CN114831553B - Rolling brush mechanism and cleaning robot - Google Patents
Rolling brush mechanism and cleaning robot Download PDFInfo
- Publication number
- CN114831553B CN114831553B CN202210681277.XA CN202210681277A CN114831553B CN 114831553 B CN114831553 B CN 114831553B CN 202210681277 A CN202210681277 A CN 202210681277A CN 114831553 B CN114831553 B CN 114831553B
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- cavity
- transmission structure
- jacking
- driving device
- installation cavity
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- 238000004140 cleaning Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 238000005096 rolling process Methods 0.000 title claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000009434 installation Methods 0.000 claims abstract description 78
- 238000001514 detection method Methods 0.000 claims description 9
- 239000000758 substrate Substances 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 abstract description 6
- 239000010959 steel Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000013011 mating Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- 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
-
- 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 cleaning, and particularly relates to a rolling brush mechanism and a cleaning robot. 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 installation cavity is connected with the cavity frame through the floating connection 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 enable the mounting cavity to lift; 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. The technical scheme of the application solves the problem that the motor is damaged due to circumferential impact of the steel wire on the motor when the steel wire falls down after the passive lifting of the installation cavity in the prior art.
Description
Technical Field
The application belongs to the technical field of cleaning, and particularly relates to a rolling brush mechanism and a cleaning robot.
Background
The rolling brush mechanism is an important component of the cleaning robot and is responsible for connecting the substrate and the rolling brush. The installation cavity of round brush mechanism is used for installing the round brush, and the installation cavity is not fixed assembly moreover, and the installation cavity has certain floatability for the base member promptly to drive the round brush adaptation floor surface of different circumstances, for example uneven floor surface, consequently, the installation cavity in many cleaning machines at present adopts floating assembly mode, makes the installation cavity drive the round brush and can make the passive lifting of self-adaptation floor surface, descend.
In addition, in order to adapt to special scenes such as carpets, the installation cavity of part cleaning robot still has the function of initiative lift, if adopt the steel wire to draw the mode of hanging to make the installation cavity initiative go on going up and down relative the base member, but the mode that the steel wire draws the hanging is when the installation cavity carries out the passive lifting back and descends, and the steel wire can produce circumferential impact and damage the motor to the motor.
Disclosure of Invention
The embodiment of the application aims to provide a rolling brush mechanism and a cleaning robot, and aims to solve the problem that a wire impacts a motor in the circumferential direction to damage the motor when a wire is used for hanging a mounting cavity to fall after passive lifting in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows: a roller brush mechanism comprising:
The installation cavity is used for installing the rolling brush;
The cavity frame is fixedly connected to the bottom of the base body of the cleaning robot, an accommodating space for accommodating the installation cavity is erected in the cavity frame, and one side of the installation cavity is movably connected to the cavity frame;
The other side of the installation cavity is connected with the cavity frame through the floating connection structure;
the lifting driving device is arranged on the cavity frame or a substrate 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 in a transmission way, and the lifting driving device is used for driving the second transmission structure and driving the first transmission structure to lift so as to enable the installation cavity to lift relative to the cavity frame;
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 relative to the cavity frame.
The embodiment of the application has at least the following beneficial effects:
The rolling brush mechanism is assembled on the substrate of the cleaning robot and performs cleaning, the rolling brush can be self-adaptively lifted and lowered on the uneven floor surface through the floating connection structure in the process of cleaning the floor surface, and the rolling brush can be actively lifted when meeting the height drop conditions of carpet edges and the like through the lifting driving device, the first transmission structure and the second transmission structure, so that the rolling brush can smoothly walk on the carpet surface through the carpet edges to perform cleaning. Compared with the cleaning robot which adopts a steel wire to pull and hang the installation cavity to actively lift, 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 is lifted to the highest position or is lowered to the lowest position relative to the cavity frame, and the installation cavity impacts the second transmission structure even when the installation cavity falls after being passively lifted, and the installation cavity does not directly impact on the lifting driving device, so that the impact on the lifting driving device is effectively reduced, and 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 an embodiment, the second transmission structure includes a push rod and a jack-up portion, the jack-up portion is fixedly connected to a shaft of the push rod, the push rod is connected to the lifting driving device, and the lifting driving device drives the push rod to drive the jack-up 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 fixed part, the jack-up portion with fixed part one-to-one sets up, the fixed part is equipped with the slope, fixed part fixed connection in install cavity orientation one side of cavity frame, the slope with be formed with the spout between the lateral wall of install cavity, lift drive arrangement drive the push rod drives the jack-up portion is in remove in the spout, just the jack-up portion with the slope offsets.
In one embodiment, along the extending direction of the chute, one side of the chute is provided with an opening into which the jacking portion slides, and the slope surface is inclined toward a side wall close to the mounting cavity in a direction from a side thereof close to the opening to a side thereof 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 column body can slide to the first positioning plane so as to enable the mounting cavity to descend to the lowest position; and/or the fixed part is also provided with a second positioning plane, the second positioning plane is connected with the slope surface and is positioned at one side of the slope surface away from the opening, and the first column body can slide to the second positioning plane so as to enable the installation cavity body to rise to the highest position.
In one embodiment, the jacking portion is a wedge provided with a mating inclined surface, which abuts against the ramp surface.
In one embodiment, the fixing portion 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 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 can slide to the position where the positioning top surface and the positioning bottom surface are abutted against each other so that the installation cavity ascends to the highest position.
In one embodiment, the first transmission structure comprises at least one second column, the second column is fixedly connected to one side of the mounting cavity, which faces the cavity frame, the jacking parts are arranged in one-to-one correspondence with the second columns, the jacking parts are provided with jacking sloping surfaces, and the second columns and the jacking sloping surfaces are mutually propped against each other.
In one 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, located on the third positioning plane, of the second column body so that the installation cavity body ascends to the highest position.
In one embodiment, the lifting driving device includes a pushing portion and a reset member, the pushing portion is mounted on the cavity frame, the pushing portion pushes the end portion of the push rod away from the jacking portion so that the push rod slides along the axial direction of the push rod, the reset member is connected between the cavity frame and the end portion of the push rod away from the jacking portion, and the reset member provides a reset force for the push rod to slide towards the pushing portion.
In one embodiment, the lifting driving device comprises a driving gear rotatably mounted on the cavity frame, and a rack is arranged at the end part of the push rod, which is far away from the jacking part, and is meshed with the driving gear; or, the driving gear is rotatably installed in the cavity frame, the end part of the push rod, which is far away from the jacking part, is provided with a threaded rod section, the middle part of the driving gear is provided with a threaded hole, and the threaded rod section is in threaded connection with the threaded hole.
According to another aspect of an embodiment of the present application, there is provided a cleaning robot. Specifically, the cleaning robot includes a roll 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 is 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 of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram showing an assembly structure of a rolling brush mechanism according to a first embodiment of the present invention;
FIG. 2 is a schematic view of the first embodiment of the invention with the brush mechanism removed from the housing frame, and with the mounting cavity at a lowermost position relative to the housing frame;
FIG. 3 is a schematic diagram showing a structure in which a rolling brush mechanism according to a first embodiment of the present invention is detached from a cavity frame, and a mounting cavity is located at the highest position with respect to the cavity frame;
fig. 4 is a schematic diagram of a cooperation structure between a jack-up portion and a first transmission structure in a rolling brush mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a roller brush mechanism of a second embodiment of the present invention with a cavity frame removed, and with a mounting cavity at a lowest position relative to the cavity frame;
fig. 6 is a schematic diagram of a matching structure of a jack-up portion and a first transmission structure in a rolling brush mechanism according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a cooperation structure between a jack-up portion and a first transmission structure in a rolling brush mechanism according to a third embodiment of the present invention.
Wherein, each reference sign in the figure:
10. A cavity frame;
20. Installing a cavity;
30. A floating connection structure;
40. a lifting driving device; 41. a pushing part; 42. a reset member;
50. a first transmission structure; 51. a fixing part; 511. a slope surface; 512. a chute; 513. a first positioning plane; 514. a second positioning plane; 515. positioning the bottom surface; 52. a second column;
60. A second transmission structure; 61. a push rod; 62. a jack-up portion; 621. a first column; 622. wedge blocks; 6221. matching with the inclined plane; 6222. positioning the top surface; 623. jacking up the slope; 624. a third positioning plane;
71. a rolling brush motor.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended to illustrate embodiments of the application and should not be construed as limiting the embodiments of the application.
In the description of the embodiments of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably 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 embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.
Embodiment one:
as shown in fig. 1 to 4, the embodiment of the present invention provides a rolling brush mechanism. Specifically, the rolling brush mechanism comprises a cavity frame 10, a mounting cavity 20, a floating connecting 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 fixed connection to the bottom of cleaning robot's base member, the cavity frame 10 is equipped with and is used for holding the accommodation space of installation cavity 20, the round brush rotatable install in the installation cavity 20 to the round brush is driven by the round brush motor 71 fixed mounting in installation cavity 20 or fixed mounting on cleaning robot's base member, one side swing joint of installation cavity 20 in cavity frame 10, the opposite side of installation cavity 20 passes through floating connection structure 30 connect in cavity frame 10, so, in the in-process that cleaning robot carries out cleaning work, when passing through uneven floor surface, installation cavity 20 can carry out the passive lift of self-adaptation for the round brush follows installation cavity 20 and goes up and down, thereby guarantees that the round brush can the self-adaptation uneven floor surface and well laminating floor surface all the time. Further, the lifting driving device 40 is installed on the cavity frame 10, the first transmission structure 50 is fixedly disposed in 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 and positioned by the second transmission structure 60 when the installation cavity 20 is lifted to the highest position or is lowered to the lowest position relative to the cavity frame 10 (the highest position and the lowest position are two limit positions for lifting the installation cavity 20 relative to the cavity frame 10), in the process of cleaning work of a cleaning robot, when the cleaning robot reaches a floor surface with a high-low difference condition, for example, the carpet can be lifted relative to the carpet, and the carpet can be driven by the first transmission structure 40 to drive the carpet-lifting structure to lift the carpet-down edge of the carpet frame 10, and the carpet-cleaning device can be lifted relative to the carpet-lifting edge of the carpet-cleaning device, and the carpet-cleaning device can be lifted when the carpet-cleaning device is lifted relative to the carpet-cleaning device is lifted, and the carpet-cleaning device is driven to the carpet-cleaning surface is lifted by the carpet is lifted.
The rolling brush mechanism provided by the embodiment of the invention is assembled on the substrate of the cleaning robot and performs cleaning work, the rolling brush can be self-adaptively lifted and lowered on the uneven floor surface 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 high and low drop condition 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 continuously walk on the carpet surface through the carpet edge to perform cleaning work, and the stress condition of the rolling brush when being lifted according to the condition of the floor surface is improved. In addition, compared with the cleaning robot in the prior art that actively lifts the installation cavity by using a wire to lift, 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 rises to the highest position or falls to the lowest position relative to the cavity frame 10, and even if the installation cavity 20 drops after being passively lifted, 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, and 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 installation cavity 20 is connected with the cavity frame 10 through a rotating shaft, so that the installation 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, the mounting cavity 20 can be moved 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, and the jack-up portion 62 is fixedly connected to the shaft of the push rod 61, 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 first transmission structure 50 is driven to actively lift by the jack-up portion 62, and the first transmission structure 50 is limited and positioned by the jack-up portion 62 after the mounting cavity 20 rises to the highest position or falls to the lowest position relative to the cavity frame 10, so that the mounting cavity 20 is kept at the highest position or the lowest position relative to the cavity frame 10.
As shown in fig. 2 and 3, the first transmission structure 50 includes at least one fixing portion 51, the jacking portions 62 are disposed in one-to-one correspondence with the fixing portions 51, and in the first embodiment of the present invention, the number of fixing portions 51 is two, and correspondingly, the number of jacking 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 chute 512 is formed between the slope surface 511 and a 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 chute 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 along the direction B in fig. 4 relative to the cavity frame 10, the jacking portion 62 moves reversely, otherwise, the push rod 61 drives the jacking portion 62 to move reversely along the direction a, and the installation cavity 20 descends relative to the cavity frame 10.
Further, in order to be able to easily fit the jack-up portion 62 into the chute 512, therefore, in the extending direction of the chute 512, one side of the chute 512 has an opening into which the jack-up portion 62 slides, as shown in fig. 3. The slope surface 511 is inclined from a side thereof near the opening to a side thereof far from the opening toward a side wall near the installation cavity 20, so that the jack-up portion 62 slides in along the sliding groove 512 to drive the installation cavity 20 to rise relative to the cavity frame 10, and the jack-up portion 62 slides out along the sliding groove 512 to drive the installation cavity 20 to descend relative to the cavity frame 10.
As shown in fig. 4, the jack-up portion 62 is a first cylinder 621, and the first cylinder 621 is preferably a cylinder. And, 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 column 621 can slide to the first positioning plane 513 to lower the installation 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 located on a side of the slope surface 511 away from the opening of the chute, and the first column 621 can slide to the second positioning plane 514 to enable the installation cavity 20 to rise to the highest position. Specifically, the first positioning plane 513 and the second positioning plane 514 are both horizontal planes, and the slope surface 511 is a slope surface located between the first positioning plane 513 and the second positioning plane 514, respectively. In the first embodiment of the present invention, the fixing portion 51 is provided with both the first positioning plane 513 and the second positioning plane 514, and the first positioning plane 513 cooperates with the first column 621 when the installation cavity 20 is lowered to the lowest position with respect to the cavity frame 10, thereby restricting the installation cavity 20 to be positioned to be maintained at the lowest position, and correspondingly, the second positioning plane 514 cooperates with the first column 621 when the installation cavity 20 is raised to the highest position with respect to the cavity frame 10, thereby restricting the installation cavity 20 to be positioned to be maintained at 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 reset member 42, the pushing portion 41 is mounted on the cavity frame 10, the pushing portion 41 pushes the end portion of the push rod 61 away from the jack-up portion 62 so as to slide the push rod 61 along the axial direction of the push rod 61, and 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 rotatably mounted on the housing frame 10, and an end portion of the push rod 61 remote from the jack-up portion 62 abuts on a peripheral surface of the cam, so that when the motor drives the cam to rotate, the protruding wheel surface of the cam pushes the push rod 61 to slide in an axial direction thereof. And, the restoring member 42 is connected between the cavity frame 10 and the end portion of the push rod 61 away from the jack 62, the restoring member 42 provides a restoring force for sliding the push rod 61 toward 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 restoring member 42 provides a restoring force for the push rod, so that the end portion of the push rod 61 always abuts against the peripheral surface of the cam, that is, the restoring member 42 drives the push rod 61 to move reversely along the direction a until the first cylinder 621 moves to the first positioning plane 513, at this time, the push rod 61 is restored. In the first embodiment of the present invention, the restoring member 42 may be a tension spring, a compression spring, a torsion spring, a spring plate, or the like, as long as a restoring force can be provided to the push rod 61 so that the push rod 61 can move in the opposite direction a to restore, 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 elevation driving means 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 to the cavity frame 10, and the end of the push rod 61 away from the jacking portion 62 is provided with a rack, and the rack is meshed with the driving gear. Alternatively, in other embodiments, the lifting driving device 40 may further include a driving gear rotatably mounted on the cavity frame 10, and an end portion of the push rod 61 remote from the jacking portion 62 is provided with a threaded rod section, and a threaded hole is formed in a middle portion of the driving gear, and the threaded rod section is screwed into the threaded hole. It is understood that the driving requirement can be satisfied as long as the push rod 61 can be driven to move along the axis thereof, instead of the driving method of the pushing portion 41 and the reset member 42 in the first embodiment of the present invention, for example, the worm gear method is adopted to drive the push rod 61 to move, so the present invention is not limited again.
Embodiment two:
As shown in fig. 5 and 6, a schematic structural diagram of a rolling brush mechanism according to a second embodiment of the present invention is shown. The second embodiment has the following differences from the first embodiment.
In the second embodiment, the jack 62 is a wedge 622, and the wedge 622 is provided with an engagement inclined surface 6221, and the engagement inclined surface 6221 and the inclined surface 511 abut against each other. Through the mutual abutting of the matching inclined surface 6221 and the inclined surface 511, the fixing part 51 is lifted in the process that the wedge block 622 moves along with the push rod 61 along the direction A, and then the installation cavity 20 is driven to actively lift relative to the cavity frame 10, the fixing part 51 is lowered in the process that the wedge block 622 moves along with the push rod 61 reversely along the direction A, and then the installation 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 chute of the ramp 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 mating inclined surface 6221 close to the opening of the chute, and the wedge 622 can slide until the positioning top surface 6222 and the positioning bottom surface 515 abut against each other 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 positioning top surface 6222 cooperating with the positioning bottom surface 515 as the mounting cavity 20 is raised to the uppermost position relative to the cavity frame 10.
The rolling brush mechanism of the second embodiment is different from that of the first embodiment except for the above structures, and the other structures are the same, so that the description thereof is omitted.
Embodiment III:
as shown in fig. 7, the mating structure of the first transmission structure and the second transmission structure in the rolling brush mechanism of the third embodiment is shown.
The rolling brush mechanism of the third embodiment has the following differences from the rolling brush mechanism of the first embodiment.
In the third embodiment, the first transmission structure 50 includes at least one second post 52, and preferably, the number of the second posts 52 is two, the second post 52 is fixedly connected to one side of the mounting cavity 20 facing the cavity frame, the jacking portions 62 are disposed in one-to-one correspondence with the second posts 52 (i.e., the number of the jacking portions 62 is two), the jacking portions 62 are provided with jacking sloping surfaces 623, and the second posts 52 and the jacking sloping surfaces 623 mutually abut against each other. When the jacking portion 62 moves along the push rod 61 in the direction a, the second cylinder 52 ascends along the jacking slope 623, thereby driving the mounting cavity 20 to ascend relative to the cavity frame 10; conversely, when the jack 62 moves in the opposite direction of the direction a along the push rod 61, the second cylinder 52 descends along the jack slope 623, thereby driving the mounting chamber 20 to descend relative to the chamber frame 10.
Further, the jack-up portion 62 is further provided with a third positioning plane 624, the third positioning plane 624 is connected to a side of the jack-up slope 623 near the lifting driving device 40, and the jack-up portion slides to the second column 52 to be located on the third positioning plane 624 so as to lift the installation cavity 20 to the highest position. The mounting cavity 20 is restrained in position to remain in the uppermost position by the third positioning plane 624 cooperating with the second post 52 when the mounting cavity 20 is raised to the uppermost position relative to the cavity frame 10, i.e. the second post 52 rests on the third positioning plane 624.
In addition, a lowest position positioning plane is provided on a side of the jack-up portion 62 away from the third positioning plane 624, and the lowest position positioning plane is connected to the jack-up slope 623. The jack 62 moves reversely in the a direction with the push rod 61 until the second column 52 descends to the lowest position locating plane, at which time the lowest position locating plane and the second column 52 cooperate, that is, the second column 52 stays on the lowest position locating plane, thereby restricting the positioning of the installation cavity 20 to be maintained at the lowest position.
The rolling brush mechanism of the third embodiment is the same as that of the first embodiment except for the above structure, and thus will not be described in detail herein.
According to another aspect of the present invention, a cleaning robot (not shown) is provided. Specifically, the cleaning robot includes the foregoing roll brush mechanism.
The rolling brush mechanism provided by the embodiment of the invention is assembled on the cleaning robot to perform cleaning work, the rolling brush can be self-adaptively lifted and lowered on the uneven floor surface 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 high and low drop condition 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 continuously walk on the carpet surface to perform cleaning work smoothly through the carpet edge, and the stress condition of the rolling brush when adapting to the floor surface condition to lift is improved. In addition, compared with a cleaning robot which actively lifts the installation cavity by using a wire-lifting manner, 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 rises to the highest position or falls to the lowest position relative to the cavity frame 10, and even if the installation cavity 20 drops after being passively lifted, 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, and 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 jack-up 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 jack-up portion 62 and the first transmission structure 50, so that the push rod 61 can be prevented from being rigidly collided with the jack-up portion 62 and the first transmission structure 50 due to excessive moving distance along the a direction or excessive moving distance along the a direction of the push rod 61 can be prevented from being separated from the first transmission structure, and the effectiveness of actively lifting the mounting cavity 20 relative to the cavity frame 10 in the present invention is effectively ensured.
The above embodiments are merely preferred embodiments of the present application and are not intended to limit the present application, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present application should be included in the scope of the present application.
Claims (11)
1. A roller brush mechanism comprising:
The installation cavity is used for installing the rolling brush;
The cavity frame is used for being fixedly connected to a base body of the cleaning robot, an accommodating space for accommodating the installation cavity is arranged on the cavity frame, and one side of the installation cavity is movably connected to the cavity frame;
The other side of the installation cavity is connected with the cavity frame through the floating connection structure;
The rolling brush mechanism is characterized by further comprising:
the lifting driving device is arranged on the cavity frame or a substrate 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 and is in transmission connection with the first transmission structure;
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 relative to the cavity frame;
The second transmission structure comprises a push rod and a jacking part, the jacking part is fixedly connected with a rod body of the push rod, and the push rod is connected with the lifting driving device;
the first transmission structure comprises at least one fixing part, the jacking parts are arranged in one-to-one correspondence with the fixing parts, the fixing parts are provided with slope surfaces, the fixing parts are fixedly connected to one sides of the installation cavity bodies, which face the cavity bodies, sliding grooves are formed between the slope surfaces and the side walls of the installation cavity bodies, the lifting driving device drives the push rods to drive the jacking parts to move in the sliding grooves, the jacking parts are propped against the slope surfaces, and the lifting driving device drives the push rods to drive the jacking parts to slide along the axial directions of the push rods, so that the jacking parts slide along the slope surfaces to enable the rolling brushes to actively lift.
2. The roll brush mechanism according to claim 1, wherein,
Along the extending direction of the chute, one side of the chute is provided with an opening for the jacking part to slide in, and the slope surface is inclined towards the side wall close to the mounting cavity from one side close to the opening to one side far away from the opening.
3. The roll brush mechanism according to claim 2, wherein,
The jacking part is a first column; and
The fixing part is also 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 column body can slide to the first positioning plane so as to enable the mounting cavity to descend to the lowest position; and/or the fixed part is also provided with a second positioning plane, the second positioning plane is connected with the slope surface and is positioned at one side of the slope surface away from the opening, and the first column body can slide to the second positioning plane so as to enable the installation cavity body to rise to the highest position.
4. The roll brush mechanism according to claim 2, wherein,
The jack-up portion is the voussoir, the voussoir is equipped with the cooperation inclined plane, the cooperation inclined plane with the slope face supports each other and leans on.
5. The roll brush mechanism according to claim 4, wherein,
The fixed part is equipped with the location bottom surface, the location bottom surface with the slope face is kept away from one side of the opening of spout links to each other, the voussoir is equipped with the location top surface, the location top surface with the cooperation inclined plane is close to one side of the opening of spout links to each other, the voussoir can slide to the location top surface with the location bottom surface supports each other and leans on in order to make the installation cavity rises to highest position.
6. A roller brush mechanism comprising:
The installation cavity is used for installing the rolling brush;
The cavity frame is used for being fixedly connected to a base body of the cleaning robot, an accommodating space for accommodating the installation cavity is arranged on the cavity frame, and one side of the installation cavity is movably connected to the cavity frame;
The other side of the installation cavity is connected with the cavity frame through the floating connection structure;
The rolling brush mechanism is characterized by further comprising:
the lifting driving device is arranged on the cavity frame or a substrate 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 and is in transmission connection with the first transmission structure;
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 relative to the cavity frame;
The second transmission structure comprises a push rod and a jacking part, the jacking part is fixedly connected with a rod body of the push rod, and the push rod is connected with the lifting driving device;
The first transmission structure comprises at least one second post, the second post is fixedly connected to the mounting cavity and faces to one side of the cavity frame, the jacking parts are arranged in one-to-one correspondence with the second posts, the jacking parts are provided with jacking sloping surfaces, the second posts and the jacking sloping surfaces are mutually propped against each other, the lifting driving device drives the push rod to drive the jacking parts to slide along the axial direction of the push rod, and the second posts slide along the jacking sloping surfaces to enable the rolling brush to actively lift.
7. The roll brush mechanism according to claim 6, wherein,
The jacking part 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 part slides to the position, located on the third positioning plane, of the second column body so that the installation cavity body ascends to the highest position.
8. The roll brush mechanism according to any one of claims 1 to 7, wherein,
The lifting driving device comprises a pushing part and a reset member, the pushing part is arranged on the cavity frame, the pushing part pushes the pushing rod to be away from the end part of the jacking part so that the pushing rod slides along the axial direction of the pushing rod, the reset member is connected between the cavity frame and the end part of the pushing rod away from the jacking part, and the reset member provides a reset force for the pushing rod to enable the push rod to slide towards the pushing part.
9. The roll brush mechanism according to any one of claims 1 to 7, wherein,
The lifting driving device comprises a driving gear which is rotatably arranged 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 in the cavity frame, the end part of the push rod, which is far away from the jacking part, is provided with a threaded rod section, the middle part of the driving gear is provided with a threaded hole, and the threaded rod section is in threaded connection with the threaded hole.
10. A cleaning robot comprising a roll brush mechanism as claimed in any one of claims 1-9.
11. The cleaning robot of claim 10, wherein the cleaning robot is configured to perform the cleaning operation,
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 is 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 CN114831553A (en) | 2022-08-02 |
| CN114831553B true CN114831553B (en) | 2024-05-14 |
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| CN114831553A (en) | 2022-08-02 |
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