sliding connection shaft; the second rod part is positioned in the lifting connecting rod, and the front end of the second rod part is provided with a roller; the swinging piece is rotationally connected with the second fixing frame, a torsion spring is arranged between the swinging piece and the second fixing frame, and the torsion spring enables the idler wheel to be abutted to the upper wall of the lifting connecting rod.

As a preferable scheme of the side brush device, the lifting connecting rod comprises an upper connecting piece and a lower connecting piece, one end of the upper connecting piece is rotationally connected with the second fixing frame, and the other end of the upper connecting piece is rotationally connected with the fourth connecting piece; one end of the lower connecting piece is rotationally connected with the second fixing frame, and the other end of the lower connecting piece is rotationally connected with the fourth connecting piece; the second lever portion of the swing member passes through the upper link and is located between the upper link and the lower link.

As a preferable scheme of the side brush device, the side brush device comprises two groups of telescopic mechanisms, two groups of lifting mechanisms and two groups of side brush components; the driving mechanism further comprises a second sprocket, a second transmission chain and a chain reset mechanism, wherein the second sprocket is fixed on the transmission shaft, the second sprocket is meshed with the second transmission chain for transmission, the first end of the second transmission chain is connected with the chain reset mechanism, the second end of the second transmission chain is connected with the corresponding telescopic mechanism, and the chain reset mechanism is fixed on the frame.

A cleaning robot comprising an edge brush device as claimed in any one of the above aspects.

The beneficial effects of the invention are as follows:

the edge brush device provided by the invention comprises a frame, a driving mechanism, a telescopic mechanism, a lifting mechanism and an edge brush assembly, wherein the driving mechanism can drive the telescopic mechanism and the lifting mechanism to move, so that the edge brush assembly is driven to realize active telescopic and lifting, for example: when the ground needs to be cleaned, the edge brush assembly can be lowered and opened outwards to a working position, so that the cleaning width is increased, positioning errors are eliminated, and the edge pasting cleaning is met; in the cleaning process, the height of the side brush assembly from the ground can be adjusted in time according to actual conditions, so that good contact between the side brush and the ground is realized, and the effect of efficient cleaning is achieved; if a narrow space is met, the side brush assembly can be adjusted to shrink inwards, so that the cleaning robot can pass smoothly; when the cleaning robot is not needed, the side brush assembly can be lifted and retracted to the storage position, so that the space occupied by the cleaning robot is saved. In addition, the telescopic mechanism and the lifting mechanism of the invention both use flexible connection structures, so that when the cleaning robot encounters an obstacle or is acted by external force, the side brush assembly can be passively contracted and lifted, collision is avoided, the side brush motor and the side brush are effectively protected, and the safety of the device is improved; and the first reset piece in the telescopic mechanism and the second reset piece in the lifting mechanism can enable the side brush assembly to automatically return to the initial position after the external acting force is eliminated. Therefore, the invention has the advantages of simple structure, reasonable design, good anti-collision effect, high trafficability in narrow space, large cleaning width and realization of welt cleaning.

Drawings

FIG. 1 is a schematic view of a side brush device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of a side brush device according to an embodiment of the present invention;

FIG. 3 is a front view of an edge brush assembly according to an embodiment of the present invention;

FIG. 4 is a top view of an edge brush assembly according to an embodiment of the present invention;

FIG. 5 is a side view of an edge brush assembly according to an embodiment of the present invention;

FIG. 6 is a cross-sectional view of a portion of the structure of FIG. 5;

FIG. 7 is a schematic view of a drive rod assembly and a third mount according to an embodiment of the present invention;

FIG. 8 is a schematic view of a rotary hinge, side brush assembly and anti-collision position switch according to an embodiment of the present invention;

figure 9 is a schematic view of a first view of a cam and rocker member according to an embodiment of the present invention;

figure 10 is a schematic view of a second view of a cam and rocker member according to an embodiment of the present invention;

figure 11 is a schematic view of a cam according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a lifting link, a second fixing frame and a fourth connecting member according to an embodiment of the present invention.

In the figure:

1-a frame; 10-mounting plates; 11-a first fixing frame; 12-a second fixing frame; 121-a second adapter; 122-a second slip joint; 123-torsion spring; 13-a third fixing frame; 131-a first adapter; 132-a first slip joint;

2-a driving mechanism; 21-a driving member; 22-a first drive train; 23-a transmission shaft; 24-a first sprocket; 26-a second sprocket; 27-a second drive train; 29-a chain reset mechanism; 291-tie rod; 292-a third reset element;

3-telescoping mechanism; 31-a drive rod assembly; 311-a first transmission rod; 3111-a first arcuate chute; 312-a second transmission rod; 32-a rotating hinge; 321-a first connector; 322-a second connector; 323-a third connector; 324-fourth connection; 33-a first reset element; 34-anti-collision position switch;

4-a lifting mechanism; 41-cam; 411-slip joint groove; 4111—a first clamping portion; 4112-a second clip portion; 4113-third clamping portion; 42-swinging member; 421-first stem; 422-a second stem; 4221-a second arc chute; 423-rollers; 424-slip joint shaft; 43-lifting the connecting rod; 431-upper connector; 432-lower connector; 44-a second reset element; 45-connecting sleeve;

5-an edge brush assembly; 51-a side brush fixing seat; 52-side brush motor; 53-side brush.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The embodiment of the invention provides an edge brush device, which aims to solve the problems that the edge brush device in the related art cleans blind areas, cannot clean by adhering edges, influences the using effect and cannot achieve an ideal anti-collision function in the existing edge brush anti-collision structure. The side brush device provided by the embodiment of the invention can be used for floor cleaning equipment such as cleaning robots, sweeper trucks, floor washing machines and the like, and is suitable for cleaning various indoor or outdoor environments. The present embodiment will be described with an example in which the side brush device is applied to a cleaning robot.

As shown in fig. 1 to 12, the side brush device provided by the embodiment of the invention comprises a frame 1, a driving mechanism 2, a telescopic mechanism 3, a lifting mechanism 4 and a side brush assembly 5. Wherein frame 1 is used for being connected with cleaning robot's automobile body to install whole limit brush device in cleaning robot's main part, drive the operation of cleaning of limit brush device realization to ground by cleaning robot. The driving mechanism 2 is arranged on the frame 1, and the driving mechanism 2 is respectively connected with the telescopic mechanism 3 and the lifting mechanism 4 and is used for driving the telescopic mechanism 3 to realize a telescopic function and driving the lifting mechanism 4 to realize a lifting function. Specifically, the telescopic mechanism 3 includes a transmission rod assembly 31, a rotation hinge 32 and a first reset member 33, one end of the transmission rod assembly 31 is connected with the output end of the driving mechanism 2, and can move under the driving of the driving mechanism 2, and the other end of the transmission rod assembly 31 is connected with the rotation hinge 32, and can drive the rotation hinge 32 to move. The rotary hinge 32 is fixedly connected with the side brush assembly 5, so that the side brush assembly 5 can stretch and retract along with the movement of the rotary hinge 32. The first reset element 33 is elastically connected between the frame 1 and the transmission rod assembly 31, and is used for resetting the transmission rod assembly 31. Preferably, the first restoring member 33 in this embodiment is an extension spring, which has a simple structure, reliable use and low cost. Of course, in other embodiments, other elastic members may be used for the first restoring member 33, which is not limited to the present embodiment. The lifting mechanism 4 comprises a cam 41, a swinging piece 42 and a lifting connecting rod 43, the cam 41 is in transmission connection with the driving mechanism 2, and a sliding connection slot 411 is formed in the cam 41; the swinging piece 42 is rotationally connected with the frame 1, one end of the swinging piece 42 is provided with a sliding connection shaft 424, the sliding connection shaft 424 is slidingly arranged in the sliding connection slot 411, and the cam 41 can drive the swinging piece 42 to rotate through the sliding connection slot 411 when rotating; the other end of the swinging piece 42 is positioned in the lifting connecting rod 43 and is abutted against the lifting connecting rod 43, the lifting connecting rod 43 is rotatably connected to the frame 1, and the lifting connecting rod 43 can be driven by the swinging piece 42 to rotationally lift or descend; a second reset piece 44 is further arranged between the frame 1 and the lifting connecting rod 43, and the second reset piece 44 is used for resetting the lifting connecting rod 43; the end of the lifting link 43 remote from the frame 1 is connected to the swivel hinge 32. Preferably, the second restoring member 44 in this embodiment is a tension spring, which has a simple structure, reliable use and low cost. Of course, in other embodiments, other elastic members may be used for the second restoring member 44, which is not limited to the present embodiment. Further, the lifting connecting rod 43 is connected with the rotating hinge 32, so that the lifting connecting rod 43 can drive the rotating hinge 32 and the side brush assembly 5 to lift when moving, and simultaneous lifting and telescopic operation of the side brush assembly 5 is realized.

In the side brush device provided in this embodiment, the driving mechanism 2 can drive the telescopic mechanism 3 and the lifting mechanism 4 to move, so as to drive the side brush assembly 5 to realize active telescopic and lifting, for example: when the ground needs to be cleaned, the side brush assembly 5 can be lowered and opened outwards to a working position, so that the cleaning width is increased, positioning errors are eliminated, and the welt cleaning is satisfied; in the cleaning process, the height of the side brush assembly 5 from the ground can be adjusted in time according to actual conditions, so that good contact between the side brush and the ground is realized, and the effect of efficient cleaning is achieved; if a narrow space is met, the side brush assembly 5 can be adjusted to shrink inwards, so that the cleaning robot can pass smoothly; when the cleaning robot is not required to be used, the side brush assembly 5 can be lifted and retracted to the storage position, thereby saving the space occupied by the cleaning robot. In addition, because the telescopic mechanism 3 and the lifting mechanism 4 of the embodiment both use flexible connection structures, when the cleaning robot encounters an obstacle or is acted by external force, the side brush assembly 5 can be passively contracted and lifted, collision is avoided, the side brush motor and the side brush are effectively protected, and the safety of the device is improved; and the first reset piece 33 in the telescopic mechanism 3 and the second reset piece 44 in the lifting mechanism 4 can automatically restore the edge brush assembly 5 to the initial position after the external acting force is eliminated. Therefore, the invention has the advantages of simple structure, reasonable design, good anti-collision effect, high trafficability in narrow space, large cleaning width and realization of welt cleaning.

Optionally, referring to fig. 2, the driving mechanism 2 of the present embodiment adopts a flexible driving mechanism, which includes a driving member 21, a first transmission chain 22, a transmission shaft 23 and a first sprocket 24, where the driving member 21 is preferably an electric push rod, an output end of the electric push rod is fixedly connected to a first end of the first transmission chain 22, and a second end of the first transmission chain 22 is fixedly connected to a transmission rod assembly 31 for pulling the transmission rod assembly 31; the transmission shaft 23 is rotatably arranged on the frame 1, and the cam 41 is fixedly arranged on the transmission shaft 23 through the connecting sleeve 45, so that the transmission shaft 23 can drive the cam 41 to rotate; the first sprocket 24 is also fixedly mounted to the drive shaft 23 and is in meshed driving engagement with the first drive chain 22. When the electric push rod works, the electric push rod pulls the first transmission chain 22 to move, so that the driving of the transmission rod assembly 31 is realized; meanwhile, the first driving chain 22 can drive the first sprocket 24 to rotate, the first sprocket 24 drives the driving shaft 23 to rotate, and the driving shaft 23 drives the cam 41 to rotate, so that the driving of the swinging piece 42 is realized. The driving mechanism 2 of the embodiment has simple structure and convenient use, can work under the conditions of low speed, heavy load and high temperature and under the condition of large dust, adopts chain transmission, is reliable in connection, and is not easy to generate fracture phenomenon due to long-term use.

With continued reference to fig. 2, the frame 1 of the present embodiment includes a mounting plate 10, the mounting plate 10 being for fixed connection with the body of the cleaning robot; a first fixing frame 11 is fixed on one side of the mounting plate 10, the first fixing frame 11 is used for fixedly supporting a transmission shaft 23, specifically, a bearing seat is fixed on the first fixing frame 11, a bearing assembly is installed in the bearing seat, and the transmission shaft 23 is installed in the bearing assembly, so that rotation of the transmission shaft relative to the first fixing frame 11 is realized. In this embodiment, the first fixing frame 11 may be an integral bracket, and two end positions of the integral bracket are respectively provided with a group of bearing assemblies for supporting two ends of the transmission shaft 23; or the first fixing frame 11 may be two split brackets, and each of the two split brackets is provided with a group of bearing assemblies for supporting two ends of the transmission shaft 23. Preferably, the first fixing frame 11 of the present embodiment adopts the two split-type brackets, so that the volume of the first fixing frame 11 can be reduced, the space can be saved, the weight can be reduced, and the material cost can be reduced. Further, in this embodiment, a second fixing frame 12 is further disposed on the same side of the mounting plate 10, and the second fixing frame 12 is preferably in a long shell structure; the two ends of the first resetting piece 33 are respectively connected with the second fixing frame 12 and the transmission rod assembly 31, and are used for resetting the transmission rod assembly 31. The lifting link 43 is rotatably connected to the second fixing frame 12, and specifically, a hinge shaft may be provided at one end of the lifting link 43 and hinged to the second fixing frame 12 through the hinge shaft, so that the lifting link 43 can be turned upwards, lifted, or turned downwards, with respect to the second fixing frame 12. Two ends of the second resetting piece 44 in this embodiment are respectively connected to the second fixing frame 12 and the lifting link 43, and are used for resetting the lifting link 43.

In an alternative embodiment of the present invention, as shown in fig. 7, the transmission rod assembly 31 includes a first transmission rod 311 and a second transmission rod 312 disposed at an angle and hingedly connected. Preferably, the second transmission rod 312 of the present embodiment is disposed in a horizontal direction, and the first transmission rod 311 is rotatable with respect to the second transmission rod 312; in the rotation process, the first transmission rod 311 may form an acute angle, a right angle or an obtuse angle with the second transmission rod 312, and drives the second transmission rod 312 to move along the horizontal direction, so as to drive the rotation hinge 32 to retract or open. Specifically, the upper end of the first transmission rod 311 of the present embodiment is fixedly connected to the second end of the first transmission chain 22, so as to implement driving of the first transmission rod 311 by the first transmission chain 22; the lower end of the first transmission rod 311 is hinged with the rear end of the second transmission rod 312 (i.e. the end close to the first reset piece 33) so as to drive the second transmission rod 312 to move; the front end of the second transmission rod 312 is connected to the rotary hinge 32, and is used for driving the rotary hinge 32 to move. Further, the frame 1 of the present embodiment further includes a third fixing frame 13, where the third fixing frame 13 is preferably fixed to a lower portion of the first fixing frame 11, and the third fixing frame 13 is used for installing the first transmission rod 311. Specifically, a first connecting hole is formed in the first transmission rod 311, a first adaptor 131 is disposed on the third fixing frame 13, and the first adaptor 131 is installed in the first connecting hole, so that the first transmission rod 311 can rotate around the first adaptor 131 as a center of a circle; meanwhile, a first arc chute 3111 is further formed on the first transmission rod 311, the first arc chute 3111 is located above the first connecting hole, a first sliding piece 132 is disposed on the third fixing frame 13, the first sliding piece 132 is installed in the first arc chute 3111, and when the first transmission rod 311 rotates, the first sliding piece 132 can slide along the first arc chute 3111. In this embodiment, the first reset element 33 is connected to one end of the first transmission rod 311 away from the first transmission chain 22, and the first reset element 33 and the first transmission chain 22 are disposed on the same side of the first transmission rod 311, and the first adaptor 131 serving as a rotating shaft is located between the first reset element 33 and the first transmission chain 22. Through the above structure arrangement, the tension moment of the first reset piece 33 to the first transmission rod 311 is opposite to the tension moment of the first transmission chain 22 to the first transmission rod 311, so as to realize the following effects: when the first transmission link 311 is pulled by the first transmission chain 22 to rotate, the first reset element 33 is stressed to elastically deform, and when the driving force of the first transmission link 22 is cancelled, the first reset element 33 drives the first transmission link 311 to reversely rotate under the action of self elastic force, so that the first reset element returns to the original position.

In an alternative embodiment of the present invention, as shown in fig. 8, the rotating hinge 32 includes a first connecting member 321, a second connecting member 322, a third connecting member 323 and a fourth connecting member 324, where the first connecting member 321 is L-shaped, one end of the first connecting member is fixedly connected with the side brush assembly 5, the other end of the first connecting member is simultaneously hinged with the second connecting member 322 and the third connecting member 323, the second connecting member 322 is fixedly connected with the fourth connecting member 324, the third connecting member 323 is hinged with the second transmission rod 312, and the fourth connecting member 324 is rotatably connected with the lifting connecting rod 43. Further, the telescopic mechanism 3 further comprises an anti-collision position switch 34, and the anti-collision position switch 34 is fixed on the fourth connecting piece 324 and is in communication connection with the controller of the cleaning robot. The crashproof position switch 34 has the measuring bar that stretches out towards first connecting piece 321, is provided with the stopper on the first connecting piece 321, and when the passive shrink of swivel hinge 32, the stopper on first connecting piece 321 can touch the measuring bar to trigger crashproof position switch 34, crashproof position switch 34 feeds back the controller with the signal, and the corresponding action is carried out to controller control actuating mechanism 2 (for example push rod motor withdraw, tensioning first drive chain 22).

Referring to fig. 6 and 9-11, in an embodiment of the present invention, the swinging member 42 includes a first rod 421 and a second rod 422 disposed at an angle, and a sliding shaft 424 is disposed at an upper end of the first rod 421; the second rod 422 is located in the lifting link 43, and a roller 423 is provided at a front end of the second rod 422. The connection part of the second rod 422 and the first rod 421 is provided with a second connection hole, and the second rod 422 is further provided with a second arc chute 4221. The second fixing frame 12 is provided with a second adapter piece 121 and a second sliding piece 122, and the second adapter piece 121 is installed in the second connecting hole, so that the swinging piece 42 can rotate relative to the second fixing frame 12 by taking the second adapter piece 121 as a circle center; the second sliding member 122 is mounted in the second arc chute 4221, and when the swing member 42 rotates, the second sliding member 122 slides relative to the second arc chute 4221. Referring to fig. 10, a torsion spring 123 is further mounted on the second adapter 121, one end of the torsion spring 123 is connected with the second fixing frame 12, and the other end of the torsion spring 123 is clamped on the first rod portion 421, and the torsion spring 123 makes the second rod portion 422 of the swinging member 42 have a movement tendency of turning upwards, so that the roller 423 always keeps abutting against the upper wall of the lifting connecting rod 43. The arrangement is that when the swinging piece 42 rotates, the lifting connecting rod 43 can be driven to rotate and lift or descend in time, and the control is convenient, and the work is stable and reliable.

Further, as shown in fig. 9 and 11, the sliding contact slot 411 of the present embodiment is preferably in a herringbone shape, and includes a first clamping portion 4111, a second clamping portion 4112 and a third clamping portion 4113. When the cam 41 rotates in the first direction, the swinging member 42 is stationary while the sliding shaft 424 slides along the arc track from the first clamping portion 4111 to the second clamping portion 4112, and only the telescopic mechanism 3 of the side brush device moves (e.g. the side brush assembly 5 contracts); the cam 41 continues to rotate along the first direction, and when the sliding shaft 424 slides from the second clamping portion 4112 to the third clamping portion 4113 and is located in the third clamping portion 4113, the cam 41 can drive the swinging member 42 to rotate, and at this time, the telescopic mechanism 3 and the lifting mechanism 4 of the side brush device both move (for example, the side brush assembly 5 contracts and lifts at the same time); when the cam 41 rotates in the opposite direction of the first direction, the sliding shaft 424 is kept in the position of the third clamping portion 4113, and at this time, the swinging member 42 can rotate along with the cam 41, so that the telescopic mechanism 3 and the lifting mechanism 4 of the side brush device move (for example, the side brush assembly 5 is opened and lowered simultaneously); the cam 41 continues to rotate in the opposite direction of the first direction, and the swinging member 42 is stationary while the sliding shaft 424 slides from the third clamping portion 4113 to the first clamping portion 4111 along the arc track, and only the telescopic mechanism 3 of the side brush device moves (e.g. the side brush assembly 5 is opened). In this embodiment, due to the clearance fit between the sliding connection slot 411 and the sliding connection shaft 424, when the push rod motor is retracted, the side brush assembly 5 can retract first, and when the side brush assembly is retracted to a certain position, the side brush assembly is retracted and lifted to work simultaneously until the side brush assembly moves to a limit position; conversely, when the push rod motor starts to be turned on, the side brush assembly 5 is firstly put down and turned on simultaneously, and when the side brush assembly moves to a certain position, the put down movement is stopped, and the opening movement continues to work until the side brush assembly is turned on to the limit position. Preferably, the roller 423 of the present embodiment is an encapsulated roller, so as to achieve a better buffering effect, avoid collision damage to the lifting link 43, and reduce working noise.

Further preferably, the lifting link 43 of the present embodiment includes an upper link 431 and a lower link 432, one end of the upper link 431 is hinged with the second fixing frame 12, and the other end is hinged with the fourth link 324; one end of the lower link 432 is hinged with the second fixing frame 12, and the other end is hinged with the fourth link 324; the top of the upper connection member 431 is provided with a relief hole, and the second rod portion 422 of the swing member 42 passes through the relief hole and is positioned between the upper connection member 431 and the lower connection member 432; one end of the second restoring member 44 is connected to the top of the second fixing frame 12, and the other end is connected to one end of the lower connecting member 432, when the lifting link 43 is lifted by force, the second restoring member 44 elastically deforms, and when the external force is removed, the second restoring member 44 returns the lifting link 43 to its original position. The lifting link 43 of the embodiment has a simple structure and is convenient to install, and the upper connection member 431 and the lower connection member 432 can adopt the same structure, so that the manufacturing process is further simplified.

With continued reference to fig. 8, as a preferred embodiment, the side brush assembly 5 includes a side brush fixing base 51, a side brush motor 52 and a side brush 53, the side brush fixing base 51 is fixedly connected with the first connecting piece 321 of the rotating hinge 32, the side brush 53 and the side brush motor 52 are both fixed on the side brush fixing base 51, and the side brush motor 52 is used for driving the side brush 53 to rotate so as to implement a cleaning operation on the ground. Further, in order to improve the cleaning effect of the side brush 53 and prevent the brush wear from affecting the cleaning operation, the electric putter of the present embodiment preferably employs a hall putter with a position detecting function, and when the brush wear occurs, the lower computer changes the parameter setting to control the extension length of the electric putter, so as to meet the unchanged contact distance of the side brush under different working conditions. Illustratively, such as: the bristle length of the side brush 53 is 100% at the beginning, the working stroke of the push rod motor can be set to 60%, and when the bristle length of the side brush 53 is worn to 80% of the initial bristle length, the working stroke of the push rod motor can be set to 80%; when the bristle length of the side brush 53 is worn to 60% of the initial bristle length, the working stroke of the push rod motor is 100%, so that one-key operation is realized, manual disassembly and adjustment are not needed, and the side brush 53 can have efficient cleaning capability under different working conditions.

In another alternative embodiment of the invention, shown in figures 1-4, the side brush arrangement comprises two sets of telescopic mechanisms 3, two sets of lifting mechanisms 4 and two sets of side brush assemblies 5. The driving mechanism 2 further comprises a second sprocket 26, a second driving chain 27 and a chain reset mechanism 29, the second sprocket 26 is fixed on the driving shaft 23, the second sprocket 26 is meshed with the second driving chain 27 for driving, a first end of the second driving chain 27 is fixedly connected with the chain reset mechanism 29, a second end of the second driving chain 27 is connected with a driving rod assembly 31 of the corresponding telescopic mechanism 3, and the chain reset mechanism 29 is fixed on the frame 1 and used for tensioning the second driving chain 27. In this embodiment, when the electric push rod drives the first driving chain 22 to move, the first driving chain 22 drives the first sprocket 24 to rotate, the first sprocket 24 drives the driving shaft 23 to rotate, and the driving shaft 23 drives the second sprocket 26 to rotate, so as to drive the other group of telescopic mechanisms 3 and lifting mechanisms 4. The invention adopts the electric push rod to realize the shrinkage and lifting linkage movement of the left brush component and the right brush component, has exquisite design and greatly reduces the manufacturing cost. Preferably, the chain return mechanism 29 of the present embodiment includes a pull rod 291 and a third return member 292, one end of the third return member 292 is connected to the mounting plate 10, the other end is connected to one end of the pull rod 291, the pull rod 291 is rotatably disposed on the mounting plate 10 through a rotation shaft, and the other end of the pull rod 291 is fixedly connected to the first end of the second transmission chain 27. Further preferably, the third return member 292 is an extension spring, which is simple in structure, reliable in use, and low in cost. Of course, in other embodiments, the third restoring member 292 may also use other elastic members, which is not limited to the present embodiment.

The working procedure of this embodiment is as follows:

when the electric push rod is opened to the maximum stroke position, the side brush assembly 5 is positioned at the maximum opening position and the lifting lowest position, the lifting connecting rod 43 and the rotating hinge 32 are respectively kept at the same position under the tensile force of the second reset piece 44 and the first reset piece 33, and the side brush assembly 5 is in a welt cleaning working state; when the cleaning robot needs to pass through a narrow space, the electric push rod starts to retract, the push rod drives the first transmission chain 22 to work, the first transmission chain 22 pulls the transmission rod assembly 31 to rotate, the side brush assembly 5 starts to retract, meanwhile, the first transmission chain 22 drives the first sprocket 24 to start to rotate, the first sprocket 24 is connected with the transmission shaft 23, the second sprocket 26 starts to rotate simultaneously under the action of the transmission shaft 23 and drives the second transmission chain 27 to work, and the transmission rod assembly 31 on the side is driven to rotate under the action of the second transmission chain 27, so that the side brush assembly 5 on the side is retracted. The two ends of the transmission shaft 23 are respectively connected with a cam 41, a sliding connection slot 411 on the cam 41 is in clearance fit with a sliding connection shaft 424 on the swinging piece 42, so that after the cam 41 rotates to a certain position, the cam 41 is abutted with the swinging piece 42, thereby driving the swinging piece 42 to start to move, at the moment, the two swinging pieces 42 drive respective rollers 423 to start to lift, and the rollers 423 are propped against the lifting connecting rod 43 to drive the side brush assembly 5 to start to lift; when the push rod motor moves to the final position of the stroke, the contraction and lifting actions of the side brush assembly 5 are finished; through the mechanism, the side brush assembly 5 can be contracted firstly, and when the side brush assembly is contracted to a certain position, the side brush assembly is contracted and lifted to work simultaneously until the side brush assembly moves to a limit position. Conversely, the push rod motor starts to open, the side brush assembly 5 is firstly put down and opened simultaneously, when moving to a certain position, the put down movement is stopped, and the opening movement is continued until the side brush assembly is opened to the limit position. Because the lifting connecting rod 43 and the movement mechanism of the rotating hinge 32 are flexibly connected by adopting a transmission chain and an extension spring, when the side brush assembly 5 is acted by external force, passive contraction and lifting can be realized, wherein in the passive contraction process, the rotating hinge 32 can trigger the anti-collision position switch 34 in rotation and feed signals back to the control module of the cleaning robot, and the side brush assembly 5 is prompted to be touched at the moment, so that the work is abnormal.

The embodiment of the invention also provides a cleaning robot which comprises a vehicle body and the side brush device, wherein the side brush device is arranged on the vehicle body. The cleaning robot provided by the invention has the advantages that the side brush device can automatically stretch and retract and open within a reasonable cleaning width range, and when the side brush device is opened, the positioning error can be eliminated, so that the side brush cleaning is satisfied; when the side brush device is contracted, the cleaning robot can pass through a narrow space; when cleaning is not needed, the side brush device can automatically shrink and lift. Moreover, the contraction and the lifting of the side brush device are flexibly movably connected, passive contraction or lifting can be realized under the action of external force, collision is avoided, and after the acting force is eliminated, the side brush can automatically return to the initial position under the action of the reset piece to continue normal operation.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. An edge brush device, comprising:

a frame (1);

a driving mechanism (2) arranged on the frame (1);

the telescopic mechanism (3) comprises a transmission rod assembly (31), a rotating hinge (32) and a first resetting piece (33), wherein two ends of the transmission rod assembly (31) are respectively connected with the driving mechanism (2) and the rotating hinge (32), and the first resetting piece (33) is connected between the frame (1) and the transmission rod assembly (31);

the lifting mechanism (4) comprises a cam (41), a swinging piece (42) and a lifting connecting rod (43), wherein the cam (41) is in transmission connection with the driving mechanism (2), and a sliding connection groove (411) is formed in the cam (41); the swing piece (42) is rotationally connected with the frame (1), one end of the swing piece (42) is provided with a sliding connection shaft (424), the sliding connection shaft (424) is slidably arranged in the sliding connection groove (411), and the cam (41) can drive the swing piece (42) to rotate through the sliding connection groove (411) when rotating; the sliding connection groove (411) comprises a first clamping portion (4111), a second clamping portion (4112) and a third clamping portion (4113), and when the sliding connection shaft (424) slides from the first clamping portion (4111) to the second clamping portion (4112), the swinging piece (42) is static; when the sliding connection shaft (424) slides from the second clamping connection part (4112) to the third clamping connection part (4113), the cam (41) can drive the swinging piece (42) to rotate; when the sliding connection shaft (424) slides from the third clamping connection part (4113) to the first clamping connection part (4111), the swinging piece (42) is static; the other end of the swinging piece (42) is positioned in the lifting connecting rod (43) and is abutted against the lifting connecting rod (43), the lifting connecting rod (43) is rotatably connected to the frame (1), and the lifting connecting rod (43) can be driven by the swinging piece (42) to lift or descend in a rotating way; a second reset piece (44) is arranged between the frame (1) and the lifting connecting rod (43); one end of the lifting connecting rod (43) far away from the frame (1) is connected with the rotating hinge (32);

the side brush assembly (5) is fixedly connected with the rotating hinge (32), and the side brush assembly (5) can be passively contracted and lifted under the action of external force and reset after the external force is eliminated.

2. An edge brush arrangement according to claim 1, wherein the drive mechanism (2) comprises:

a driving member (21);

the first end of the first transmission chain (22) is fixedly connected with the driving piece (21), and the second end of the first transmission chain (22) is fixedly connected with the transmission rod assembly (31);

the transmission shaft (23) is rotatably arranged on the frame (1), and the cam (41) is fixed on the transmission shaft (23) through a connecting sleeve (45);

and a first chain wheel (24) fixed on the transmission shaft (23) and meshed with the first transmission chain (22).

3. The side brush device according to claim 2, wherein the frame (1) comprises a mounting plate (10), and a first fixing frame (11) and a second fixing frame (12) are fixed on the mounting plate (10);

the first fixing frame (11) is used for fixedly supporting the transmission shaft (23);

one end of the first reset piece (33) is connected with the second fixing frame (12), and the other end of the first reset piece is connected with the transmission rod assembly (31); the lifting connecting rod (43) is rotatably connected to the second fixing frame (12), one end of the second reset piece (44) is connected with the second fixing frame (12), and the other end of the second reset piece is connected with the lifting connecting rod (43).

4. A side brush arrangement according to claim 3, wherein the drive rod assembly (31) comprises a first drive rod (311) and a second drive rod (312) arranged at an angle, one end of the first drive rod (311) being fixedly connected to the second end of the first drive chain (22), the other end of the first drive rod (311) being hinged to one end of the second drive rod (312); the other end of the second transmission rod (312) is connected with the rotary hinge (32), and two ends of the first reset piece (33) are respectively connected with the second fixing frame (12) and the first transmission rod (311).

5. The side brush device according to claim 4, wherein the first transmission rod (311) is provided with a first arc chute (3111) and a first connecting hole; still be fixed with third mount (13) on first mount (11), be equipped with first adaptor (131) and first slip spare (132) on third mount (13), first adaptor (131) pass first connecting hole with first transfer line (311) rotate and be connected, first slip spare (132) pass first arc spout (3111) with first transfer line (311) sliding connection.

6. The side brush device according to claim 4, wherein the rotating hinge (32) comprises a first connecting piece (321), a second connecting piece (322), a third connecting piece (323) and a fourth connecting piece (324), the first connecting piece (321) is L-shaped, one end of the first connecting piece is fixedly connected with the side brush assembly (5), the other end of the first connecting piece is hinged with the second connecting piece (322) and the third connecting piece (323), the second connecting piece (322) is fixedly connected with the fourth connecting piece (324), the third connecting piece (323) is hinged with the second transmission rod (312), and the fourth connecting piece (324) is rotatably connected with the lifting connecting rod (43).

7. The side brush device according to claim 6, wherein the swinging member (42) comprises a first lever portion (421) and a second lever portion (422) which are arranged at an angle, and the sliding shaft (424) is arranged at the upper end of the first lever portion (421); the second rod part (422) is positioned in the lifting connecting rod (43), and a roller (423) is arranged at the front end of the second rod part (422); the swinging piece (42) is rotationally connected with the second fixing frame (12), a torsion spring (123) is arranged between the swinging piece (42) and the second fixing frame (12), and the torsion spring (123) enables the roller (423) to be abutted to the upper wall of the lifting connecting rod (43).

8. The side brush device according to claim 7, wherein the lifting link (43) comprises an upper connecting piece (431) and a lower connecting piece (432), one end of the upper connecting piece (431) is rotatably connected with the second fixing frame (12), and the other end is rotatably connected with the fourth connecting piece (324); one end of the lower connecting piece (432) is rotationally connected with the second fixing frame (12), and the other end of the lower connecting piece is rotationally connected with the fourth connecting piece (324); a second rod portion (422) of the swinging member (42) passes through the upper connecting member (431) and is located between the upper connecting member (431) and the lower connecting member (432).

9. A cleaning robot comprising an edge brush device according to any one of claims 1-8.