CN114831553A - Rolling brush mechanism and cleaning robot - Google Patents
Rolling brush mechanism and cleaning robot Download PDFInfo
- Publication number
- CN114831553A CN114831553A CN202210681277.XA CN202210681277A CN114831553A CN 114831553 A CN114831553 A CN 114831553A CN 202210681277 A CN202210681277 A CN 202210681277A CN 114831553 A CN114831553 A CN 114831553A
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- cavity
- transmission structure
- jacking
- push rod
- driving device
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- 238000004140 cleaning Methods 0.000 title claims abstract description 47
- 238000005096 rolling process Methods 0.000 title claims description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000009434 installation Methods 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 abstract description 9
- 239000010959 steel Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000452 restraining effect 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary 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
- A47L11/32—Carpet-sweepers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Cleaning In General (AREA)
Abstract
The application belongs to the technical field of it is clean, especially, relate to a round brush mechanism and cleaning machines people. Wherein, the round brush mechanism includes: installing a cavity; the cavity frame is used for being fixedly connected to the bottom of the base body of the cleaning robot, and one side of the installation cavity is movably connected to the cavity frame; the other side of the mounting cavity is connected to the cavity frame through the floating connecting structure; the lifting driving device is arranged on the cavity frame or the base body of the cleaning robot; the first transmission structure is fixedly arranged in the mounting cavity; the lifting driving device is used for driving the second transmission structure and driving the first transmission structure to lift so as to lift the mounting cavity; the first transmission structure is limited and positioned by the second transmission structure when the mounting cavity rises to the highest position or descends to the lowest position. The scheme of using this application has been solved among the prior art and has been adopted the steel wire to draw the mode of hanging and when descending after the installation cavity carries out passive lifting, the steel wire can produce the problem that circumference was strikeed and damaged the motor to the motor.
Description
Technical Field
The application belongs to the technical field of it is clean, especially, relate to a round brush mechanism and cleaning machines people.
Background
The rolling brush mechanism is an important component of the cleaning robot and is responsible for connecting the base body and the rolling brush. The installation cavity of the rolling brush mechanism is used for installing the rolling brush, and the installation cavity is not fixedly assembled, namely the installation cavity has certain floatability relative to the base body so as to drive the rolling brush to adapt to floor surfaces with different conditions, such as uneven floor surfaces.
In addition, in order to adapt to special scenes such as carpets, the installation cavity of part of the cleaning robots also has the function of active lifting, for example, the installation cavity is actively lifted relative to the base body by adopting a steel wire pulling and hanging mode, but when the installation cavity is passively lifted and then falls, the steel wire generates circumferential impact on the motor to damage the motor.
Disclosure of Invention
An object of the embodiment of the application is to provide a round brush mechanism and cleaning machines people, aim at solving and adopt the steel wire to draw the mode of hanging among the prior art and when descending after the installation cavity carries out passive lifting, the steel wire can produce the problem that circumference is strikeed and damage the motor to the motor.
In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions: a roll-brush mechanism comprising:
the mounting cavity is used for mounting the rolling brush;
the cleaning robot comprises a cavity frame, a cleaning robot body and a mounting cavity, wherein the cavity frame is used for being fixedly connected to the bottom of a base body of the cleaning robot, the cavity frame is provided with a containing space used for containing the mounting cavity, and one side of the mounting cavity is movably connected to the cavity frame;
the other side of the mounting cavity is connected to the cavity frame through the floating connecting structure;
the lifting driving device is arranged on the cavity frame or on a base body of the cleaning robot;
the first transmission structure is fixedly arranged in the mounting cavity;
the second transmission structure is connected with the lifting driving device, the second transmission structure is in transmission connection with the first transmission structure, and the lifting driving device is used for driving the second transmission structure and driving the first transmission structure to lift so that the mounting cavity can lift relative to the cavity frame;
the first transmission structure is limited and positioned by the second transmission structure when the installation cavity rises to the highest position or descends to the lowest position relative to the cavity frame.
The embodiment of the application has at least the following beneficial effects:
the rolling brush mechanism provided by the embodiment of the invention is assembled on a base body of a cleaning robot and performs cleaning work, the rolling brush can be adapted to the uneven floor surface to perform passive lifting through the floating connection structure in the process of cleaning the floor surface, and the rolling brush can be actively lifted when meeting the conditions of height difference such as the edge of a carpet and the like through the lifting driving device, the first transmission structure and the second transmission structure, so that the rolling brush can smoothly continue to walk to the surface of the carpet through the edge of the carpet to perform cleaning work. Compared with the cleaning robot adopting a steel wire pulling and hanging mode to enable the installation cavity to be actively lifted, in the rolling brush mechanism provided by the embodiment of the invention, the first transmission structure is limited and positioned by the second transmission structure when the installation cavity ascends to the highest position or descends to the lowest position relative to the cavity frame, and the installation cavity impacts the second transmission structure even if the installation cavity descends after being passively lifted and does not directly impact the lifting driving device, so that the impact on the lifting driving device caused by the installation cavity in the passive lifting process is eliminated, and the lifting driving device is effectively protected.
In one embodiment, the second transmission structure includes a push rod and a jacking portion, the jacking portion is fixedly connected to a rod body of the push rod, the push rod is connected with the lifting driving device, and the lifting driving device drives the push rod to drive the jacking portion to slide along an axial direction of the push rod, so as to drive the first transmission structure to lift.
In an embodiment, the first transmission structure includes at least one fixing portion, the jacking portion and the fixing portion are disposed in a one-to-one correspondence, the fixing portion is provided with a slope, the fixing portion is fixedly connected to one side of the mounting cavity facing the cavity frame, a sliding groove is formed between the slope and a side wall of the mounting cavity, the lifting driving device drives the push rod to drive the jacking portion to move in the sliding groove, and the jacking portion abuts against the slope.
In one embodiment, in the extending direction of the sliding groove, one side of the sliding groove is provided with an opening for the jack-up part to slide in, and the slope surface inclines towards the side wall close to the mounting cavity from the side close to the opening to the side far away from the opening.
In one embodiment, the jacking portion is a first cylinder; the fixing part is further provided with a first positioning plane, one side of the first positioning plane is connected with the slope surface, the other side of the first positioning plane extends to the opening, and the first cylinder can slide to the first positioning plane to enable the mounting cavity to descend to the lowest position; and/or the fixing part is also provided with a second positioning plane, the second positioning plane is connected with the slope surface and is positioned on one side of the slope surface, which is far away from the opening, and the first cylinder can slide to the second positioning plane so as to enable the mounting cavity to ascend to the highest position.
In one embodiment, the jacking portion is a wedge, and the wedge is provided with a matching inclined surface which abuts against the slope surface.
In one embodiment, the fixing portion is provided with a positioning bottom surface, the positioning bottom surface is connected with one side of the slope surface, which is far away from the opening of the sliding groove, the wedge block is provided with a positioning top surface, the positioning top surface is connected with one side of the matching inclined surface, which is close to the opening of the sliding groove, and the wedge block can slide to the position that the positioning top surface and the positioning bottom surface abut against each other so that the mounting cavity rises to the highest position.
In an embodiment, the first transmission structure includes at least one second column, the second column is fixedly connected to one side of the mounting cavity facing the cavity frame, the jacking portion and the second column are arranged in a one-to-one correspondence manner, the jacking portion is provided with a jacking slope, and the second column and the jacking slope are mutually abutted.
In an embodiment, the jacking portion is further provided with a third positioning plane, the third positioning plane is connected with one side, close to the lifting driving device, of the jacking slope surface, and the jacking portion slides to the position, where the second column is located on the third positioning plane, so that the mounting cavity rises to the highest position.
In one embodiment, the lifting driving device comprises a pushing part and a resetting member, the pushing part is mounted on the cavity frame, the pushing part pushes the end part of the push rod far away from the jacking part so as to enable the push rod to slide along the axial direction of the push rod, the resetting member is connected between the cavity frame and the end part of the push rod far away from the jacking part, and the resetting member provides a resetting force for the push rod to enable the push rod to slide towards the pushing part.
In one embodiment, the lifting driving device comprises a driving gear, the driving gear is rotatably mounted on the cavity frame, a rack is arranged at the end of the push rod away from the jacking part, and the rack is meshed with the driving gear; or, the driving gear is rotatably installed on the cavity frame, the end, far away from the jacking portion, of the push rod is provided with a threaded rod section, a threaded hole is formed in the middle of the driving gear, and the threaded rod section is screwed in the threaded hole.
According to another aspect of embodiments of the present application, there is provided a cleaning robot. In particular, the cleaning robot comprises a roller brush mechanism as described above.
In one embodiment, the cleaning robot further comprises:
the control device is electrically connected with the lifting driving device;
the detection mechanism is arranged on the first transmission structure and electrically connected with the control device, and the detection mechanism is used for detecting the relative position between the jacking part and the first transmission structure.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic view of an assembly structure of a rolling brush mechanism according to a first embodiment of the present invention;
FIG. 2 is a first structural view of the rolling brush mechanism according to the first embodiment of the present invention, with the chamber frame removed, and with the mounting chamber located at the lowest position with respect to the chamber frame;
fig. 3 is a schematic structural diagram of the rolling brush mechanism according to the first embodiment of the present invention, in which the cavity frame is detached, and the installation cavity is located at the highest position relative to the cavity frame;
fig. 4 is a schematic view of a matching structure of the jacking portion and the first transmission structure in the rolling brush mechanism according to the first embodiment of the invention;
fig. 5 is a schematic structural view of the roll brush mechanism according to the second embodiment of the present invention, in which the chamber frame is removed, and the installation chamber is located at the lowest position with respect to the chamber frame;
fig. 6 is a schematic view of a matching structure of the jacking portion and the first transmission structure in the rolling brush mechanism according to the second embodiment of the invention;
fig. 7 is a schematic view of a matching structure of the jack-up portion and the first transmission structure in the rolling brush mechanism according to the third embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10. a cavity frame;
20. installing a cavity;
30. a floating connection structure;
40. a lift drive; 41. a pushing part; 42. a reset member;
50. a first transmission structure; 51. a fixed part; 511. a slope surface; 512. a chute; 513. a first location plane; 514. a second positioning plane; 515. positioning the bottom surface; 52. a second cylinder;
60. a second transmission structure; 61. a push rod; 62. a jack-up portion; 621. a first column; 622. a wedge block; 6221. a mating bevel; 6222. positioning the top surface; 623. jacking up the slope; 624. a third positioning plane;
71. a roller brush motor.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present application embodiments and are not to be construed as limiting the present application embodiments.
In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.
Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
The first embodiment is as follows:
as shown in fig. 1 to 4, an embodiment of the present invention provides a roll brush mechanism. Specifically, the rolling brush mechanism comprises a cavity frame 10, a mounting cavity 20, a floating connection structure 30, a lifting driving device 40, a first transmission structure 50 and a second transmission structure 60. The cavity frame 10 is used for being fixedly connected to the bottom of a base body of the cleaning robot, the cavity frame 10 is provided with an accommodating space for accommodating the mounting cavity 20, the roller brush is rotatably mounted in the mounting cavity 20, and the roll brush is driven by a roll brush motor 71 fixedly installed at the installation cavity 20 or fixedly installed at the base of the cleaning robot, one side of the installation cavity 20 is movably connected to the cavity frame 10, and the other side of the installation cavity 20 is connected to the cavity frame 10 through the floating connection structure 30, so that, when the cleaning robot passes through the uneven floor surface in the cleaning process, the mounting cavity 20 can be adaptively and passively lifted relative to the cavity frame 10, so that the roller brush is lifted along with the mounting cavity 20, thereby ensuring that the rolling brush can be self-adaptive to uneven floor surfaces and can be always well attached to the floor surfaces. Further, the lifting driving device 40 is installed on the cavity frame 10, the first transmission structure 50 is fixedly disposed on the installation cavity 20, the second transmission structure 60 is connected with the lifting driving device 40, the second transmission structure 60 is in transmission connection with the first transmission structure 50, and the first transmission structure 50 is located above the second transmission structure 60, the lifting driving device 40 drives the second transmission structure 60 and drives the first transmission structure 50 to lift, so that the installation cavity 20 is lifted relative to the cavity frame 10, wherein the first transmission structure 50 is limited by the second transmission structure 60 when the installation cavity 20 is lifted to the highest position or lifted to the lowest position relative to the cavity frame 10 (the highest position and the lowest position are two extreme positions at which the installation cavity 20 is lifted relative to the cavity frame 10), therefore, in the process of cleaning by the cleaning robot, when the cleaning robot reaches the floor surface with high and low fall, such as the edge of a carpet, the lifting driving device 40 can actively output power, so as to drive the second transmission structure 60 and drive the first transmission structure 50 to lift, and then drive the installation cavity 20 to lift relative to the cavity frame 10, that is, the roller brush to lift relative to the cavity frame 10, so that the roller brush can actively lift to adapt to the high and low fall of the edge of the carpet and continue to walk on the surface of the carpet to clean, and the stress condition of the roller brush when the roller brush is adapted to the floor surface condition to lift is improved.
The rolling brush mechanism provided by the embodiment of the invention is assembled on a base body of a cleaning robot and performs cleaning work, the rolling brush can be passively lifted and descended in a self-adaptive manner by the aid of the floating connecting structure 30 in the process of cleaning the floor surface, and the rolling brush can be actively lifted when meeting the height drop of the edge of a carpet under the condition of height difference of the edge of the carpet through the lifting driving device 40, the first transmission structure 50 and the second transmission structure 60, so that the rolling brush can smoothly continue to walk on the carpet surface through the edge of the carpet to perform cleaning work, and the stress condition of the rolling brush during lifting in the process of adapting to the condition of the floor surface is improved. Moreover, compared with the cleaning robot which adopts the steel wire pulling and hanging mode to actively lift and lower the installation cavity in the prior art, in the rolling brush mechanism provided in the embodiment of the present invention, the first transmission structure 50 is limited and positioned by the second transmission structure 60 when the installation cavity 20 ascends to the highest position or descends to the lowest position relative to the cavity frame 10, and even if the installation cavity 20 is passively lifted and then descends, the installation cavity 20 impacts the second transmission structure 60 and does not directly impact the lifting driving device 40, so that the impact on the lifting driving device 40 is effectively reduced, the impact on the lifting driving device 40 caused by the installation cavity 20 in the passive lifting process is eliminated, and the lifting driving device 40 is effectively protected.
One side of the mounting cavity 20 is connected with the cavity frame 10 through a rotating shaft, so that the mounting cavity 20 can rotate relative to the cavity frame 10 around the rotating shaft; or, one side of the mounting cavity 20 is connected to the cavity frame 10 through a flexible film, so that the mounting cavity 20 can move relative to the cavity frame 10 through the flexible film.
In the first embodiment of the present invention, the second transmission structure 60 includes a push rod 61 and a jack-up portion 62, the jack-up portion 62 is fixedly connected to a shaft of the push rod 61, and preferably, the push rod 61 and the jack-up portion 62 are integrally formed. The push rod 61 is connected with the lifting driving device 40, and the lifting driving device 40 drives the push rod 61 to drive the jacking portion 62 to slide along the axial direction of the push rod 61, so as to drive the first transmission structure 50 to lift. That is, the jacking portion 62 drives the first transmission structure 50 to actively lift, and the jacking portion 62 limits and positions the first transmission structure 50 after the installation cavity 20 ascends to the highest position or descends to the lowest position relative to the cavity frame 10, so that the installation cavity 20 is kept at the highest position or the lowest position relative to the cavity frame 10.
As shown in fig. 2 and fig. 3, the first transmission structure 50 includes at least one fixing portion 51, and the lifting portions 62 are disposed in one-to-one correspondence with the fixing portions 51, in the first embodiment of the present invention, the number of the fixing portions 51 is two, and correspondingly, the number of the lifting portions 62 is also two. The fixing portion 51 is provided with a slope surface 511, the fixing portion 51 is fixedly connected to one side of the mounting cavity 20 facing the cavity frame, and a sliding groove 512 is formed between the slope surface 511 and the side wall of the mounting cavity 20. When the installation cavity 20 needs to be actively lifted, the lifting driving device 40 drives the push rod 61 to drive the jacking portion 62 to move in the sliding groove 512, and the jacking portion 62 abuts against the slope surface 511, that is, when the lifting driving device 40 drives the push rod 61 to move along the axis thereof, the push rod 61 drives the jacking portion 62 to move along the direction a in fig. 4, and the jacking portion 62 abuts against the slope surface 511, so that the installation cavity 20 is lifted up along the direction B in fig. 4 relative to the cavity frame 10, and the jacking portion 62 moves in the opposite direction, otherwise, the push rod 61 drives the jacking portion 62 to move in the opposite direction in the direction a, so that the installation cavity 20 is lowered relative to the cavity frame 10.
Further, in order to easily fit the jack-up portion 62 into the slide groove 512, one side of the slide groove 512 has an opening for the jack-up portion 62 to slide into, in the extending direction of the slide groove 512, as shown in fig. 3. The slope surface 511 inclines toward the side wall close to the mounting cavity 20 from the side close to the opening to the side far from the opening, so that the jacking portion 62 slides in along the sliding slot 512 to drive the mounting cavity 20 to ascend relative to the cavity frame 10, and the jacking portion 62 slides out along the sliding slot 512 to drive the mounting cavity 20 to descend relative to the cavity frame 10.
As shown in fig. 4, the jacking portion 62 is a first cylinder 621, and the first cylinder 621 is preferably a cylinder. The fixing portion 51 is further provided with a first positioning plane 513, one side of the first positioning plane 513 is connected to the slope surface 511, the other side of the first positioning plane 513 extends to the opening, and the first cylinder 621 can slide to the first positioning plane 513 to lower the mounting cavity 20 to the lowest position. Further, the fixing portion 51 is further provided with a second positioning plane 514, the second positioning plane 514 is connected to the slope surface 511 and is located on one side of the slope surface 511 away from the opening of the sliding slot, and the first cylinder 621 can slide to the second positioning plane 514 so as to raise the mounting cavity 20 to the highest position. Specifically, the first positioning plane 513 and the second positioning plane 514 are both horizontal planes, and accordingly, the slope 511 is an inclined plane between the first positioning plane 513 and the second positioning plane 514. In the first embodiment of the present invention, the fixing portion 51 is provided with a first positioning plane 513 and a second positioning plane 514, the first positioning plane 513 is engaged with the first column 621 when the mounting cavity 20 is lowered to the lowest position relative to the cavity frame 10, so as to limit the positioning of the mounting cavity 20 to maintain the lowest position, and correspondingly, the second positioning plane 514 is engaged with the first column 621 when the mounting cavity 20 is raised to the highest position relative to the cavity frame 10, so as to limit the positioning of the mounting cavity 20 to maintain the highest position. In addition, in other embodiments, only the first positioning plane 513 or only the second positioning plane 514 is provided on the fixing portion 51.
In the embodiment of the present invention, the lifting driving device 40 includes a pushing portion 41 and a restoring member 42, the pushing portion 41 is mounted on the cavity frame 10, the pushing portion 41 pushes the end of the push rod 61 away from the jacking portion 62 to make the push rod 61 slide along the axial direction of the push rod 61, the pushing portion 41 is generally driven by a motor, so that the pushing portion 41 pushes the push rod 61 to move along the axial direction (i.e. the direction a in fig. 4). As shown in fig. 1 to 3, the pushing portion 41 is a cam, the cam is rotatably mounted on the cavity frame 10, and an end of the push rod 61 far from the jacking portion 62 abuts against a circumferential surface of the cam, so that when the motor drives the cam to rotate, a convex surface of the cam pushes the push rod 61 to slide along an axial direction thereof. And the reset member 42 is connected between the chamber frame 10 and the end of the push rod 61 far from the jacking portion 62, the reset member 42 provides a reset force to the push rod 61 to make it slide towards the cam, when the cam drives the push rod 61 to move along the direction a until the first cylinder 621 moves to the second positioning plane 514, at this time, the push rod 61 moves to the farthest distance, the cam continues to rotate, the reset member 42 provides a reset force to the push rod, so that the end of the push rod 61 always abuts against the wheel periphery of the cam, that is, the reset member 42 drives the push rod 61 to move along the direction a in the opposite direction until the first cylinder 621 moves to the first positioning plane 513, at this time, the push rod 61 resets. In the first embodiment of the present invention, the reset member 42 may be a tension spring, a compression spring, a torsion spring, a spring plate, or the like, as long as the reset force can be provided to the push rod 61 so that the push rod 61 can move in the direction a in the opposite direction for resetting, and thus, the present invention is not limited again. In some embodiments, the pushing part 41 may also be a piston rod, that is, the lifting driving device 40 is a cylinder or an oil cylinder.
In addition, in some embodiments, the lifting driving device 40 may further include a driving gear rotatably mounted on the cavity frame 10, and an end of the push rod 61 away from the jacking portion 62 is provided with a rack engaged with the driving gear. Or, in other embodiments, the lifting driving device 40 may further include a driving gear rotatably mounted on the cavity frame 10, an end of the push rod 61 far from the jacking portion 62 is provided as a threaded rod section, and a middle portion of the driving gear is provided with a threaded hole in which the threaded rod section is screwed. It should be understood that, as long as the push rod 61 can be driven to move along the axis thereof, the driving requirement can be satisfied instead of the driving manner of the pushing portion 41 and the reset member 42 in the first embodiment of the present invention, for example, the worm and gear manner is adopted to drive the push rod 61 to move, and thus, the present invention is not limited again.
Example two:
as shown in fig. 5 and 6, it shows a schematic structural diagram of a rolling brush mechanism according to a second embodiment of the present invention. The second embodiment has the following differences compared with the first embodiment.
In the second embodiment, the jacking portion 62 is a wedge 622, and the wedge 622 is provided with a fitting inclined surface 6221, and the fitting inclined surface 6221 and the slope surface 511 abut against each other. The fixing portion 51 is lifted by the mutual abutting of the matching inclined surface 6221 and the inclined surface 511 during the movement of the wedge 622 along the push rod 61 along the direction a, and then the mounting cavity 20 is driven to be actively lifted relative to the cavity frame 10, and the fixing portion 51 is lowered during the reverse movement of the wedge 622 along the push rod 61 along the direction a, and then the mounting cavity 20 is lowered relative to the cavity frame 10.
As shown in fig. 6, the fixing portion 51 is provided with a positioning bottom surface 515, the positioning bottom surface 515 is connected to one side of the opening of the sliding slot of the slope surface 511, the wedge 622 is provided with a positioning top surface 6222, the positioning top surface 6222 is connected to one side of the matching inclined surface 6221 close to the opening of the sliding slot, and the wedge 622 can slide to the position where the positioning top surface 6222 and the positioning bottom surface 515 abut against each other so as to raise the mounting cavity 20 to the highest position. The mounting cavity 20 is restrained in position to remain in the uppermost position by the locating top face 6222 interacting with the locating bottom face 515 when the mounting cavity 20 is raised to the uppermost position relative to the cavity frame 10.
Compared with the rolling brush mechanism of the first embodiment, the rolling brush mechanism of the second embodiment has the same structure except for the above structure, and thus, the description thereof is omitted.
Example three:
fig. 7 shows a matching structure of the first transmission structure and the second transmission structure in the rolling brush mechanism according to the third embodiment.
The rolling brush mechanism of the third embodiment has the following differences compared with the rolling brush mechanism of the first embodiment.
In the third embodiment, the first transmission structure 50 includes at least one second column 52, the number of the second columns 52 is preferably two, the second columns 52 are fixedly connected to one side of the installation cavity 20 facing the cavity frame, the jacking portions 62 and the second columns 52 are arranged in a one-to-one correspondence manner (that is, the number of the jacking portions 62 is also two), each jacking portion 62 is provided with a jacking slope surface 623, and the second columns 52 and the jacking slope surfaces 623 abut against each other. When the jacking portion 62 moves along the direction a with the push rod 61, the second column 52 ascends along the jacking slope 623, so as to drive the installation cavity 20 to ascend relative to the cavity frame 10; conversely, when the jack-up portion 62 moves in the direction a along with the push rod 61, the second column 52 descends along the jack-up slope 623, thereby driving the installation cavity 20 to descend relative to the cavity frame 10.
Further, the jacking portion 62 is further provided with a third positioning plane 624, the third positioning plane 624 is connected to a side of the jacking slope surface 623 close to the lifting driving device 40, and the jacking portion slides to a position where the second column 52 is located on the third positioning plane 624, so that the mounting cavity 20 is lifted to the highest position. The mounting cavity 20 is restrained from being positioned to remain at the uppermost position by the third positioning plane 624 cooperating with the second column 52 when the mounting cavity 20 is raised to the uppermost position relative to the cavity frame 10, i.e. the second column 52 rests on the third positioning plane 624.
Further, a lowest position locating plane is provided on a side of the knock-up portion 62 away from the third position locating plane 624, and the lowest position locating plane is connected to the knock-up slope 623. The knock-up portion 62 moves reversely in the a direction with the push rod 61 until the second cylinder 52 descends to the lowest position locating plane, at which time the lowest position locating plane is engaged with the second cylinder 52, that is, the second cylinder 52 stays on the lowest position locating plane, thereby restraining the positioning of the mounting chamber 20 to be maintained at the lowest position.
Compared with the rolling brush mechanism of the first embodiment, the rolling brush mechanism of the third embodiment has the same structure except for the difference, and thus, the description thereof is omitted.
According to another aspect of the present invention, there is provided a cleaning robot (not shown). Specifically, the cleaning robot includes the aforementioned brush mechanism.
The rolling brush mechanism provided by the embodiment of the invention is assembled on a cleaning robot and performs cleaning work, the rolling brush can be adapted to the uneven floor surface to perform passive lifting through the floating connecting structure 30 in the process of cleaning the floor surface, and the rolling brush can be actively lifted when meeting the height drop of the carpet edge through the lifting driving device 40, the first transmission structure 50 and the second transmission structure 60, so that the rolling brush can smoothly continue to walk on the carpet surface through the carpet edge to perform cleaning work, and the stress condition of the rolling brush during lifting when adapting to the floor surface condition is improved. Moreover, compared with a cleaning robot which actively lifts and lowers the installation cavity by adopting a steel wire pulling and hanging mode, in the rolling brush mechanism provided by the embodiment of the invention, the first transmission structure 50 is limited and positioned by the second transmission structure 60 when the installation cavity 20 ascends to the highest position or descends to the lowest position relative to the cavity frame 10, and even if the installation cavity 20 is passively lifted and then descends, the installation cavity 20 impacts the second transmission structure 60 and does not directly impact the lifting driving device 40, so that the impact on the lifting driving device 40 is effectively reduced, the impact on the lifting driving device 40 caused by the installation cavity 20 in the lifting process is eliminated, and the lifting driving device 40 is effectively protected.
In the cleaning robot of the present invention, the cleaning robot further includes a control device and a detection mechanism, the detection mechanism is mounted on the first transmission structure 50, the detection mechanism is electrically connected to the control device, and the detection mechanism is used for detecting a relative position between the jacking portion 62 and the first transmission structure 50. In fact, the detection mechanism of the present invention detects the moving distance of the push rod 61, so as to obtain the relative position between the jacking portion 62 and the first transmission structure 50, and can prevent the jacking portion 62 and the first transmission structure 50 from rigidly colliding due to the excessive moving distance of the push rod 61 along the direction a or along the direction a, or prevent the push rod 61 from being disengaged from the first transmission structure due to the excessive moving distance of the push rod 61 along the direction a in the reverse direction, thereby effectively ensuring the effectiveness of the active lifting of the installation cavity 20 relative to the cavity frame 10 in the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not intended to limit the present application, and any modifications, equivalents and improvements made within the spirit and principle of the embodiments of the present application should be included in the scope of the present application.
Claims (13)
1. A roll-brush mechanism comprising:
the mounting cavity is used for mounting the rolling brush;
the cavity frame is used for being fixedly connected to a base body of the cleaning robot, the cavity frame is provided with an accommodating space for accommodating the installation cavity, and one side of the installation cavity is movably connected to the cavity frame;
the other side of the mounting cavity is connected to the cavity frame through the floating connecting structure;
it is characterized in that the rolling brush mechanism further comprises:
the lifting driving device is arranged on the cavity frame or on a base body of the cleaning robot;
the first transmission structure is fixedly arranged in the mounting cavity;
the second transmission structure is connected with the lifting driving device, the second transmission structure is in transmission connection with the first transmission structure, and the lifting driving device is used for driving the second transmission structure and driving the first transmission structure to lift so that the mounting cavity can lift relative to the cavity frame;
the first transmission structure is limited and positioned by the second transmission structure when the installation cavity rises to the highest position or descends to the lowest position relative to the cavity frame.
2. A roller brush mechanism according to claim 1,
the second transmission structure comprises a push rod and a jacking portion, the jacking portion is fixedly connected to the rod body of the push rod, the push rod is connected with the lifting driving device, the lifting driving device drives the push rod to drive the jacking portion to slide along the axis direction of the push rod, and therefore the first transmission structure is driven to lift.
3. The roll brush mechanism according to claim 2,
the first transmission structure comprises at least one fixing part, the jacking parts and the fixing parts are arranged in a one-to-one correspondence mode, slope faces are arranged on the fixing parts, the fixing parts are fixedly connected to one side, facing the cavity frame, of the installation cavity, sliding grooves are formed between the slope faces and the side walls of the installation cavity, the lifting driving device drives the push rod to drive the jacking parts to move in the sliding grooves, and the jacking parts abut against the slope faces.
4. A roller brush mechanism according to claim 3,
along the extending direction of the sliding groove, one side of the sliding groove is provided with an opening for the jacking part to slide in, and the slope surface inclines towards the side wall close to the mounting cavity from the direction from one side close to the opening to the side far away from the opening.
5. A roller brush mechanism according to claim 4,
the jacking part is a first cylinder; and the number of the first and second groups,
the fixing part is further provided with a first positioning plane, one side of the first positioning plane is connected with the slope surface, the other side of the first positioning plane extends to the opening, and the first cylinder can slide to the first positioning plane so as to enable the mounting cavity to descend to the lowest position; and/or the fixing part is also provided with a second positioning plane, the second positioning plane is connected with the slope surface and is positioned on one side of the slope surface, which is far away from the opening, and the first cylinder can slide to the second positioning plane so as to enable the mounting cavity to ascend to the highest position.
6. A roller brush mechanism according to claim 4,
the jacking portion is a wedge block, the wedge block is provided with a matching inclined surface, and the matching inclined surface and the slope surface are mutually abutted.
7. The roll brush mechanism according to claim 6,
the fixing part is provided with a positioning bottom surface, the positioning bottom surface is connected with one side, away from the opening of the sliding groove, of the slope surface, the wedge block is provided with a positioning top surface, the positioning top surface is connected with one side, close to the opening of the sliding groove, of the matching slope surface, and the wedge block can slide to the positioning top surface and the positioning bottom surface to abut against each other so that the mounting cavity rises to the highest position.
8. The roll brush mechanism according to claim 2,
the first transmission structure comprises at least one second column body, the second column body is fixedly connected to the installation cavity and faces one side of the cavity frame, the jacking portions and the second column bodies are arranged in a one-to-one correspondence mode, jacking slope surfaces are arranged on the jacking portions, and the second column bodies and the jacking slope surfaces are mutually abutted.
9. A roller brush mechanism according to claim 8,
the jacking portion is further provided with a third positioning plane, the third positioning plane is connected with one side, close to the lifting driving device, of the jacking slope surface, and the jacking portion slides to the position, where the second column is located, of the third positioning plane so that the mounting cavity rises to the highest position.
10. A roller brush mechanism according to any of the claims 3-9,
the lifting driving device comprises a pushing part and a resetting component, the pushing part is installed on the cavity frame, the pushing part pushes the end part, far away from the jacking part, of the push rod to enable the push rod to slide along the axis direction of the push rod, the resetting component is connected between the cavity frame and the end part, far away from the jacking part, of the push rod, and the resetting component provides resetting force for enabling the push rod to slide towards the pushing part.
11. A roller brush mechanism according to any of the claims 3-9,
the lifting driving device comprises a driving gear, the driving gear is rotatably mounted on the cavity frame, a rack is arranged at the end part of the push rod, which is far away from the jacking part, and the rack is meshed with the driving gear;
or, the lifting driving device comprises a driving gear, the driving gear is rotatably installed on the cavity frame, the end, far away from the jacking portion, of the push rod is provided with a threaded rod section, the middle of the driving gear is provided with a threaded hole, and the threaded rod section is screwed in the threaded hole.
12. A cleaning robot comprising the brush rolling mechanism according to any one of claims 2 to 11.
13. The cleaning robot according to claim 12,
the cleaning robot further includes:
the control device is electrically connected with the lifting driving device;
the detection mechanism is arranged on the first transmission structure and electrically connected with the control device, and the detection mechanism is used for detecting the relative position between the jacking part and the first transmission structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210681277.XA CN114831553B (en) | 2022-06-16 | 2022-06-16 | Rolling brush mechanism and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210681277.XA CN114831553B (en) | 2022-06-16 | 2022-06-16 | Rolling brush mechanism and cleaning robot |
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| CN114831553A true CN114831553A (en) | 2022-08-02 |
| CN114831553B CN114831553B (en) | 2024-05-14 |
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| CN114831553B (en) | 2024-05-14 |
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