CN116138660A

CN116138660A - Cleaning equipment

Info

Publication number: CN116138660A
Application number: CN202310082988.XA
Authority: CN
Inventors: 王蒙
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2023-01-16
Filing date: 2023-01-16
Publication date: 2023-05-23

Abstract

The application discloses cleaning apparatus, the cleaning apparatus includes: the device comprises a shell, a main brush module and a height adjusting mechanism; the main brush module is arranged at the lower end of the shell, the relative height of the main brush module and the shell is adjustable, the height adjusting mechanism is connected with the main brush module through a transmission mechanism, and the height adjusting mechanism adjusts the height of the main brush module in an electric driving mode through the transmission mechanism. The automatic lifting device has the advantages that the purpose that the main brush module is driven by the height adjusting mechanism to automatically lift or automatically descend through the transmission mechanism is achieved, the main brush module of the sweeper has the function of automatically lifting, the automatic lifting device can be suitable for different working conditions, the technical effect of using flexibility is improved, and the problem that the height of the main brush module of the sweeper cannot be automatically adjusted in the related art is solved.

Description

Cleaning equipment

Technical Field

The application relates to the technical field of floor cleaning equipment, in particular to cleaning equipment.

Background

Most of the main brush modules of the floor cleaning devices on the market at present can move, and the movement is completed by self gravity and the height fluctuation of the cleaning bottom surface. The cleaning device can not be automatically adjusted to be at a proper height according to the condition of the bottom surface, and can be clung to the cleaning surface only under the action of dead weight.

Disclosure of Invention

The main aim of the application is to provide a cleaning device to solve the problem that the height of a main brush module of a sweeper cannot be automatically adjusted in the related art.

In order to achieve the above object, the present application provides a cleaning apparatus comprising: the device comprises a shell, a main brush module and a height adjusting mechanism; wherein,,

the main brush module is arranged at the lower end of the shell, the relative height of the main brush module and the shell is adjustable, the height adjusting mechanism is connected with the main brush module through a transmission mechanism, and the height adjusting mechanism adjusts the height of the main brush module in an electric driving mode through the transmission mechanism.

Further, the height adjusting mechanism is arranged as a rotating motor, and the rotating motor is connected with the main brush module through a transmission mechanism.

Further, the transmission mechanism comprises a winch and a traction rope, the winch is in transmission connection with the rotating motor, the traction rope is connected with the winch and the main brush module, and the traction rope is driven to shrink and release through rotation of the winch.

Further, a rotating motor is arranged on the main brush module, and the winch is in transmission connection with the output end of the rotating motor;

the first end of the traction rope is fixedly connected with one side of the shell, the second end of the traction rope penetrates through the main brush module and is fixedly connected with the other side of the shell, and at least one position of the traction rope is fixedly connected with the winch.

Further, the traction rope comprises a first rope body and a second rope body, a rope sleeve is fixedly arranged on the main brush module, the first end of the first rope body is fixedly connected with one side of the shell, and the second end of the first rope body penetrates through the rope sleeve and is fixedly connected with the winch;

the first end of the second rope body is fixedly connected with the other side of the shell, and the second end of the second rope body is fixedly connected with the winch;

the first rope body and the second rope body can be synchronously wound or released along with the rotation of the winch.

Further, the second ends of the first rope body and the second rope body are fixed together and then fixedly connected with the winch.

Further, the rotating motor is arranged on the shell, the first end of the traction rope is fixedly connected with the main brush module, and the second end of the traction rope is fixedly connected with the winch.

Further, the traction rope comprises a third rope body and a fourth rope body, a first end of the third rope body is fixedly connected with one side of the main brush module, and a second end of the third rope body is fixedly connected with the winch;

the first end of the fourth rope body is fixedly connected with the other side of the main brush module, and the second end of the fourth rope body is fixedly connected with the winch;

the third rope body and the fourth rope body can be synchronously wound or released along with the rotation of the winch.

Further, the second ends of the third rope body and the fourth rope body are fixedly connected with the winch after being fixed together.

Further, the radius of the winch and the output torque of the rotating motor satisfy (M×R) > F, wherein M is the output torque of the rotating motor, R is the radius of the winch, and F is the gravity of the main brush module.

Further, the rotatable angle of the rotating motor satisfies (θ/360 °) ×2ρ R > L, where θ is the maximum rotatable angle of the rotating motor, R is the radius of the capstan, and L is the lifting stroke of the main brush module.

Further, the main brush module is in sliding connection with the shell, and the transmission mechanism is provided with a gear and a rack;

the rack is fixedly arranged on the shell, the rotating motor is arranged on the main brush module and is in transmission connection with the gear, and the gear is meshed with the rack; or alternatively, the first and second heat exchangers may be,

the rack is fixedly arranged on the main brush module, the rotating motor is arranged on the shell and is connected with the gear in a transmission manner, and the gear is meshed with the rack.

Further, the main brush module is in sliding connection with the shell, and the transmission mechanism is a cam;

the rotating motor is arranged on the main brush module and is in transmission connection with the cam, and the shell is provided with a force bearing part matched with the cam; or alternatively, the first and second heat exchangers may be,

the rotating motor is arranged on the shell and is in transmission connection with the cam, and the main brush module is provided with a force bearing part matched with the cam.

Further, the rotating motor is set as a steering engine.

Further, the rotating electrical machine comprises a motor and a gear box, the motor and the gear box are fixedly arranged at the upper end of the main brush module, the output end of the motor is in transmission connection with the gear box, and the output of the gear box is connected with the transmission mechanism.

Further, the device also comprises a control module and a position monitoring module, wherein the position monitoring module is used for monitoring the lifting height of the main brush module;

the control module is electrically connected with the rotating motor and the position monitoring module, and is used for controlling the rotating motor to rotate according to the control signal and determining the lifting height of the main brush module through the position monitoring module.

Further, the position monitoring module comprises a calibration part and a position detection sensor, wherein the calibration part and the position detection sensor are arranged on the traction rope, and the position detection sensor is used for monitoring the position of the calibration part.

Further, the main brush module and the shell are provided with a first limiting piece for limiting the maximum descending travel of the main brush module;

the main brush module and the shell are provided with a second limiting piece which is used for limiting the maximum ascending travel of the main brush module.

Further, the first end of the main brush module is hinged to the lower end of the shell, the second end of the main brush module can rotate downwards around the hinge point under the action of self gravity, and the rope sleeve is fixedly arranged at the second end of the main brush module.

In the embodiment of the application, the shell, the main brush module and the height adjusting mechanism are arranged; the height adjusting mechanism is connected with the main brush module through a transmission mechanism, the height of the main brush module is adjusted through the transmission mechanism in an electric driving mode, the purpose that the main brush module automatically rises or automatically descends when the position of the main brush module needs to be raised or lowered is achieved, and accordingly the main brush module of the sweeper is enabled to have an automatic lifting function, the main brush module can be suitable for different working conditions, the technical effect of using flexibility is improved, and the problem that the height of the main brush module of the sweeper cannot be automatically adjusted in the related art is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

FIG. 1 is a schematic diagram of a main brush module according to an embodiment of the present application;

FIG. 2 is a schematic side view of a main brush module according to an embodiment of the present application;

FIG. 3 is a schematic structural view of a housing according to an embodiment of the present application;

the traction rope comprises a traction rope body 1, a rope body 101, a rope body 102, a rope body 103, a fixing part, a rotating motor 2, a steering engine 21, a winch 22, a main brush module 3, a rope sleeve 4, an upper connecting rod 5, a lower connecting rod 6, a shell 7, a fixing block 8, a limiting protrusion 9, a limiting part 10, a height adjusting mechanism 11 and a transmission mechanism 12.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Most of the main brush modules of the floor sweeping machines on the market at present can move, and the movement is completed by self gravity and the height fluctuation of the sweeping bottom surface. The cleaning device can not be automatically adjusted to be at a proper height according to the condition of the bottom surface, and can be clung to the cleaning surface only under the action of dead weight.

To solve the above-described technical problems, as shown in fig. 1 to 3, the present embodiment provides a cleaning apparatus including: a housing 7, a main brush module 3 and a height adjusting mechanism 11; wherein,,

the main brush module 3 is arranged at the lower end of the shell 7, the relative height between the main brush module 3 and the shell 7 is adjustable, the height adjusting mechanism 11 is connected with the main brush module 3 through the transmission mechanism 12, and the height adjusting mechanism 11 adjusts the height of the main brush module 3 in an electric driving mode through the transmission mechanism 12.

In this embodiment, the cleaning device takes a sweeper as an example, and is composed of a casing 7, a main brush module 3 and a height adjusting mechanism 11, wherein the casing 7 is of a casing structure of the sweeper, a mounting cavity is formed at the lower end of the casing 7, the main brush module 3 is mounted in the mounting cavity at the lower end of the casing 7, and the main brush module 3 can be driven to rotate, so that the ground is cleaned in the moving process of the sweeper. In order to enable the height of the main brush module 3 in the shell 7 to be adjustable, the main brush module 3 is installed in the shell 7 in a movable connection mode. For example, one end of the main brush module 3 is hinged to the housing 7, so that the main brush module 3 can rotate around the hinge point by a certain angle, and the height of the main brush module 3 can be adjusted. Or the two sides of the shell 7 are provided with sliding rails, and the two sides of the main brush module 3 are in sliding connection with the sliding rails through sliding blocks, so that the main brush module 3 ascends and descends along the sliding rails, and the height of the main brush module 3 is adjustable. In this embodiment, the main brush module 3 may be installed by any installation mode with adjustable height.

In order to automatically adjust the height of the main brush module 3, an additional electrically driven height adjusting mechanism 11 is required to control the height of the main brush module 3. Therefore, in this embodiment, the height adjusting mechanism 11 is configured, and the function of the height adjusting mechanism 11 in this embodiment is mainly to cooperate with the transmission mechanism 12 to realize adjustment of the relative height of the main brush module 3 in the housing 7, the transmission mechanism 12 can be set according to the movable installation mode of the main brush module 3 in the housing 7, and the height of the main brush module 3 is adjusted by pulling the main brush module 3 through the pulling rope 1, or the height of the main brush module 3 is adjusted through rack-and-pinion cooperation, or the height of the main brush module 3 is adjusted through cam rotation, or the height of the main brush module 3 is adjusted through action of the connecting rod assembly, and in this embodiment, the core of the height adjusting mechanism 11 is to automatically adjust the height of the main brush module 3 by adopting an electric driving mode.

Since the height adjusting mechanism 11 is an electrically driven automatic adjusting mechanism, the height adjusting process of the main brush module 3 can be performed according to a program set in the sweeper. The response of the setting program can be realized by monitoring the sweeping working condition or controlling the control button according to other sensors arranged on the sweeping machine. For example:

when the main brush module 3 is applied to a long-hair carpet sweeping working condition, the main brush module 3 can be adjusted to be positioned at different heights according to different carpet hair lengths, and when a long-hair carpet is cleaned, the main brush module 3 is positioned at a relatively higher position to prevent the carpet hair from blocking a main brush opening;

when the device is applied to pile loading working conditions, the main brush module 3 is lifted, and the pile is smoothly loaded by avoiding rubbing; when the device is applied to obstacle crossing working conditions, the main brush module 3 is lifted, and scratch is avoided to smoothly avoid obstacles;

when the novel floor cleaning device is applied to a mode of only cleaning and not cleaning, the main brush module 3 is lifted, a pure floor cleaning function is truly realized, and the main brush module 3 is prevented from increasing resistance; when the water-sucking type air conditioner is applied to the working condition that water exists on the ground, the main brush module 3 is lifted, and water is prevented from being sucked into the air conditioner, so that the air conditioner is damaged.

The height adjusting mechanism 11 serves as an electrically driven drive mechanism, which may be provided as a rotary electric machine 2, the rotary electric machine 2 being connected to the main brush module 3 via a transmission mechanism 12. The lifting height of the main brush module 3 can be judged according to the rotation angle of the rotating motor 2 in the adjusting process. The lifting height of the main brush module 3 can be controlled by controlling the rotation angle of the rotating motor 2. Therefore, in order to facilitate control of the rotation angle of the rotary electric machine 2, the rotary electric machine 2 in the present embodiment may be provided as a servo motor. The rotating motor 2 outputs a certain rotation amount in the working process, and the rotation amount is converted into power capable of driving the main brush module 3 to ascend and descend through a transmission structure. The transmission structure in this embodiment thus functions to control the lifting of the main brush module 3 in coordination with the rotation of the rotary electric machine 2.

In one embodiment, as shown in fig. 1 to 3, the transmission mechanism 12 comprises a winch 22 and a traction rope 1, the winch 22 is in transmission connection with the rotating motor 2, the traction rope 1 is connected with the winch 22 and the main brush module 3, and the traction rope 1 is driven to wind and release by the rotation of the winch 22. The rotation motor 2 rotates the capstan 22, and the capstan 22 can wind the traction rope 1 onto the capstan 22 by rotation or release the traction rope 1 by rotation. When the traction rope 1 is connected with the main brush module 3, the rotating motor 2 can be controlled to drive the winch 22 to rotate towards the direction of winding the traction rope 1, and the exposed length of the traction rope 1 is reduced in the process, so that the main brush module 3 is pulled to ascend. The rotating motor 2 can be controlled to drive the winch 22 to rotate towards the direction of releasing the traction rope 1, and the exposed length of the traction rope 1 is increased in the process, so that the main brush module 3 is released to descend.

In this embodiment, the transmission mechanism 12 is composed of a winch 22 and a traction rope 1, which can control the lifting of the main brush module 3 under the action of the rotating motor 2. Because the traction rope 1 is adopted, the descending process of the main brush module 3 can be realized by the dead weight of the main brush module 3, and the traction of the traction rope 1 to the main brush module 3 can play a role in stabilizing the descending process of the main brush module 3. Meanwhile, due to the adoption of the traction rope 1, the main brush module 3 also has certain rebound capability and can lift in a small range along with the fluctuation of the ground. Since the height of the main brush module 3 is adjusted in the embodiment by rotating the traction rope 1 through the winch 22, the height of the main brush module 3 can be adjusted at will within a set adjustable height range, so that stepless adjustment can be realized.

The rotating electric machine 2 is used as a power source in the height adjustment of the main brush module 3, and can be mounted on the main brush module 3 (as shown in fig. 1) and also can be mounted on the shell 7, and can be selected according to actual product design. Since the main brush module 3 needs to be adjusted up and down with respect to the housing 7, the installation position of the rotating electric machine 2 as a power source will affect the installation position of the transmission mechanism 12.

For example, as shown in fig. 1, in the present embodiment, the rotating electric machine 2 is mounted to the main brush module 3, and at this time, the rotating electric machine 2, the capstan 22 and the main brush module 3 form an integral structure, in other words, the rotating electric machine 2 needs to drive itself, the capstan 22 and the main brush module 3 to rise and fall synchronously by rotation. When using the traction rope 1 as the transmission 12, the traction rope 1 therefore requires a fastening point other than the main brush module 3 in addition to the connection to the winch 22. In this embodiment, the fixing point is a housing 7, and the first end of the traction rope 1 may be fixedly connected to one side of the housing 7, and the second end of the traction rope passes through the main brush module 3 and is fixedly connected to the other side of the housing 7, and at least one position of the traction rope 1 is fixedly connected to the winch 22. When the main brush module 3 ascends, the rotating motor 2 drives the winch 22 to rotate, both ends of the traction rope 1 can be wound on the winch 22, and the main brush module 3 is pulled to ascend by taking the connection position of the traction rope 1 and the shell 7 as a fixed point.

In order to balance the stress of the main brush module 3, the structure of the traction rope 1 is further adjusted in this embodiment:

in this embodiment, the rotating motor 2 and the winch 22 are installed on the right side of the main brush module 3, as shown in fig. 1, the traction rope 1 includes a first rope body 101 and a second rope body 102, a first end of the first rope body 101 is fixedly connected with one side (for example, the left side) of the housing 7, and a second end passes through the main brush module 3 and is fixedly connected with the winch 22;

the first end of the second rope 102 is fixedly connected to the other side (e.g., right side) of the housing 7, and the second end is fixedly connected to the winch 22. The first rope 101 and the second rope 102 can be wound or released synchronously with the rotation of the winch 22.

At this time, the rotating motor 2 is controlled to drive the winch 22 to rotate, so that the first rope body 101 and the second rope body 102 can be pulled to be wound on the winch 22 at the same time, and the lifting force applied to the first rope body 101 can be more uniformly applied to the main brush module 3 due to the fact that the first rope body 101 extends from the left side of the main brush module 3 to the right side of the main brush module 3, so that the lifting process is more stable. Similarly, due to the arrangement of the structure, the descending process of the main brush module 3 is also more stable. Since the first rope 101 and the second rope 102 are connected to the winch 22 from two directions, respectively, in order to ensure that both can be simultaneously wound or unwound on the winch 22, the second end of the first rope 101 may be fixed to the upper end of the winch 22, and the second end of the second rope 102 may be fixed to the lower end of the winch 22. Or the second end of the first rope 101 is fixed to the front end of the winch 22, and the second end of the second rope 102 is fixed to the rear end of the winch 22.

In order to facilitate the fixed connection between the first rope 101 and the second rope 102 and the winch 22, as shown in fig. 1, in this embodiment, the second ends of the first rope 101 and the second rope 102 are fixed together to form a fixing portion 103 and then fixedly connected to the winch 22. In this connection, the second end of the first rope 101 may be wound one turn clockwise from the front end of the winch 22, and the second end of the second rope 102 may be wound one turn clockwise from the rear end of the winch 22 and then fixed to the front end of the winch 22. Or the second end of the first rope 101 is fixed to the rear end of the winch 22 together with the second end of the second rope 102 after being wound clockwise by half a turn from the front end of the winch 22.

As shown in fig. 1, for being convenient for the connection of the first rope body 101 and the main brush module 3, the upper end of the main brush module 3 is provided with a plurality of fixed blocks 8, and a plurality of fixed blocks 8 are distributed along the length direction of the main brush module 3, and the second end of the first rope body 101 sequentially passes through the fixed blocks 8, and the traction force of the first rope body 101 is dispersed to a plurality of positions due to the arrangement of the fixed blocks 8, so that the stress of the main brush module 3 is more uniform, and the service stability of the sweeper can be improved.

In order to protect the partly exposed traction rope 1, the height adjusting mechanism 11 in this embodiment further includes a rope sleeve 4, the rope sleeve 4 may be set as a rubber sleeve, the traction rope 1 may be set as a steel wire rope, the rope sleeve 4 is threaded in the fixing block 8, the traction rope 1 is threaded in the rope sleeve 4 in a sliding manner, a bayonet is provided at the upper end of the fixing block 8, and the rope sleeve 4 is clamped in the bayonet.

The above embodiment is described in terms of the connection structure of the traction rope 1 as the transmission mechanism 12 when the rotating electric machine 2 is mounted on the main brush module 3. And when the rotary electric machine 2 is mounted on the housing 7, the traction rope 1 adopts another coupling structure.

Specifically, in this embodiment, the rotating motor 2 is disposed on the housing 7, and the first end of the traction rope 1 is fixedly connected to the main brush module 3, and the second end is fixedly connected to the winch 22. Because the main brush module 3 carries out lifting adjustment relative to the shell 7, and the rotating motor 2 and the winch 22 are directly arranged on the shell 7, the main brush module 3 can be controlled to rise only by connecting the two ends of the traction rope 1 with the main brush module 3 and the winch 22 respectively, and at the moment, the rotating motor 2 drives the winch 22 to rotate so that the traction rope 1 is wound on the winch 22. The winch 22 is driven to rotate to release the traction rope 1, so as to control the main brush module 3 to descend.

In this embodiment, the traction rope 1 also needs to exert a pulling force on the main brush module 3, and the distribution of the pulling force affects the stability of the lifting process of the main brush module 3. Therefore, in this embodiment, the traction rope 1 is also provided with two ropes, one of which is the third rope body and the other is the fourth rope body. The first end of the third rope body is fixedly connected with one side of the main brush module 3, and the second end of the third rope body is fixedly connected with the winch 22; the first end of the fourth rope body is fixedly connected with the other side of the main brush module 3, and the second end of the fourth rope body is fixedly connected with the winch 22. The third and fourth ropes may be wound or released in synchronization with the rotation of the winch 22.

The position where the rotary motor 2 is mounted on the housing 7 in this embodiment may be above the middle of the main brush module 3. For the third rope and the fourth rope to be wound or released synchronously, the connection manner of the winch 22 with the third rope and the fourth rope may refer to the connection manner of the first rope 101 and the second rope 102 with the winch 22 in the above embodiment. In this embodiment, the third rope and the fourth rope extend out of two sides of the winch 22 and are respectively connected with two sides of the main brush module 3, so that the pulling force of the third rope and the fourth rope can be more uniformly applied to the main brush module 3, and the ascending and descending processes of the third rope and the fourth rope are more stable.

In order to facilitate connection between the third rope and the fourth rope and the winch 22, in this embodiment, the second ends of the third rope and the fourth rope are fixed together and then fixedly connected to the winch 22. The manner of fixing can still be referred to the connection of the first rope 101 and the second rope 102 to the winch 22.

When the transmission mechanism 12 adopts the combination of the winch 22 and the traction rope 1 to realize the lifting of the main brush module 3, the diameter of the winch 22 can directly influence the lifting height of the main brush module 3. Therefore, to meet the use requirement, the radius of the winch 22 and the output torque of the rotating electrical machine 2 in this embodiment satisfy (mxr) > F, where M is the output torque of the rotating electrical machine 2, R is the radius of the winch 22, and F is the gravity of the main brush module 3. Taking the winch 22 with a radius of 7.55mm as an example, the output torque of the rotary electric machine 2 is 0.16kg/mm, and the pulling force of the traction rope 1 is 1.2kgf by multiplying the two. When the gravity of the main brush module 3 is smaller than the pulling force, the pulling force of the height adjusting mechanism 11 meets the use requirement.

The rotatable angle of the rotating electric machine 2 satisfies (θ/360 °) ×2ρr > L, where θ is the maximum rotatable angle of the rotating electric machine 2, R is the radius of the capstan 22, and L is the lifting stroke of the main brush module 3. Taking the rotatable angle of the rotating motor 2 as 180 degrees and the radius of the winch 22 as 7.55mm as an example, the arc length rotated by the winch 22 is 23.9mm, and when the lifting stroke of the main brush module 3 is smaller than the arc length rotated by the winch 22, the stroke of the height adjusting mechanism 11 meets the use requirement.

The above embodiment is directed to the height adjustment process of the main brush module 3 when the transmission mechanism 12 is the winch 22 and the traction rope 1, and the corresponding installation connection structure. The present embodiment is described with respect to the case where the transmission 12 is another type:

in the embodiment, the main brush module 3 is in sliding connection with the shell 7, and the transmission mechanism 12 is provided as a gear and a rack;

the rack is fixedly arranged on the shell 7, the rotating motor 2 is arranged on the main brush module 3 and is in transmission connection with the gear, and the gear is meshed with the rack; or alternatively, the first and second heat exchangers may be,

the rack is fixedly arranged on the main brush module 3, the rotating motor 2 is arranged on the shell 7 and is connected with a gear in a transmission way, and the gear is meshed with the rack.

Specifically, it should be noted that in this embodiment, the main brush module 3 is lifted by using the cooperation of the gear and the rack. The main brush module 3 can be connected with the shell 7 through a sliding rail, so that the main brush module 3 can move up and down in a straight line in the shell 7. The rack is fixed in the inside of the shell 7 along the vertical direction, the rotating motor 2 is installed on the main brush module 3 and is connected with the gear transmission, the gear is meshed with the rack on the shell 7, and the rotating motor 2 drives the gear to rotate, so that the main brush module 3 is controlled to ascend and descend. It will be appreciated that the rotating electrical machine 2 may also be mounted on the housing 7, in which case the rack would need to be mounted on the main brush module 3.

The lifting control of the main brush module 3 can be realized by a cam besides adopting the winch traction rope 1 and a gear rack. Specifically, in this embodiment, the main brush module 3 may be connected to the housing 7 through a sliding rail, so that the main brush module 3 may be configured as a cam by the transmission mechanism 12 that moves up and down in the housing 7; the rotating motor 2 is arranged on the main brush module 3 and is in transmission connection with the cam, and a stress part matched with the cam is arranged on the shell 7. The force-receiving portion may be a bearing plate mounted on the housing 7 in this embodiment, which may be located below a cam, the cam being in contact with the bearing plate, and the lifting of the main brush module 3 being controlled by rotation of the cam. Or, the rotating motor 2 is arranged on the shell 7 and is in transmission connection with the cam, and the main brush module 3 is provided with a force receiving part matched with the cam. At this time, the force receiving part is required to be installed above the cam, and the lifting of the main brush module 3 is controlled by the rotation of the cam.

In order to accurately control the lifting height of the main brush module 3, as shown in fig. 1 to 3, in this embodiment, the rotating motor 2 is set to be a steering engine 21, the rotating angle of an output shaft of the rotating motor can be controlled according to the width of an input pwm signal, and the output shaft of the rotating motor is connected to a winch 22 through a certain reduction ratio, so that different rotation angle control of the winch 22 can be realized, namely, different lifting height control of the main brush module 3 is correspondingly realized, and the height of the main brush module 3 can be automatically adjusted under different conditions by combining the working condition of the sweeper.

The steering engine 21 can be used as an integral component to control the lifting of the main brush module 3, and similarly, an assembly combining a motor and a gear box can be used to control the lifting of the main brush module 3. Thus, in this embodiment, the rotary electric machine 2 includes a motor and a gear box, the motor and the gear box are fixedly arranged at the upper end of the main brush module 3, the output end of the motor is in transmission connection with the gear box, and the output of the gear box is connected with the transmission mechanism 12.

The two structures operate in a similar manner, except that the steering engine 21 itself can determine the rotation angle according to the PWM signal and has detection capability. When the motor is combined with the gear box, a control module and a position monitoring module are also required to be configured for accurately controlling the lifting height of the main brush module 3, and the position monitoring module is used for monitoring the lifting height of the main brush module 3; the control module is electrically connected with the rotating motor 2 and the position monitoring module, and is used for controlling the rotating motor 2 to rotate according to the control signal and determining the lifting height of the main brush module 3 through the position monitoring module. The position monitoring module comprises a calibration part and a position detection sensor, wherein the calibration part and the position detection sensor are arranged on the traction rope 1, and the position detection sensor is used for monitoring the position of the calibration part.

Taking the driving mechanism 12 as an example, which includes the traction rope 1, the calibration part may be a part which is arranged on the traction rope 1 and can be identified by the position detection sensor, and the traction state of the traction rope 1 can be reflected according to the position of the calibration part, so that the lifting height of the main brush module 3 is reflected. For example, the calibration part is one color area which is arranged on the traction rope 1 and is different from other parts, and the length of the color area moving in the traction process can be determined by an image recognition technology so as to calculate the lifting height of the main brush module 3.

In order to prevent the main brush module 3 from exceeding the stroke during the lifting process, the maximum lifting stroke of the main brush module 3 needs to be physically limited. For this purpose, the main brush module 3 and the housing 7 in this embodiment have a first limiting member for limiting the maximum descending travel of the main brush module 3; the main brush module 3 and the housing 7 have a second limiting member for limiting the maximum ascending travel of the main brush module 3.

Taking the case that the main brush module 3 is hinged with the housing 7 as an example, limiting the maximum lifting travel of the main brush module 3 is limiting the maximum rotation angle of the main brush module 3 in two directions. As shown in fig. 2 and 3, in this embodiment, a limiting portion 10 extending toward the main brush module 3 is disposed at the lower end of the housing 7, and a limiting protrusion 9 is correspondingly disposed on the main brush module 3, where the limiting portion 10 and the limiting protrusion 9 are located in the descending rotation direction of the main brush module 3, and the limiting portion 10 and the limiting protrusion 9 form a first limiting member. When the main brush module 3 descends to the maximum stroke, the limiting protrusion 9 is overlapped on the limiting part 10, so that the main brush module 3 cannot descend further. And the second limiting member can be arranged in a similar way to limit the maximum ascending travel of the main brush module 3. The second limiting member can directly limit the main brush module 3 by the structure of the housing 7.

In order to enable the main brush module 3 to perform stable motion, the first end of the main brush module 3 in this embodiment is hinged to the lower end of the housing 7 through a connecting rod assembly, and the second end of the main brush module 3 can rotate downward around the hinge point under the action of self gravity. The connecting rod assemblies are arranged into two groups and distributed on two sides of the main brush module 3, each group of connecting rod assemblies comprises an upper connecting rod 5 and a lower connecting rod 6, and the upper connecting rod 5 and the lower connecting rod 6 are parallel. The upper connecting rod 5 and the lower connecting rod 6 can be hinged with the main brush module 3 and the shell 7 through rotating shafts or pin shafts.

Taking the transmission mechanism 12 as a winch 22 and the traction rope 1 as an example, when the rotating motor 2 controls the winch 22 to rotate clockwise, the shell 7 can be used as a fixed point to pull the traction rope 1 to wind on the winch 22, so that the main brush module 3 is driven to rotate clockwise around a hinge point, and the descending is realized. When the rotating motor 2 rotates anticlockwise under the control of the winch 22, the traction rope 1 wound on the winch 22 is paid out, and the main brush module 3 rotates anticlockwise around the hinge point under the action of self gravity, so that ascending is realized.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.

Claims

1. A cleaning apparatus, comprising: the device comprises a shell, a main brush module and a height adjusting mechanism; wherein,,

2. The cleaning apparatus of claim 1, wherein the height adjustment mechanism is provided as a rotating electrical machine that is coupled to the main brush module via a transmission mechanism.

3. The cleaning apparatus of claim 2, wherein the transmission mechanism comprises a capstan and a traction rope, the capstan is in transmission connection with the rotating motor, the traction rope is connected with the capstan and the main brush module, and the traction rope is driven to retract and release by rotation of the capstan.

4. A cleaning device according to claim 3, wherein the rotating motor is provided on the main brush module, and the capstan is in driving connection with an output end of the rotating motor;

5. The cleaning device according to claim 4, wherein the traction rope comprises a first rope body and a second rope body, a rope sleeve is fixedly arranged on the main brush module, a first end of the first rope body is fixedly connected with one side of the shell, and a second end of the first rope body passes through the rope sleeve and is fixedly connected with the winch;

6. The cleaning apparatus of claim 5, wherein the second ends of the first and second ropes are fixedly connected to the winch after being secured together.

7. A cleaning device according to claim 3, wherein the rotating motor is provided on the housing, the first end of the traction rope being fixedly connected to the main brush module and the second end being fixedly connected to the capstan.

8. The cleaning apparatus of claim 7, wherein the traction rope comprises a third rope and a fourth rope, a first end of the third rope being fixedly connected to one side of the main brush module and a second end being fixedly connected to the winch;

9. The cleaning apparatus defined in claim 8, wherein the second ends of the third and fourth ropes are fixedly connected to the winch after being secured together.

10. A cleaning apparatus as claimed in any one of claims 3 to 9, wherein: the radius of the winch and the output torque of the rotating motor meet (MxR) > F, wherein M is the output torque of the rotating motor, R is the radius of the winch, and F is the gravity of the main brush module.