CN115736700A - Flexible driving welt cleaning device and cleaning robot - Google Patents
Flexible driving welt cleaning device and cleaning robot Download PDFInfo
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- CN115736700A CN115736700A CN202211506218.5A CN202211506218A CN115736700A CN 115736700 A CN115736700 A CN 115736700A CN 202211506218 A CN202211506218 A CN 202211506218A CN 115736700 A CN115736700 A CN 115736700A
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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
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Abstract
The invention relates to the technical field of corner cleaning of cleaning robots, in particular to a flexible driving welt cleaning device which comprises a lifting device and a cleaning device, wherein the lifting device comprises a lifting handle and a lifting handle; the lifting device is connected with the cleaning device and used for controlling the horizontal position of the cleaning device; the cleaning device comprises a cleaning support, a flexible assembly and a cleaning assembly; the flexible assembly comprises a horizontal flexible assembly mounted on the cleaning support; the horizontal flexible assembly is connected with the cleaning device through a flexible motor and is used for applying horizontal resilience torque to the cleaning assembly. The invention has the beneficial effects that: the structure is simple; the self-adaption can be realized in the horizontal direction, the radial direction and the vertical direction at the same time; and can be automatically reset. The cleaning effect is good, and the robot is far away from the barrier and is safe.
Description
Technical Field
The invention relates to the technical field of corner cleaning of cleaning robots, in particular to a flexible driving welt cleaning device and a cleaning robot.
Background
The cleaning robot is gradually moving into people's life, no matter in the family scene, or commercial scene, more and more manpower resources are liberated by the cleaning robot, greatly reduced the health maintenance cost.
With the development of the cleaning robot industry, cleaning efficiency and overall miniaturization become decisive factors for the development of cleaning robots. How to improve the cleaning efficiency of the robot becomes a key technology of the cleaning robot at present.
The cleaning of the corner is a difficult problem in the field of cleaning robots at present.
The existing welt cleaning system used on a cleaning robot is usually arranged on a chassis of the robot, mostly has no moving capability, is limited by the motion range of a machine body, and has small cleaning coverage area. In addition, due to the installation mode, the space below the robot can be occupied, other cleaning equipment cannot be deployed, and meanwhile, collision accidents are easy to occur due to the fact that the robot is close to a wall body.
In addition, some cleaning robots deploy rotating brushes that protrude outside the housing for corner cleaning. The bristles can still cling to the wall when the distance between the robot and the wall is changed due to the flexibility of the bristles.
Such an approach has the following disadvantages:
1. the adaptability to the distance change depends on the deformation of the bristles, and the loss of the bristles is large after the bristles are used for a long time;
2. the side brushing cleaning range is circular, and effective cleaning of the wall corner cannot be realized.
Based on the problems in the prior art, the flexibly-driven welt cleaning device provided by the invention is additionally arranged on the side surface of the robot, does not occupy the space of a chassis, and has larger covered cleaning area; the dust collection head is connected with the rest part through the flexible motor, so that the dust collection head can automatically avoid obstacles when meeting the obstacles and automatically recover to the initial position after passing through the obstacles.
Disclosure of Invention
The invention aims to provide a flexible driving welt cleaning device, which solves the problems in the prior art.
The invention discloses a flexible driving welt cleaning device which comprises a lifting device and a cleaning device, wherein the lifting device is arranged on the lifting device; the lifting device is connected with the cleaning device and used for controlling the horizontal position of the cleaning device;
the cleaning device comprises a cleaning bracket, a flexible assembly and a cleaning assembly; the flexible assembly comprises a horizontal flexible assembly mounted on the cleaning support; the horizontal flexible assembly adopts a flexible motor, is connected with the cleaning device and is used for applying horizontal resilience torque to the cleaning assembly.
Further, the cleaning assembly comprises a dust suction pipe and a dust suction head; the dust collection head is arranged at one end of the dust collection pipe; the flexible assembly controls the rebound of the cleaning head by applying a torque to the cleaning tube.
Further, the flexible assembly component also comprises a radial flexible assembly, and the radial flexible assembly is arranged in the middle of the dust suction pipe.
Preferably, the radial flexible assembly is a flexible pipe.
Further, the flexible assembly further comprises a vertical flexible assembly mounted outside the dust suction pipe for applying a vertical resilient force to the dust suction pipe.
Preferably, the vertical flexible assembly comprises a suspension, a spring; the suspension is arranged outside the dust suction pipe and adopts a deformable parallelogram frame; the spring is characterized in that two ends of the spring are respectively installed on a horizontal frame and a vertical frame of the suspension, the spring, the horizontal frame and the vertical frame form a triangular structure, and elasticity of the spring is utilized to provide resilience force in the vertical direction for the suspension.
Furthermore, the lifting device comprises a lifting support, a steering engine and a lifting assembly; the steering engine is mounted on the lifting support and connected with the lifting assembly and used for driving the lifting assembly to move up and down; the lifting assembly is connected with the cleaning support and used for driving the cleaning support to move up and down.
Preferably, the lifting assembly comprises a follower, a cam, and a connecting member; the lifting support is used for fixing and packaging other components of the lifting device, and one end of the lifting support is provided with a sliding rail; the steering engine is connected with the cam and used for driving the cam to rotate; the other end of the cam is movably arranged in a horizontal strip-shaped pore passage on the driven piece; the driven piece is movably arranged in the sliding rail; the connecting piece is fixedly arranged at the bottom of the driven piece and can move up and down along with the driven piece; the connecting piece is used for being connected with the cleaning support.
The movement principle of the lifting device is as follows: when the system initiates a lifting command, the steering engine is started, the driving cam rotates, the cam drives the transmission piece to slide upwards, the steering engine stops driving, the lifting effect is achieved, and if the system needs to move downwards, the cam continues to rotate. The connecting piece realizes the connection with flexible motor, dust absorption pipe, dust absorption head etc. and establishes ties entire system.
Preferably, the lifting assembly is of a crank structure, one end of the lifting assembly is connected with the steering engine, and the other end of the lifting assembly is movably installed in a horizontal strip-shaped hole channel on the cleaning support.
The movement principle of the lifting device is as follows: when the system initiates a lifting command, the steering engine is started to drive the crank to rotate, the crank drives the cleaning support to slide upwards, the steering engine stops driving to realize the lifting effect, and if the system needs to move downwards, the crank continues to rotate.
Further, the cleaning assembly also comprises a damping device, and the damping device is arranged at the connecting part of the dust collection head and the dust collection pipe.
Preferably, the damping device adopts a damping spring.
Preferably, the connection part of the dust suction head and the dust suction pipe is in a plug-in connection mode.
More preferably, the top of the dust collection head is provided with a groove, the top of the dust collection pipe is provided with a protrusion, and the shapes of the dust collection pipe and the protrusion are matched with each other. This is effectively leak proof and does not require gaskets.
Furthermore, the dust collection head also comprises an edge brush assembly, wherein the edge brush assembly comprises an edge brush motor and an edge brush; the side brush is installed bottom the dust absorption head, the side brush motor is installed top the dust absorption head, is connected with the side brush, is used for driving the side brush to rotate.
Furthermore, the dust collection head also comprises a rolling brush, and the rolling brush is arranged at the bottom of the dust collection head.
The invention also discloses a cleaning robot, which comprises a flexible driving welt cleaning device; the flexible driving welt cleaning device is arranged on the robot body through the lifting support.
The working principle of the invention is as follows:
when the system initiates a lifting command, the steering engine is started to drive the cleaning device to lift and enter an idle state; when the cleaning device needs to work, the steering engine is started to drive the cleaning device to descend and enter a working state; under the working state, the flexible motor is started to apply a torque with a proper magnitude to the cleaning assembly in the horizontal direction, so that the dust collection head can cling to the edge of an obstacle to advance when encountering the obstacle, and the obstacle can be automatically recovered when being eliminated.
The radial flexible assembly is arranged to increase the telescopic adjustment capability of the dust collection head in the radial direction; the vertical flexible assembly is arranged to enable the height of the dust collection head to be automatically adjusted on the uneven ground, and the cleaning effect is guaranteed. .
The invention has the beneficial effects that:
1. the structure is simple;
2. the self-adaption can be realized in the horizontal direction, the radial direction and the vertical direction at the same time;
3. can be automatically reset
4. The cleaning effect is good, and the robot is far away from the barrier and is safe.
Drawings
FIG. 1 is a schematic structural view of a flexible driving welt cleaning device according to the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the lifting device of the present invention;
FIG. 3 is a schematic structural view of another embodiment of the lifting device of the present invention;
FIG. 4 is a schematic structural view of the shock absorbing device of the present invention;
FIG. 5 is a schematic view of a linkage structure of the vacuum cleaner head and the vacuum cleaner pipe according to the present invention;
FIG. 6 is a schematic view of the structure of the vertical flexible assembly of the present invention.
Detailed Description
The following embodiments of the present invention will be further described with reference to the drawings and examples, which are only used to more clearly illustrate the technical solutions of the present invention, and should not be taken as limiting the scope of the present invention.
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example 1
As shown in the figure, the invention discloses a flexible driving welt cleaning device, which comprises a lifting device 1 and a cleaning device 2; the lifting device 1 is connected with the cleaning device 2 and is used for controlling the horizontal position of the cleaning device 2;
the cleaning device 2 comprises a cleaning bracket 21, a flexible component 22 and a cleaning component 23; the flexible assembly 22 comprises a horizontal flexible assembly 221, and the horizontal flexible assembly 221 is mounted on the cleaning support 21; the horizontal flexible assembly 221 is a flexible motor, and is connected to the cleaning device 2, and is used for applying a horizontal rebound torque to the cleaning assembly 23.
In this embodiment, the cleaning assembly 23 includes a dust suction pipe 231 and a dust suction head 232; the dust suction head 232 is installed at one end of the dust suction pipe 231; the flexible assembly 22 controls the rebound of the cleaning head 232 by applying a torque to the cleaning tube 231.
In this embodiment, the lifting device 1 includes a lifting support 11, a steering engine 12, and a lifting assembly 13; the steering engine 12 is mounted on the lifting support 11, and the steering engine 12 is connected with the lifting assembly 13 and used for driving the lifting assembly 13 to move up and down; the lifting assembly 13 is connected with the cleaning support 21 and is used for driving the cleaning support 21 to move up and down.
Preferably, the lifting assembly 13 comprises a follower 1311, a cam 1312, a link 1313; the lifting support 11 is used for fixing and packaging other components of the lifting device 1, and one end of the lifting support 11 is provided with a slide rail 111; the steering engine 12 is connected with the cam 1312 and is used for driving the cam 1312 to rotate; the other end of the cam 1312 is movably mounted in a horizontal strip-shaped hole on the follower 1311; the follower 1311 is movably mounted in the slide rail 111; the connecting piece 1313 is fixedly arranged at the bottom of the driven piece 1311 and can move up and down along with the driven piece 1311; the connector 1313 is used to connect with the cleaning support 21.
In this embodiment, the cleaning assembly 23 further includes a damping device 233, and the damping device 233 is installed at a connection portion of the dust suction head 232 and the dust suction pipe 231.
Preferably, the damping device 233 employs a damping spring.
Preferably, the connection between the cleaning head 232 and the cleaning pipe 231 is in a plug-in manner.
More preferably, the top of the cleaning head 232 is provided with a groove 2321, and the top of the cleaning pipe 231 is provided with a protrusion 2311, which match with each other in shape. This is effectively leak proof and does not require gaskets.
In this embodiment, the dust collection head 232 further includes an edge brush assembly 2322, and the edge brush assembly 2322 includes an edge brush motor 23221 and an edge brush 23222; the side brush 23222 is installed at the bottom of the dust collection head 232, and the side brush motor 23221 is installed at the top of the dust collection head 232, and is connected to the side brush 23222 for driving the side brush 23222 to rotate.
The invention also discloses a cleaning robot, which comprises a flexible driving welt cleaning device 2; the flexible driving welt cleaning device 2 is arranged on the robot body through the lifting support 11.
Example 2
As shown in the figure, the invention discloses a flexible driving welt cleaning device, which comprises a lifting device 1 and a cleaning device 2; the lifting device 1 is connected with the cleaning device 2 and is used for controlling the horizontal position of the cleaning device 2;
the cleaning device 2 comprises a cleaning bracket 21, a flexible component 22 and a cleaning component 23; the flexible assembly 22 comprises a horizontal flexible assembly 221, and the horizontal flexible assembly 221 is mounted on the cleaning support 21; the horizontal flexible assembly 221 is a flexible motor, and is connected to the cleaning device 2, and is used for applying a horizontal rebound torque to the cleaning assembly 23.
In this embodiment, the cleaning assembly 23 includes a dust suction pipe 231 and a dust suction head 232; the dust suction head 232 is installed at one end of the dust suction pipe 231; the flexible assembly 22 controls the rebound of the cleaning head 232 by applying a torque to the cleaning tube 231.
In this embodiment, the flexible assembly 22 further includes a radial flexible assembly 222, and the radial flexible assembly 222 is installed in the middle of the dust suction pipe 231.
Preferably, the radially flexible member 222 is a flexible tube.
In this embodiment, the flexible assembly 22 further includes a vertical flexible assembly 223 installed outside the dust suction pipe 231 for applying a vertical resilient force to the dust suction pipe 231.
Preferably, the vertical compliant assembly 223 includes a suspension 2231, a spring 2232; the suspension 2231 is arranged outside the dust suction pipe 231, and the suspension 2231 is a deformable parallelogram frame; two ends of the spring 2232 are respectively installed on the horizontal frame and the vertical frame of the suspension 2231, the spring 2232, the horizontal frame and the vertical frame form a triangular structure, and elasticity of the spring 2232 is used for providing resilience force in the vertical direction for the suspension 2231.
In this embodiment, the lifting device 1 includes a lifting bracket 11, a steering engine 12, and a lifting assembly 13; the steering engine 12 is mounted on the lifting support 11, and the steering engine 12 is connected with the lifting assembly 13 and used for driving the lifting assembly 13 to move up and down; the lifting assembly 13 is connected with the cleaning support 21 and is used for driving the cleaning support 21 to move up and down.
Preferably, the lifting assembly 13 comprises a follower 1311, a cam 1312, a link 1313; the lifting support 11 is used for fixing and packaging other components of the lifting device 1, and one end of the lifting support 11 is provided with a slide rail 111; the steering engine 12 is connected with the cam 1312 and is used for driving the cam 1312 to rotate; the other end of the cam 1312 is movably arranged in a horizontal strip-shaped hole on the follower 1311; the follower 1311 is movably mounted in the slide rail 111; the connecting piece 1313 is fixedly arranged at the bottom of the driven piece 1311 and can move up and down along with the driven piece 1311; the connector 1313 is used to connect with the cleaning support 21.
In this embodiment, the cleaning assembly 23 further includes a damping device 233, and the damping device 233 is installed at a connection portion of the cleaning head 232 and the cleaning pipe 231.
Preferably, the damping device 233 employs a damping spring.
Preferably, the connection between the cleaning head 232 and the cleaning pipe 231 is in a plug-in manner.
More preferably, the top of the cleaning head 232 is provided with a groove 2321, and the top of the cleaning pipe 231 is provided with a protrusion 2311, which are matched in shape. This is effectively leak proof and does not require gaskets.
In this embodiment, the dust collection head 232 further includes an edge brush assembly 2322, and the edge brush assembly 2322 includes an edge brush motor 23221 and an edge brush 23222; the side brush 23222 is installed at the bottom of the dust collection head 232, and the side brush motor 23221 is installed at the top of the dust collection head 232, and is connected to the side brush 23222 for driving the side brush 23222 to rotate.
The invention also discloses a cleaning robot, which comprises a flexible driving welt cleaning device 2; the flexible driving welt cleaning device 2 is arranged on the robot body through the lifting support 11.
Example 3
As shown in the figure, the invention discloses a flexible driving welt cleaning device, which comprises a lifting device 1 and a cleaning device 2; the lifting device 1 is connected with the cleaning device 2 and is used for controlling the horizontal position of the cleaning device 2;
the cleaning device 2 comprises a cleaning bracket 21, a flexible component 22 and a cleaning component 23; the flexible assembly 22 comprises a horizontal flexible assembly 221, and the horizontal flexible assembly 221 is mounted on the cleaning support 21; the horizontal flexible assembly 221 is a flexible motor, and is connected to the cleaning device 2, and is used for applying a horizontal rebound torque to the cleaning assembly 23.
In the embodiment, the cleaning assembly 23 includes a dust suction pipe 231 and a dust suction head 232; the dust suction head 232 is installed at one end of the dust suction pipe 231; the flexible assembly 22 controls the rebound of the cleaning head 232 by applying a torque to the cleaning tube 231.
In this embodiment, the flexible assembly 22 further includes a radial flexible assembly 222, and the radial flexible assembly 222 is installed in the middle of the dust suction pipe 231.
Preferably, the radially flexible member 222 is a flexible tube.
In this embodiment, the flexible assembly 22 further includes a vertical flexible assembly 223 installed outside the dust suction pipe 231 for applying a vertical resilient force to the dust suction pipe 231.
Preferably, the vertical flexure assembly 223 includes a suspension 2231, a spring 2232; the suspension 2231 is arranged outside the dust suction pipe 231, and the suspension 2231 is a deformable parallelogram frame; the two ends of the spring 2232 are respectively installed on the horizontal frame and the vertical frame of the suspension 2231, the spring 2232, the horizontal frame and the vertical frame form a triangular structure, and the elasticity of the spring 2232 is utilized to provide a resilience force in the vertical direction for the suspension 2231.
In this embodiment, the lifting device 1 includes a lifting support 11, a steering engine 12, and a lifting assembly 13; the steering engine 12 is mounted on the lifting support 11, and the steering engine 12 is connected with the lifting assembly 13 and used for driving the lifting assembly 13 to move up and down; the lifting assembly 13 is connected with the cleaning support 21 and is used for driving the cleaning support 21 to move up and down.
Preferably, the lifting assembly 13 is a crank structure 1321, one end of the lifting assembly is connected with the steering engine 12, and the other end of the lifting assembly is movably installed in a horizontal strip-shaped hole channel on the cleaning support 21.
In this embodiment, the cleaning assembly 23 further includes a damping device 233, and the damping device 233 is installed at a connection portion of the cleaning head 232 and the cleaning pipe 231.
Preferably, the damping device 233 employs a damping spring.
Preferably, the connection between the cleaning head 232 and the cleaning pipe 231 is in a plug-in manner.
More preferably, the top of the cleaning head 232 is provided with a groove 2321, and the top of the cleaning pipe 231 is provided with a protrusion 2311, which are matched in shape. This is effectively leak proof and does not require gaskets.
In this embodiment, the dust collection head 232 further includes a rolling brush 2323, and the rolling brush 2323 is installed at the bottom of the dust collection head 232.
The invention also discloses a cleaning robot, which comprises a flexible driving welt cleaning device 2; the flexible driving welt cleaning device 2 is arranged on the robot body through the lifting support 11.
Example 4
As shown in the figure, the invention discloses a flexible driving welt cleaning device, which comprises a lifting device 1 and a cleaning device 2; the lifting device 1 is connected with the cleaning device 2 and is used for controlling the horizontal position of the cleaning device 2;
the cleaning device 2 comprises a cleaning bracket 21, a flexible component 22 and a cleaning component 23; the flexible assembly 22 comprises a horizontal flexible assembly 221, and the horizontal flexible assembly 221 is mounted on the cleaning support 21; the horizontal flexible assembly 221 is a flexible motor, and is connected to the cleaning device 2, and is used for applying a horizontal rebound torque to the cleaning assembly 23.
In this embodiment, the cleaning assembly 23 includes a dust suction pipe 231 and a dust suction head 232; the dust suction head 232 is installed at one end of the dust suction pipe 231; the flexible assembly 22 controls the rebound of the cleaning head 232 by applying a torque to the cleaning tube 231.
In this embodiment, the flexible assembly 22 further includes a radial flexible assembly 222, and the radial flexible assembly 222 is installed in the middle of the dust suction pipe 231.
Preferably, the radially flexible member 222 is a flexible tube.
In this embodiment, the flexible assembly 22 further includes a vertical flexible assembly 223 installed outside the dust suction pipe 231 for applying a vertical resilient force to the dust suction pipe 231.
Preferably, the vertical compliant assembly 223 includes a suspension 2231, a spring 2232; the suspension 2231 is arranged outside the dust suction pipe 231, and the suspension 2231 is a deformable parallelogram frame; the two ends of the spring 2232 are respectively installed on the horizontal frame and the vertical frame of the suspension 2231, the spring 2232, the horizontal frame and the vertical frame form a triangular structure, and the elasticity of the spring 2232 is utilized to provide a resilience force in the vertical direction for the suspension 2231.
In this embodiment, the lifting device 1 includes a lifting bracket 11, a steering engine 12, and a lifting assembly 13; the steering engine 12 is mounted on the lifting support 11, and the steering engine 12 is connected with the lifting assembly 13 and used for driving the lifting assembly 13 to move up and down; the lifting assembly 13 is connected with the cleaning support 21 and is used for driving the cleaning support 21 to move up and down.
Preferably, the lifting assembly 13 comprises a follower 1311, a cam 1312, a link 1313; the lifting support 11 is used for fixing and packaging other components of the lifting device 1, and one end of the lifting support 11 is provided with a sliding rail 111; the steering engine 12 is connected with the cam 1312 and is used for driving the cam 1312 to rotate; the other end of the cam 1312 is movably mounted in a horizontal strip-shaped hole on the follower 1311; the follower 1311 is movably mounted in the slide rail 111; the connecting piece 1313 is fixedly arranged at the bottom of the driven piece 1311 and can move up and down along with the driven piece 1311; the connection member 1313 is used to connect with the cleaning support 21.
In this embodiment, the cleaning assembly 23 further includes a damping device 233, and the damping device 233 is installed at a connection portion of the cleaning head 232 and the cleaning pipe 231.
Preferably, the damping device 233 employs a damping spring.
Preferably, the connection between the cleaning head 232 and the cleaning pipe 231 is in a plug-in manner.
More preferably, the top of the cleaning head 232 is provided with a groove 2321, and the top of the cleaning pipe 231 is provided with a protrusion 2311, which are matched in shape. This is effectively leak proof and does not require gaskets.
In this embodiment, the cleaning head 232 further includes a rolling brush 2323, and the rolling brush 2323 is installed at the bottom of the cleaning head 232.
The invention also discloses a cleaning robot, which comprises a flexible driving welt cleaning device 2; the flexible driving welt cleaning device 2 is arranged on the robot body through the lifting support 11.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A flexible driving welt cleaning device is characterized by comprising a lifting device (1) and a cleaning device (2); the lifting device (1) is connected with the cleaning device (2) and is used for controlling the horizontal position of the cleaning device (2);
the cleaning device (2) comprises a cleaning support (21), a flexible assembly (22) and a cleaning assembly (23); the flexible assembly (22) comprises a horizontal flexible assembly (221), the horizontal flexible assembly (221) is mounted on the cleaning support (21); the horizontal flexible assembly (221) adopts a flexible motor, is connected with the cleaning device (2) and is used for applying horizontal rebound torque to the cleaning assembly (23).
2. The flexible drive welt cleaning device of claim 1, characterized in that the cleaning assembly (23) comprises a suction tube (231), a suction head (232); the dust collection head (232) is arranged at one end of the dust collection pipe (231); the flexible assembly (22) controls the rebound of the cleaning head (232) by applying a torque to the cleaning tube (231).
3. The flexible drive welt cleaning device of claim 1, characterized in that the flexible assembly (22) assembly further comprises a radially flexible assembly (222), the radially flexible assembly (222) being mounted in the middle of the suction pipe (231).
4. The flexible drive welt cleaning device according to claim 1, characterized in that the flexible assembly (22) further comprises a vertical flexible assembly (223) mounted outside the suction pipe (231) for exerting a vertical return force on the suction pipe (231).
5. The flexible drive welt cleaning apparatus of claim 4, characterized in that the vertical flexible assembly (223) comprises a suspension (2231), a spring (2232); the suspension (2231) is arranged outside the dust suction pipe (231), and the suspension (2231) adopts a deformable parallelogram frame; the two ends of the spring (2232) are respectively arranged on the horizontal frame and the vertical frame of the suspension (2231), the spring (2232), the horizontal frame and the vertical frame form a triangular structure, and the elasticity of the spring (2232) is utilized to provide resilience force in the vertical direction for the suspension (2231).
6. The flexible driving welt cleaning device according to claim 1, wherein the lifting device (1) comprises a lifting bracket (11), a steering engine (12) and a lifting assembly (13); the steering engine (12) is mounted on the lifting support (11), and the steering engine (12) is connected with the lifting assembly (13) and used for driving the lifting assembly (13) to move up and down; the lifting assembly (13) is connected with the cleaning support (21) and is used for driving the cleaning support (21) to move up and down.
7. The flexible drive welt cleaning device of claim 6, characterized in that the lifting assembly (13) comprises a follower (1311), a cam (1312), a link (1313); the lifting support (11) is used for fixing and packaging other components of the lifting device (1), and one end of the lifting support (11) is provided with a sliding rail (111); the steering engine (12) is connected with the cam (1312) and is used for driving the cam (1312) to rotate; the other end of the cam (1312) is movably arranged in a horizontal strip-shaped hole on the driven piece (1311); the driven piece (1311) is movably arranged in the sliding rail (111); the connecting piece (1313) is fixedly arranged at the bottom of the driven piece (1311) and can move up and down along with the driven piece (1311); the connecting piece (1313) is used for connecting with the cleaning support (21).
8. The flexible driving welt cleaning device according to claim 6, wherein the lifting component (13) is a crank handle structure (1321), one end of the lifting component is connected with the steering engine (12), and the other end of the lifting component is movably arranged in a horizontal strip-shaped duct on the cleaning support (21).
9. A flexible drive welt cleaning device according to claim 6, characterised in that the cleaning assembly (23) further comprises a damping device (233), the damping device (233) being mounted at the connection of the cleaning head (232) and the cleaning tube (231).
10. A cleaning robot comprising the flexible driven welt cleaning device of any one of claims 1 to 9; the flexible driving welt cleaning device is arranged on the robot body through the lifting support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506218.5A CN115736700A (en) | 2022-11-28 | 2022-11-28 | Flexible driving welt cleaning device and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506218.5A CN115736700A (en) | 2022-11-28 | 2022-11-28 | Flexible driving welt cleaning device and cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN115736700A true CN115736700A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211506218.5A Pending CN115736700A (en) | 2022-11-28 | 2022-11-28 | Flexible driving welt cleaning device and cleaning robot |
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| CN (1) | CN115736700A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116269050A (en) * | 2023-03-24 | 2023-06-23 | 麦岩智能科技(北京)有限公司 | Welt cleaning device, cleaning robot and control method |
-
2022
- 2022-11-28 CN CN202211506218.5A patent/CN115736700A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116269050A (en) * | 2023-03-24 | 2023-06-23 | 麦岩智能科技(北京)有限公司 | Welt cleaning device, cleaning robot and control method |
| CN116269050B (en) * | 2023-03-24 | 2024-02-13 | 麦岩智能科技(北京)有限公司 | Welt cleaning device, cleaning robot and control method |
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