CN117179648A - Cleaning robot and cleaning mechanism comprising same - Google Patents
Cleaning robot and cleaning mechanism comprising same Download PDFInfo
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- CN117179648A CN117179648A CN202210609321.6A CN202210609321A CN117179648A CN 117179648 A CN117179648 A CN 117179648A CN 202210609321 A CN202210609321 A CN 202210609321A CN 117179648 A CN117179648 A CN 117179648A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 225
- 230000007246 mechanism Effects 0.000 title claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 174
- 238000006073 displacement reaction Methods 0.000 claims 4
- 238000005381 potential energy Methods 0.000 description 9
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Abstract
The application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot and a cleaning mechanism with the same. The cleaning mechanism includes: the cleaning device comprises a box shell, a driving device, a transmission assembly and a lifting assembly, wherein the driving device is provided with an output rotating shaft, the transmission assembly comprises a first transmission part and a second transmission part which is linked with the first transmission part, the first transmission part is connected with the output rotating shaft, the driving device drives the cleaning assembly to synchronously rotate through the first transmission part and the second transmission part, the lifting assembly comprises a screw nut, a screw, a one-way bearing and a reset member, the screw is coaxially arranged with the rotating axis of the second transmission part, the screw is connected with the second transmission part through the one-way bearing, and when the second transmission part rotates along a preset direction, the second transmission part drives the screw to rotate through the one-way bearing so as to drive the cleaning assembly to ascend; the reset member is used for providing elastic reset force. By applying the technical scheme of the application, the problem of complex lifting structure design for lifting the cleaning mechanism in the existing cleaning robot is solved.
Description
Technical Field
The application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot and a cleaning mechanism with the same.
Background
In the cleaning robot of the prior art, the structure design of the cleaning assembly driven to lift or driven to descend is complex, and besides the motor which is required to rotate relative to the cleaning assembly to clean the floor, other modules are assembled, such as a clutch module, which can enable the power output by the motor and the power output by the driving motor to be transmitted to the cleaning assembly relatively independently, so that motion interference is avoided. Therefore, the lifting structure for lifting the cleaning mechanism in the existing cleaning robot is complex in design, so that the production cost of the cleaning robot is high.
Disclosure of Invention
The application aims to provide a cleaning robot and a cleaning mechanism thereof, and aims to solve the problem that the lifting structure for lifting the cleaning mechanism in the existing cleaning robot is complex in design.
In order to achieve the above purpose, the application adopts the following technical scheme: a cleaning mechanism comprising:
a case shell;
the driving device is arranged on the box shell and is provided with an output rotating shaft;
the transmission assembly is arranged on the box shell and comprises a first transmission piece and a second transmission piece which is linked with the first transmission piece, the first transmission piece is connected with the output rotating shaft, the second transmission piece is used for being connected with the cleaning assembly, and the driving device drives the cleaning assembly to synchronously rotate through the first transmission piece and the second transmission piece;
the lifting assembly comprises a screw nut, a screw, a one-way bearing and a reset member, wherein the screw nut is arranged on the box shell, the screw is coaxially arranged with the rotation axis of the second transmission member, one end of the screw is in threaded connection with the screw nut, the other end of the screw is connected with the second transmission member through the one-way bearing, and when the second transmission member rotates along a preset direction, the second transmission member drives the screw to rotate through the one-way bearing, so that the screw moves axially relative to the screw nut to drive the cleaning assembly to ascend; the return member is configured to provide an elastic return force for rotating the lead screw in a direction opposite to a preset direction.
The application has at least the following beneficial effects:
the cleaning mechanism provided by the embodiment of the application is used for cleaning the ground, the driving device is started to provide cleaning power, the cleaning power is transmitted through the transmission assembly, and the second transmission member is connected with the screw rod through the one-way bearing, so that the screw rod does not rotate along with the second transmission member. When the driving device provides lifting power, the lifting power is also transmitted through the transmission assembly, and the screw nut is fixedly arranged on the box shell, so that the second transmission piece rotates along the preset direction and drives the screw to rotate, and the screw moves axially relative to the screw nut, so that the cleaning assembly is driven to lift. When the cleaning assembly needs to descend to the ground again, the driving device outputs cleaning power again, at the moment, the reset component can provide elastic reset force for the screw rod to enable the screw rod to reversely rotate along the preset direction, and the screw rod drives the cleaning assembly to descend along the axial direction until the cleaning assembly contacts the ground. Therefore, the cleaning mechanism provided by the embodiment of the application is assembled by adopting only one driving device, one set of transmission assembly and one-way bearing, so that the cleaning power is transmitted to the cleaning assembly, the lifting power is transmitted to the lifting assembly, and compared with the complex lifting structure design for lifting the cleaning mechanism in the existing cleaning robot, the cleaning mechanism is simple in structural design, forms a modularized design and is easy for mass production and assembly.
In one embodiment, the first transmission member is provided with a first gear, the second transmission member is provided with a second gear, the transmission assembly further comprises a transmission gear set, the transmission gear set is in transmission connection between the first gear and the second gear, the transmission gear set comprises a third gear meshed with the second gear, the third gear is columnar, the third gear is provided with a columnar tooth surface, the extending direction of the columnar tooth surface is parallel to the rotation axis direction of the third gear, the axial extending length of the columnar tooth surface is larger than the axial moving distance of the screw rod, and when the screw rod moves axially relative to the screw rod nut, the second gear of the second transmission member slides along the columnar tooth surface. The first gear, the transmission gear set 33 and the second gear are mutually driven, so that the effects of reducing speed and increasing distance are achieved.
In one embodiment, the first transmission member is provided with a first belt wheel, the second transmission member is provided with a first transmission gear, the transmission assembly further comprises a third transmission member and a transmission belt, the third transmission member is provided with a second belt wheel and a second transmission gear coaxially arranged with the second belt wheel, the transmission belt is in transmission connection between the first belt wheel and the second belt wheel, the second transmission gear is meshed with the first transmission gear, the second transmission gear is provided with a columnar tooth surface, the extending direction of the columnar tooth surface is parallel to the rotating axis direction of the second transmission gear, the axial extending length of the columnar tooth surface is larger than the axial moving distance of the screw rod, and when the screw rod moves axially relative to the screw rod nut, the second gear of the second transmission member slides along the columnar tooth surface. The first belt wheel, the transmission belt and the second belt wheel are mutually driven, so that the effects of reducing speed and increasing distance are achieved.
In one embodiment, one of the inner ring and the outer ring of the one-way bearing is fixedly connected with the second transmission member, and the other one of the inner ring and the outer ring of the one-way bearing is fixedly connected with the end part of the screw rod.
In one embodiment, the lead screw has a thread lead angle greater than 30 °. According to the technical scheme of the embodiment of the application, the self-locking between the external thread of the screw and the internal thread of the screw nut can be avoided in the relative rotation process of the screw and the screw nut.
In one embodiment, the lead screw and the lead screw nut form a threaded pair having an equivalent friction coefficient less than tan30 °. For the reset member with the elastic reset force applied by the rectangular spring, the spiral spring and the like being axial force, the equivalent friction coefficient of the thread pair needs to be designed to achieve the condition that the thread pair is not self-locking, so that the thread pair can realize reset under the action of the axial elastic reset force of the reset member in the non-self-locking state.
In one embodiment, the screw and the screw nut form a screw pair, and the lead angle of the screw nut are greater than the equivalent friction angle of the screw pair. For the reset member with the elastic reset force applied by the rectangular spring, the spiral spring and the like being axial force, the equivalent friction angle of the thread pair needs to be designed to achieve the condition that the thread pair is not self-locking, so that the thread pair can realize reset under the action of the axial elastic reset force of the reset member in the non-self-locking state.
In one embodiment, the reset member is mounted between the screw nut and the screw, and is an assembly mode of the reset member in which an elastic reset force applied by a rectangular spring, a coil spring, or the like is an axial force; or the reset member is arranged between the box shell and the screw rod, and is an assembly mode of the reset member, wherein the elastic reset force applied to a coil spring, a torsion spring, a shrapnel and the like is a rotation moment; or, the restoring member is mounted between the second transmission member and the case, and is also an assembly mode of the restoring member in which an elastic restoring force applied to a coil spring, a torsion spring, a spring piece, or the like is a rotation moment.
In one embodiment, the reset member is a rectangular spring, and the reset member generates elastic expansion deformation when rotating and axially moving along with the screw rod relative to the screw nut, that is, the elastic reset force exerted by the rectangular spring is axial force; or the reset member is a coil spring, a torsion spring or an elastic sheet, and the reset member generates elastic torsional deformation when rotating and axially moving along with the screw rod relative to the screw nut, namely, the elastic reset force applied by the coil spring, the torsion spring or the elastic sheet is a rotating moment.
According to another aspect of an embodiment of the present application, there is provided a cleaning robot. Specifically, the cleaning robot includes the aforementioned cleaning mechanism. The cleaning robot is assembled by adopting the cleaning mechanism, and the cleaning mechanism provided by the embodiment of the application is assembled by adopting only one driving device, one set of transmission assembly and one-way bearing, so that the cleaning power is transmitted to the cleaning assembly, the lifting power is transmitted to the lifting assembly, and compared with the complex lifting structural design for lifting the cleaning mechanism in the existing cleaning robot, the cleaning mechanism is simple in structural design, forms a modularized design, is easy to assemble in batch production, is integrally assembled to the cleaning robot, and greatly reduces the production cost of the cleaning robot.
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 for a person skilled in the art.
FIG. 1 is a top view of a cleaning mechanism according to an embodiment of the present application in a use state;
FIG. 2 is a cross-sectional view taken along the direction A-A in FIG. 1;
fig. 3 is an exploded view of a cleaning mechanism according to an embodiment of the present application, wherein the reset member is not shown.
Wherein, each reference sign in the figure:
10. a case shell; 11. a first housing; 12. a second housing;
20. a driving device; 21. an output shaft;
30. a transmission assembly; 31. a first transmission member; 32. a second transmission member; 33. a drive gear set; 331. cylindrical tooth surfaces;
40. a cleaning assembly; 41. a connection end; 42. a mounting plate; 401. a bracket; 402. a cleaning member;
50. a lifting assembly; 51. a lead screw nut; 52. a screw rod; 53. a reset member;
60. a one-way bearing;
70. a shaft sleeve;
80. and (5) a screw.
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 illustrative and intended to explain the present application and should not be construed as limiting the application.
In the description 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 describing the present application and simplify the 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 therefore should not be construed as limiting 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 present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 3, the cleaning mechanism provided in the embodiment of the present application includes a casing 10, a driving device 20, a transmission assembly 30, and a lifting assembly 50, where the driving device 20 is mounted on the casing 10, the driving device 20 has an output shaft 21, the transmission assembly 30 is mounted on the casing 10, the transmission assembly 30 is provided with a first transmission member 31 and a second transmission member 32, the first transmission member 31 and the second transmission member 32 are linked, the first transmission member 31 is connected with the output shaft 21, the second transmission member 32 is used to connect with a connection end 41 of the cleaning assembly 40, and the second transmission member 32 drives the connection end 41 to rotate synchronously, that is, the driving device 20 drives the cleaning assembly 40 to rotate synchronously via the first transmission member 31 and the second transmission member 32. The lifting assembly 50 comprises a screw nut 51, a screw 52, a one-way bearing 60 and a reset member 53, wherein the screw nut 51 is fixedly installed on the case 10 through a screw 80, the screw 52 is coaxially arranged on the rotation axis of the second transmission member 32, one end of the screw 52 is in threaded connection with the screw nut 51, and the other end of the screw 52 is connected with the second transmission member 32 through the one-way bearing. When the second transmission member 32 rotates in a preset direction, the second transmission member 32 drives the screw rod 52 to synchronously rotate through the one-way bearing 60, so that the screw rod 52 moves axially relative to the screw rod nut 51 to drive the cleaning assembly 40 to lift, and when the second transmission member 32 rotates in a reverse direction, the reset member 53 is used for providing an elastic reset force for the screw rod 52 to reversely rotate the screw rod 52 in the preset direction.
It will be appreciated that the tank 10 may be a body housing part of a cleaning robot, or may be a tank housing part or a dust box housing part of a cleaning robot.
The cleaning mechanism provided by the embodiment of the application is used for cleaning the ground, the driving device 20 is started to provide cleaning power, and the cleaning power is transmitted through the transmission assembly 30, namely: the cleaning power is output from the output rotating shaft 21 and drives the first transmission member 31 to rotate, the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30, and the second transmission member 32 drives the connection end 41 of the cleaning assembly 40 to rotate, so that the cleaning assembly 40 rotates on the ground to clean the ground, and the second transmission member 32 is connected with the screw rod 52 through the one-way bearing 60, so that the screw rod 52 does not rotate along with the second transmission member 32. When the driving device 20 provides lifting power (the rotation direction of the output shaft 21 is opposite to the rotation direction of the output shaft 21 when the cleaning power is output), the lifting power is also transmitted through the transmission assembly 30, namely: lifting power is output from the output rotating shaft 21 and drives the first transmission member 31 to rotate, the lifting power is transmitted to the second transmission member 32 through the transmission assembly 30, at this time, the second transmission member 32 rotates along a preset direction, the second transmission member 32 drives the connection end 41 of the cleaning assembly 40 to synchronously rotate along the preset direction, and meanwhile, the second transmission member 32 drives the lead screw 52 to synchronously rotate along the preset direction, and because the lead screw nut 51 is fixedly installed on the case 10, the lead screw 52 rotates along the preset direction to enable the lead screw 52 to axially move, so as to drive the cleaning assembly 40 to lift (defined as clockwise or anticlockwise). When the cleaning assembly 40 needs to be lowered to the floor again, the driving device 20 outputs cleaning power again, and the reset member 53 can provide elastic reset force for the screw rod 52 to reversely rotate along the preset direction, and the screw rod 52 reversely rotating along the preset direction drives the cleaning assembly 40 to axially descend until the cleaning assembly 40 contacts the floor. Therefore, the cleaning mechanism provided by the embodiment of the application is assembled by only adopting one driving device 20, one set of transmission assembly 30 and one-way bearing 60, thereby realizing the transmission of cleaning power to the cleaning assembly 40 and the transmission of lifting power to the lifting assembly 50, and compared with the complex lifting structure design for lifting the cleaning mechanism in the existing cleaning robot, the cleaning mechanism has simple structure design, forms a modularized design, is easy for mass production and assembly, and greatly reduces the production cost of the cleaning robot when being integrally assembled into the cleaning robot.
In the embodiment of the present application, as shown in fig. 2 and 3, the first transmission member 31 is provided with a first gear, the second transmission member 32 is provided with a second gear, the transmission assembly 30 further includes a transmission gear set 33, the transmission gear set 33 is in transmission connection between the first gear and the second gear, the transmission gear set 33 includes a third gear meshed with the second gear, the third gear is in a columnar shape, the third gear has a columnar tooth surface 331, an extending direction of the columnar tooth surface 331 is parallel to a rotation axis direction of the third gear, an axial extending length of the columnar tooth surface 331 is greater than an axial moving distance of the screw rod 52, and when the screw rod 52 moves axially relative to the screw nut 51, the second gear of the second transmission member 32 slides along the columnar tooth surface 331. The first gear, the transmission gear set 33 and the second gear are mutually driven, so that the effects of reducing speed and increasing distance are achieved. When the driving device 20 outputs the cleaning power, only the relative rotation motion of the meshing transmission is between the cylindrical tooth surface 331 and the second gear; when the driving device 20 outputs lifting power, the cylindrical tooth surface 331 and the second gear perform relative rotation motion of meshing transmission, and meanwhile, the cylindrical tooth surface 331 and the second gear also perform relative movement in the axial direction; after the cleaning assembly 40 is lifted to the highest position and it is desired to lower the cleaning assembly 40 again to contact the floor, the driving device 20 outputs the cleaning power to drive the cylindrical tooth surface 331 and the second gear to perform the relative rotation of the meshing transmission, and the screw rod 52 reversely rotates in the preset direction under the action of the elastic restoring force applied by the restoring member 53, so that the screw rod 52 drives the cleaning assembly 40 to lower.
In this embodiment, the case 10 includes a first housing 11 and a second housing 12, and as shown in fig. 2 and 3, the first housing 11 and the second housing 12 are covered to form a receiving space, and the transmission assembly 30 and the lifting assembly 50 are assembled in the receiving space.
In another embodiment, the first transmission member 31 is provided with a first pulley, the second transmission member 32 is provided with a first transmission gear, the transmission assembly 30 further includes a third transmission member and a transmission belt, the third transmission member is provided with a second pulley and a second transmission gear coaxially arranged with the second pulley, the transmission belt is connected between the first pulley and the second pulley, the second transmission gear is meshed with the first transmission gear, the second transmission gear has a cylindrical tooth surface 331, an extending direction of the cylindrical tooth surface 331 is parallel to a rotation axis direction of the second transmission gear, an axial extending length of the cylindrical tooth surface 331 is larger than an axial moving distance of the screw, and when the screw 52 moves axially relative to the screw nut 51, the second gear of the second transmission member 32 slides along the cylindrical tooth surface 331. The implementation principle of the belt transmission is basically the same as that of the gear transmission, and thus, the description thereof is omitted here.
As shown in fig. 2 and 3, in the embodiment of the present application, the unidirectional bearing 60 may be obtained from market, or may be manufactured by self-assembling, and the unidirectional bearing 60 is a product with wide application and mature technology, and thus will not be described herein. During assembly, one of the inner ring and the outer ring of the one-way bearing 60 is fixedly connected with the second transmission member 32, and the other of the inner ring and the outer ring of the one-way bearing 60 is fixedly connected with the end part of the screw rod 52. In the embodiment of the present application, as shown in fig. 2, the inner ring of the unidirectional bearing 60 is fixedly connected with the second transmission member 32, specifically, a connecting column is disposed on a side of the second transmission member 32 facing the screw 52, and is in interference fit with the inner ring of the unidirectional bearing 60 through the connecting column; the outer ring of the one-way bearing 60 is fixedly connected with the end of the screw rod 52, specifically, an assembly hole is formed at one end of the screw rod 52 facing the second transmission member 32, and then the outer ring of the one-way bearing 60 is assembled in the assembly hole in an interference manner.
In this embodiment, the reset member 53 may be a rectangular spring, and at this time, the rectangular spring may elastically deform in a telescopic manner when the screw 52 rotates and axially moves relative to the screw nut 51 in a predetermined direction, so that elastic potential energy is stored, that is, elastic reset force is stored, and after the cleaning assembly 40 is lifted to the highest position, the driving device 20 still continues to output lifting power and the elastic potential energy of the rectangular spring remain balanced, so that the cleaning assembly 40 is maintained at the highest position. When the driving device 20 outputs the cleaning power again, at this time, the output gear loses the lifting force from the elastic potential energy of the rectangular spring output by the driving device 20, and the second transmission member 32 descends in the axial direction under the action of the elastic restoring force applied by the rectangular spring until the cleaning assembly 40 contacts the floor again, and then the cleaning assembly 40 cleans the floor under the driving of the cleaning power output by the driving device 20.
As shown in fig. 2, the reset member 53 of the cleaning mechanism according to the embodiment of the present application includes a spiral spring, which is sleeved on the screw rod 52, and one end of which abuts against the screw rod nut 51, and the other end of which abuts against the screw rod 52 toward the end of the cleaning assembly 40. Thus, when the driving device 20 outputs the lifting power such that the screw 52 is rotated forward and moves in a vertical direction with respect to the screw nut 51, the coil spring is compressed by the screw 52 to store elastic potential energy, that is, to store elastic restoring force, and when the cleaning assembly 40 is lifted to the uppermost position, the driving device 20 continues to output the lifting power to be balanced with the elastic potential energy of the coil spring such that the cleaning assembly 40 is maintained at the uppermost position. When the driving device 20 outputs the cleaning power again, at this time, the output gear loses the lifting force for balancing the elastic potential energy of the coil spring outputted from the driving device 20, and the output gear descends vertically downward under the action of the restoring force applied by the coil spring until the cleaning assembly 40 contacts the floor again, and then the cleaning assembly 40 cleans the floor under the driving of the cleaning power outputted from the driving device 20.
In another embodiment, the reset member 53 includes a plurality of coil springs, which are circumferentially spaced around the screw rod 52, one end of each coil spring abuts against the screw nut 51, and the other end of each coil spring abuts against the end of the screw rod 52 facing the cleaning assembly 40, and the working principle of the plurality of coil springs in this embodiment is the same as that of one coil spring in the previous embodiment, so that the description thereof will not be repeated.
In another embodiment, the restoring member 53 may be a coil spring, a torsion spring, or a spring plate, where the restoring member 53 is capable of generating an inductive torsional deformation when the screw 52 rotates and moves axially with respect to the screw nut 51 in a predetermined direction, thereby storing elastic potential energy, that is, storing elastic restoring force, and when the cleaning assembly 40 is lifted to the uppermost position, the driving device 20 continues to output lifting power and the elastic potential energy of the restoring member 53 remain balanced, so that the cleaning assembly 40 is maintained at the uppermost position. When the driving device 20 outputs the cleaning power again, at this time, the output gear loses the lifting force from the driving device 20 to balance the elastic potential energy of the reset member 53, and the second transmission member 32 is axially lowered under the elastic reset force applied by the reset member 53 until the cleaning assembly 40 contacts the floor again, and then the cleaning assembly 40 cleans the floor under the driving of the cleaning power output from the driving device 20.
In order to avoid self-locking between the external thread of the screw 52 and the internal thread of the screw nut 51 during the relative rotation of the screw 52 and the screw nut 51, the lead angle of the thread of the screw 52 is greater than 30 °.
Further, the screw rod and the screw rod nut form a screw pair, and the equivalent friction coefficient of the screw pair is smaller than tan30 degrees.
And the screw rod nut form a screw pair, and the thread lead angle of the screw rod nut are larger than the equivalent friction angle of the screw pair.
For the restoring member 53 with an axial force, the thread angle of the thread pair, the equivalent friction coefficient of the thread pair, and the equivalent friction angle of the thread pair are designed to achieve the condition that the thread pair is not self-locked, so that the thread pair can be restored under the action of the axial elastic restoring force of the restoring member 53 in the non-self-locking state. The return member 53 is an axial force against which an elastic return force is applied by a rectangular spring, a coil spring, or the like, and the return member 53 is mounted between the lead screw nut 51 and the lead screw 52.
In addition, for the restoring member 53, in which the elastic restoring force applied by the coil spring, the torsion spring, the elastic sheet, etc. is a rotation moment, the elastic restoring force can directly drive the screw 52 to reversely rotate along the preset direction, so that the thread rise angle of the thread pair, the equivalent friction coefficient of the thread pair, and the equivalent friction angle of the thread pair do not need to be designed. And, the return member 53, which applies an elastic return force as a rotational moment to a coil spring, torsion spring, elastic piece, or the like: the reset member 53 is installed between the casing 10 and the screw 52; alternatively, the reset member 53 is mounted between the second transmission member 32 and the housing 10.
As shown in fig. 1 to 3, in the cleaning mechanism according to the embodiment of the present application, the cleaning assembly 40 includes a stand 401 and a cleaning member 402, and typically, the cleaning member 402 is a wiper, i.e., a rag. The holder 401 is provided with a mounting plate 42 and a shaft connected to the mounting plate 42 and serving as the connection end 41, and the cleaning member 402 is mounted to the mounting plate 42. During assembly of the cleaning assembly 40, the mounting plate 42 is fixedly coupled to one end of a shaft by the screw 80, and the other end of the shaft is fixedly coupled to the output gear, and the cleaning member 402 is detachably mounted on the mounting plate 42.
In order to smooth the lifting movement of the cleaning assembly 40, the cleaning mechanism further includes a sleeve 70, the sleeve 70 is fixedly mounted on the housing 10, and the connection end 41 is connected to the second transmission member 32 after passing through the sleeve 70. In this way, the shaft sleeve 70 can guide the lifting movement of the connecting end 41 in the shaft sleeve 70, so that the cleaning assembly 40 is ensured not to deflect during lifting and keeping stable lifting.
The complete assembly of the cleaning mechanism is described below by taking the example in which the transmission assembly 30 includes a transmission gear set 33:
first, each part of the component is prepared. Then, the boss 70 is mounted on the second housing 12, the shaft as the connection end 41 is passed through the boss 70, then the second transmission member 32 is connected to the connection end 41, then each transmission gear of the transmission gear set 33 is mounted on the second housing 12 with the adjacent gears engaged with each other, and the columnar tooth surface 331 of the transmission gear set 33 and the teeth of the second transmission member 32 are engaged with each other. Then, the inner ring of the one-way bearing 60 is fixedly connected with the second transmission member 32, the outer ring of the one-way bearing 60 is fixedly connected with the screw rod 52, and the rectangular spring is sleeved on the screw rod 52. Then, the screw nut 51 is fixedly mounted on the first housing 11 by the screw 80, and the screw nut 51 is screwed on the screw 52, so that the screw nut 51 is located on top of the screw 52 together with the first housing 11. At this time, the first housing 11 is fixed, then the screw rod 52 is driven to rotate along a preset direction by rotating the connection end 41, so that the screw rod 52 moves along an axial direction, the rectangular spring is compressed, the first housing 11 and the second housing 12 approach each other until the first housing 11 and the second housing 12 are covered with each other, and then the first housing 11 and the second housing 12 are fixedly connected by a bolt connection manner or a welding manner, so that the connection end 41 can be released. Then, the output shaft 21 of the driving device 20 passes through the first housing 11 and then extends to the first transmission member 31, and the output shaft 21 and the first transmission member 31 may be in driving connection by adopting a key connection manner, so that the output shaft 21 drives the first transmission member 31 to synchronously rotate, so as to continuously output cleaning power or lifting power backward, and then the housing of the driving device 20 is fixed on the first housing 11 by a bolt connection manner. Next, the cleaning assembly 40 is assembled, the cleaning member 402 is first attached to the mounting plate 42, and then the mounting plate 42 is fixedly attached to the end of the connecting end 41 remote from the second transmission member 32 by the screw 80. In this way, the assembly work of the entire cleaning mechanism is completed.
According to another aspect of an embodiment of the present application, there is provided a cleaning robot (not shown). Specifically, the cleaning robot includes the aforementioned cleaning mechanism. Further, the cleaning robot includes a control device (not shown), and the control device is electrically connected with the driving device 20, so that the output shaft 21 of the driving device 20 is controlled by the control device to rotate, thereby not only driving the cleaning assembly 40 to rotate to clean the ground, but also driving the screw rod 52 to rotate to drive the cleaning assembly 40 to lift, and compared with the complex lifting structure design of the existing cleaning robot, which enables the cleaning mechanism to lift, the cleaning mechanism has simple structure design, forms a modularized design, is easy to be assembled in batch, is integrally assembled into the cleaning robot, and greatly reduces the production cost of the cleaning robot.
When the cleaning robot provided by the embodiment of the application is used for cleaning the ground, the driving device 20 is started to provide cleaning power, and the cleaning power is transmitted through the transmission assembly 30, namely: the cleaning power is output from the output rotating shaft 21 and drives the first transmission member 31 to rotate, the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30, and the second transmission member 32 drives the connection end 41 of the cleaning assembly 40 to rotate, so that the cleaning assembly 40 rotates on the ground to clean the ground, and the second transmission member 32 is connected with the screw rod 52 through the one-way bearing 60, so that the screw rod 52 does not rotate along with the second transmission member 32.
When the cleaning robot finishes cleaning the floor or needs to return to the cleaning base station to clean the cleaning member 402 during the cleaning operation, the driving device 20 provides lifting power (the rotation direction of the output shaft 21 is opposite to the rotation direction of the output shaft 21 when the cleaning power is output), and the lifting power is also transmitted through the transmission assembly 30, namely: lifting power is output from the output rotating shaft 21 and drives the first transmission member 31 to rotate, the lifting power is transmitted to the second transmission member 32 through the transmission assembly 30, at this time, the second transmission member 32 rotates along a preset direction, the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to synchronously rotate along the preset direction, meanwhile, the second transmission member 32 drives the screw rod 52 to synchronously rotate along the preset direction, and because the screw rod nut 51 is fixedly installed on the box shell 10, the screw rod 52 rotates along the preset direction to axially move the screw rod 52, so that the cleaning assembly 40 is driven to lift. After the cleaning assembly 40 is lifted, the traveling system of the cleaning robot operates and returns to the cleaning base station.
When the cleaning robot returns to the cleaning base station, at this time, the cleaning robot needs to descend the cleaning assembly 40 again to clean the cleaning assembly 40, the driving device 20 outputs cleaning power again, at this time, the reset member 53 can provide an elastic reset force for reversely rotating the lead screw 52 in a preset direction, the reversely rotating lead screw 52 in the preset direction drives the cleaning assembly 40 to descend in the axial direction until the cleaning assembly 40 contacts the cleaning plate of the cleaning base station, and then the driving device 20 outputs cleaning power to drive the cleaning assembly 40 to continue rotating on the cleaning plate, so as to clean the cleaning piece 402.
After the cleaning member 402 is cleaned up in the cleaning base station, the driving device 20 outputs the lifting power again to lift the cleaning assembly 40, and then the traveling system of the cleaning robot operates to make the cleaning robot leave the cleaning base station and return to the place where it was originally returned, and then the driving device 20 outputs the cleaning power again to then perform the cleaning operation on the floor. Or, after the cleaning member 402 is cleaned up in the cleaning base station, and the cleaning robot has completed cleaning the floor surface when returning, the cleaning robot stays in the cleaning robot at this time, i.e., the cleaning robot is in a standby state, etc., and again receives an instruction of cleaning work, and leaves from the cleaning base station to perform cleaning work on the floor surface.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. A cleaning mechanism, comprising:
a case shell;
the driving device is arranged on the box shell and is provided with an output rotating shaft;
the transmission assembly is arranged on the box shell and comprises a first transmission piece and a second transmission piece which is linked with the first transmission piece, the first transmission piece is connected with the output rotating shaft, the second transmission piece is used for being connected with the cleaning assembly, and the driving device drives the cleaning assembly to synchronously rotate through the first transmission piece and the second transmission piece;
the lifting assembly comprises a screw nut, a screw, a one-way bearing and a reset member, wherein the screw nut is arranged on the box shell, the screw is coaxially arranged with the rotation axis of the second transmission member, one end of the screw is in threaded connection with the screw nut, the other end of the screw is connected with the second transmission member through the one-way bearing, and when the second transmission member rotates along a preset direction, the second transmission member drives the screw to rotate through the one-way bearing, so that the screw moves axially relative to the screw nut to drive the cleaning assembly to ascend; the return member is configured to provide an elastic return force for rotating the lead screw in a direction opposite to a preset direction.
2. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the first driving medium is equipped with first gear, the second driving medium is equipped with the second gear, drive assembly still includes drive gear group, drive gear group transmission is connected first gear with between the second gear, drive gear group include with the third gear of second gear meshing, the third gear is the column, the third gear has the column flank, the extending direction of column flank with the axis of rotation direction parallel arrangement of third gear, the axial extension length of column flank is greater than the axial displacement distance of lead screw, works as the lead screw is relative when screw nut takes place axial displacement, the second gear of second driving medium is followed the column flank slides.
3. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the first driving medium is equipped with first band pulley, the second driving medium is equipped with first drive gear, drive assembly still includes third driving medium and drive belt, the third driving medium be equipped with the second band pulley and with the second drive gear of the coaxial setting of second band pulley, the drive belt transmission is connected first band pulley with between the second band pulley, the second drive gear with first drive gear meshes, the second drive gear has cylindrical tooth face, cylindrical tooth face's extending direction with the axis of rotation direction parallel arrangement of second drive gear, cylindrical tooth face's axial extension length is greater than the axial displacement distance of lead screw, works as the lead screw is relative the lead screw nut takes place axial displacement, the second gear of second driving medium is followed cylindrical tooth face slides.
4. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
one of the inner ring and the outer ring of the one-way bearing is fixedly connected with the second transmission piece, and the other one of the inner ring and the outer ring of the one-way bearing is fixedly connected with the end part of the screw rod.
5. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the lead angle of the thread of the lead screw is larger than 30 degrees.
6. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the screw rod and the screw rod nut form a screw pair, and the equivalent friction coefficient of the screw pair is smaller than tan30 degrees.
7. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the screw rod and the screw rod nut form a screw thread pair, and the thread lead angle of the screw rod nut are larger than the equivalent friction angle of the screw thread pair.
8. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the reset component is arranged between the screw nut and the screw; or, the reset member is arranged between the box shell and the screw rod; or the reset component is arranged between the second transmission piece and the box shell.
9. The cleaning mechanism of claim 1, wherein the cleaning mechanism comprises a cleaning mechanism,
the reset member is a rectangular spring, and generates elastic expansion deformation when the reset member rotates and axially moves along with the screw rod relative to the screw rod nut; or the reset member is a coil spring, a torsion spring or an elastic sheet, and generates elastic torsional deformation when the reset member rotates and axially moves along with the screw rod relative to the screw rod nut.
10. A cleaning robot comprising the cleaning mechanism of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210609321.6A CN117179648A (en) | 2022-05-31 | 2022-05-31 | Cleaning robot and cleaning mechanism comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210609321.6A CN117179648A (en) | 2022-05-31 | 2022-05-31 | Cleaning robot and cleaning mechanism comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117179648A true CN117179648A (en) | 2023-12-08 |
Family
ID=88983723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210609321.6A Pending CN117179648A (en) | 2022-05-31 | 2022-05-31 | Cleaning robot and cleaning mechanism comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117179648A (en) |
-
2022
- 2022-05-31 CN CN202210609321.6A patent/CN117179648A/en active Pending
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