CN117179648A - Cleaning robot and cleaning mechanism comprising same - Google Patents

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

Cleaning robot and its cleaning mechanism

Technical field

The invention belongs to the technical field of cleaning equipment, and in particular relates to a cleaning robot and a cleaning mechanism thereof.

Background technique

In the cleaning robots of the prior art, the structural design for the cleaning component to be driven up or down is complicated. In addition to the independent driving motor relative to the motor that drives the cleaning component to rotate to clean the floor, this structural design also requires other modules. Assembly, such as a clutch module, which enables the power output by the motor and the power output by the drive motor to be transmitted to the cleaning assembly relatively independently, thereby avoiding motion interference. It can be seen that the lifting structure for lifting the cleaning mechanism in existing cleaning robots is complex in design, resulting in high production costs for the cleaning robot.

Contents of the invention

The purpose of the present invention is to provide a cleaning robot and its cleaning mechanism, aiming to solve the problem of complex design of the lifting structure for lifting the cleaning mechanism in the existing cleaning robot.

In order to achieve the above object, the technical solution adopted by the present invention is: a cleaning mechanism, including:

box shell;

A driving device, the driving device is installed on the box shell, and the driving device has an output rotating shaft;

Transmission assembly, the transmission assembly is installed on the box shell, the transmission assembly includes a first transmission member and a second transmission member linked with the first transmission member, the first transmission member and the output shaft connection, the second transmission member is used to connect the cleaning assembly, and the driving device drives the cleaning assembly to rotate synchronously through the first transmission member and the second transmission member;

Lifting assembly, the lifting assembly includes a screw nut, a screw, a one-way bearing and a reset member. The screw nut is installed on the box shell. The screw is coaxial with the rotation axis of the second transmission member. It is configured that one end of the screw is screwed to the screw nut, the other end of the screw is connected to the second transmission member through the one-way bearing, and the second transmission member rotates in a preset direction When, 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 rise; the reset member It is used to provide an elastic restoring force to rotate the screw in a direction opposite to the preset direction.

The present invention has at least the following beneficial effects:

The cleaning mechanism provided by the embodiment of the present invention is used to clean the floor. The driving device is started to provide cleaning power. The cleaning power is transmitted through the transmission assembly. Since the second transmission part and the screw are connected through a one-way bearing, at this time, the screw The lever does not rotate following the second transmission member. When the driving device provides lifting power, the lifting power is also transmitted through the transmission assembly. Since the screw nut is fixedly installed on the box shell, the second transmission member rotates in the preset direction and drives the screw to rotate, so that the screw is relative to the screw. The lever nut moves axially, causing the cleaning assembly to lift. When the cleaning assembly needs to be lowered to the ground again, the driving device outputs cleaning power again. At this time, the reset member can provide the elastic reset force to the screw to cause it to rotate in the preset direction in the reverse direction, and the screw will drive The cleaning assembly descends axially until the cleaning assembly touches the ground. Therefore, the cleaning mechanism provided by the embodiment of the present invention only uses a driving device, a set of transmission components and a one-way bearing for assembly, which not only realizes the transmission of cleaning power to the cleaning component, but also realizes the transmission of lifting power to the lifting component, which is relatively Compared with the complex lifting structure design of the existing cleaning robot that raises and lowers the cleaning mechanism, the cleaning mechanism has a simple structural design and a modular design, which is easy to be assembled in mass production.

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 includes a transmission gear set, and the transmission gear set is drivingly connected to the Between the first gear and the second gear, the transmission gear set includes a third gear meshed with the second gear, the third gear is cylindrical, and the third gear has a cylindrical tooth surface, so The extension direction of the cylindrical tooth surface is parallel to the rotation axis direction of the third gear, and the axial extension length of the cylindrical tooth surface is greater than the axial movement distance of the screw. When the screw is relative to the screw When the lever nut moves axially, the second gear of the second transmission member slides along the cylindrical tooth surface. Through the mutual transmission between the first gear, the transmission gear set 33 and the second gear, the effect of deceleration and distance increase is achieved.

In one embodiment, the first transmission member is provided with a first pulley, the second transmission member is provided with a first transmission gear, the transmission assembly further includes a third transmission member and a transmission belt, and the third transmission member is provided with a first transmission gear. The transmission member is provided with a second pulley and a second transmission gear coaxially arranged with the second pulley. The transmission belt is drivingly connected between the first pulley and the second pulley. Two transmission gears mesh with the first transmission gear. The second transmission gear has a columnar tooth surface. The extension direction of the columnar tooth surface is parallel to the direction of the rotation axis of the second transmission gear. The columnar teeth The axial extension length of the surface is greater than the axial movement distance of the screw. When the screw moves axially relative to the screw nut, the second gear of the second transmission member moves along the cylindrical tooth surface. slide. Through the mutual transmission between the first pulley, the transmission belt and the second pulley, the effect of deceleration and distance increase is achieved.

In one embodiment, one of the inner ring and the outer ring of the one-way bearing is fixedly connected to the second transmission member, and the other one of the inner ring and the outer ring of the one-way bearing is connected to the second transmission member. The end of the screw is fixedly connected.

In one embodiment, the helix angle of the thread of the screw is greater than 30°. The technical solution of this embodiment of the present invention can prevent self-locking between the external threads of the lead screw and the internal threads of the lead screw nut during relative rotation of the lead screw and the lead screw nut.

In one embodiment, the screw and the screw nut form a thread pair, and the equivalent friction coefficient of the thread pair is less than tan30°. For the reset member where the elastic restoring force exerted by rectangular springs, coil springs, etc. is an axial force, the equivalent friction coefficient of the thread pair needs to be designed to achieve the non-self-locking condition of the thread pair and to make the thread pair in a non-self-locking state. The reset can be achieved under the action of the axial elastic reset force of the reset member.

In one embodiment, the screw and the screw nut form a thread pair, and the thread pitch angle of the thread screw and the thread pitch angle of the thread screw nut are greater than the equivalent friction angle of the thread pair. For the reset member where the elastic restoring force exerted by rectangular springs, coil springs, etc. is an axial force, the equivalent friction angle of the thread pair needs to be designed to achieve the non-self-locking condition of the thread pair and to make the thread pair in the non-self-locking state. The reset can be achieved under the action of the axial elastic reset force of the reset member.

In one embodiment, the reset member is installed between the screw nut and the screw, and is an assembly of the reset member in which the elastic reset force exerted by a rectangular spring, a coil spring, etc. is an axial force. method; or, the reset member is installed between the box shell and the screw, which is an assembly method in which the elastic reset force exerted by a coil spring, a torsion spring, a spring piece, etc. is a rotational torque; or, The reset member is installed between the second transmission member and the case shell, which is also an assembly method for the reset member in which the elastic reset force exerted by coil springs, torsion springs, elastic sheets, etc. is rotational torque.

In one embodiment, the return member is a rectangular spring, and the return member generates elastic expansion and contraction deformation when the screw rotates and moves axially relative to the screw nut. That is to say, the force exerted by the rectangular spring The elastic return force is an axial force; or the return member is a coil spring, a torsion spring or a spring piece, and the return member produces elastic torsional deformation when the screw rotates relative to the screw nut and moves axially, That is to say, the elastic restoring force exerted by the coil spring, torsion spring or spring is the rotational torque.

According to another aspect of embodiments of the present invention, a cleaning robot is provided. Specifically, the cleaning robot includes the aforementioned cleaning mechanism. Since the cleaning robot adopts the above-mentioned cleaning mechanism for assembly, and the above-mentioned cleaning mechanism provided by the embodiment of the present invention only adopts one of the driving devices, a set of the transmission components and one of the one-way bearings for assembly, both It realizes the transmission of cleaning power to the cleaning component, and also realizes the transmission of lifting power to the lifting component. Compared with the complex lifting structure design of the existing cleaning robot that lifts the cleaning mechanism, the structural design of the cleaning mechanism is simple. , and has formed a modular design, which is easy to mass produce and assemble, and is integrated into the cleaning robot, which greatly reduces the production cost of the cleaning robot.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings in the following description are only illustrative of the present invention. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a top view of the cleaning mechanism in use according to the embodiment of the present invention;

Figure 2 is a cross-sectional view along the A-A direction in Figure 1;

FIG. 3 is an exploded view of the cleaning mechanism according to the embodiment of the present invention, in which the reset member is not shown.

Among them, each figure in the figure is marked with:

10. Box shell; 11. First shell; 12. Second shell;

20. Driving device; 21. Output shaft;

30. Transmission component; 31. First transmission part; 32. Second transmission part; 33. Transmission gear set; 331. Column tooth surface;

40. Cleaning component; 41. Connection end; 42. Installation plate; 401. Bracket; 402. Cleaning parts;

50. Lifting component; 51. Lead screw nut; 52. Lead screw; 53. Reset component;

60. One-way bearing;

70. Shaft sleeve;

80. Screws.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not Any indication or implication that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation should not be construed as a limitation on the invention.

Furthermore, the terms “first”, “second”, etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined by "first," "second," etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in FIGS. 1 to 3 , the cleaning mechanism provided by the embodiment of the present invention includes a box shell 10 , a driving device 20 , a transmission assembly 30 and a lifting assembly 50 . The driving device 20 is installed on the box shell 10 . The device 20 has an output rotating shaft 21, and the transmission assembly 30 is installed on the box shell 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 third transmission member The two transmission members 32 are linked together. The first transmission member 31 is connected to the output shaft 21 . The second transmission member 32 is used to connect the connecting end 41 of the cleaning assembly 40 . The second transmission member 32 drives the The connecting end 41 rotates synchronously, that is, the driving device 20 drives the cleaning assembly 40 to rotate synchronously through the first transmission member 31 and the second transmission member 32 . The lifting assembly 50 includes a lead screw nut 51, a lead screw 52, a one-way bearing 60 and a reset member 53. The lead screw nut 51 is fixedly installed on the box shell 10 through screws 80. The lead screw 52 is on the The rotation axis of the second transmission member 32 is coaxially arranged. One end of the screw 52 is screwed to the screw nut 51 and the other end of the screw 52 is connected to the second transmission member through the one-way bearing. 32 connections. When the second transmission member 32 rotates in a preset direction, the second transmission member 32 drives the screw 52 to rotate synchronously through the one-way bearing 60 so that the screw 52 is relative to the screw nut. 51 moves axially to drive the cleaning assembly 40 to lift, and when the second transmission member 32 reversely rotates in the preset direction, the reset member 53 is used to provide force to the screw 52 The elastic restoring force of the screw 52 in reverse rotation in the preset direction.

It can be understood that the box shell 10 can be the body shell part of the cleaning robot, or the water tank shell part or the dust box shell part of the cleaning robot.

The cleaning mechanism provided by the embodiment of the present invention is used to clean the floor. The driving device 20 is started to provide cleaning power. The cleaning power is transmitted through the transmission assembly 30 , that is, the cleaning power is output from the output shaft 21 and drives the cleaning power. The first transmission member 31 rotates, and the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30. The second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate, so that the The cleaning assembly 40 rotates on the ground to clean the ground. Since the second transmission member 32 and the screw 52 are connected through the one-way bearing 60, the screw 52 does not follow at this time. The second transmission member 32 rotates. When the driving device 20 provides lifting power (at this time, the rotation direction of the output shaft 21 is opposite to the rotation direction of the output shaft 21 when outputting cleaning power), the lifting power is also transmitted through the transmission assembly 30, that is, : The lifting power is output from the output 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 moves along the predetermined direction. Assuming the direction of rotation, the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate synchronously in the preset direction, and at the same time, the second transmission member 32 drives the screw 52 to also synchronously rotate in the preset direction. Rotation, since the screw nut 51 is fixedly installed on the box shell 10, the screw 52 rotates in a preset direction so that the screw 52 moves axially, thereby driving the cleaning assembly 40 to lift (definition : The default direction can be clockwise or counterclockwise). When the cleaning assembly 40 needs to be lowered to the ground again, the driving device 20 outputs cleaning power again. At this time, the reset member 53 can provide the screw 52 with reverse rotation in the preset direction. The elastic restoring force of the screw 52 in the reverse rotation in the preset direction will drive the cleaning assembly 40 to descend in the axial direction until the cleaning assembly 40 contacts the ground. Therefore, the cleaning mechanism provided by the embodiment of the present invention only uses one of the driving device 20, a set of the transmission assembly 30 and one of the one-way bearing 60 for assembly, which realizes the transmission of cleaning power to the cleaning assembly 40. , and realizes the transmission of lifting power to the lifting assembly 50. Compared with the complex lifting structure design of the existing cleaning robot to lift the cleaning mechanism, the cleaning mechanism has a simple structural design, and forms a modular design, which is easy to Mass production assembly, integrated into the cleaning robot, greatly reduces the production cost of the cleaning robot.

In the embodiment of the present invention, as shown in Figures 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, and the transmission assembly 30 also includes a transmission Gear set 33. The transmission gear set 33 is drivingly connected between the first gear and the second gear. The transmission gear set 33 includes a third gear meshing with the second gear. The third gear is columnar, and the third gear has a The columnar tooth surface 331 has an extension direction parallel to the rotation axis direction of the third gear. The axial extension length of the columnar tooth surface 331 is greater than the axial movement distance of the screw 52. When the When the screw 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 . Through the mutual transmission between the first gear, the transmission gear set 33 and the second gear, the effect of deceleration and distance increase is achieved. When the driving device 20 outputs cleaning power, there is only relative rotational motion between the cylindrical tooth surface 331 and the second gear; when the driving device 20 outputs lifting power, the cylindrical tooth surface 331 The relative rotational motion of the meshing transmission is performed with the second gear, and the cylindrical tooth surface 331 and the second gear are also relatively moved in the axial direction; when the cleaning assembly 40 is lifted to the highest position, And if you want to lower the cleaning assembly 40 to the ground again, the driving device 20 outputs cleaning power to drive the relative rotational motion of the meshing transmission between the columnar tooth surface 331 and the second gear, and, so The screw 52 reversely rotates in a preset direction under the elastic reset force exerted by the reset member 53 , so that the screw 52 drives the cleaning assembly 40 to descend.

In this embodiment, the box shell 10 includes a first shell 11 and a second shell 12. As shown in Figures 2 and 3, the first shell 11 and the second shell 12 are closed. An accommodation space is formed, and the transmission assembly 30 and the lifting assembly 50 are both assembled in the accommodation 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, and 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 drivingly connected between the first pulley and the second pulley. The second transmission gear is connected to the first transmission gear. meshing, the second transmission gear has a cylindrical tooth surface 331, the extension direction of the cylindrical tooth surface 331 is arranged parallel to the direction of the rotation axis of the second transmission gear, and the axial extension length of the cylindrical tooth surface 331 is greater than the screw When the screw 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 implementation principles of belt transmission are basically the same as those of gear transmission, so they will not be described in detail here.

As shown in Figures 2 and 3, in the embodiment of the present invention, the one-way bearing 60 can be purchased from the market, or can be assembled and produced by oneself, because the one-way bearing 60 is widely used and has mature technology. products, so I won’t go into details here. During assembly, one of the inner ring and the outer ring of the one-way bearing 60 is fixedly connected to the second transmission member 32 , and the other one of the inner ring and the outer ring of the one-way bearing 60 is connected to the second transmission member 32 . The ends of the lead screw 52 are fixedly connected. In the embodiment of the present invention, as shown in Figure 2, the inner ring of the one-way bearing 60 is fixedly connected to the second transmission member 32. Specifically, the second transmission member 32 faces the screw 52. A connecting column is provided on one side, and an interference fit is provided between the connecting column and the inner ring of the one-way bearing 60; the outer ring of the one-way bearing 60 is fixedly connected to the end of the screw 52. Specifically, the An assembly hole is provided at one end of the screw 52 facing the second transmission member 32 , and the outer ring of the one-way bearing 60 is interference-fitted in the assembly hole.

In this embodiment, the reset member 53 may be a rectangular spring. In this case, the rectangular spring can produce elastic expansion and contraction deformation when the screw 52 rotates in a preset direction and moves axially relative to the screw nut 51 , thereby storing elastic potential energy, that is, elastic restoring force, and when the cleaning assembly 40 is lifted to the highest position, the driving device 20 continues to output the lifting power to maintain balance with the elastic potential energy of the rectangular spring, so that The cleaning assembly 40 remains in the highest position. When the driving device 20 outputs cleaning power again, at this time, the output gear loses the lifting force output from the driving device 20 to balance the elastic potential energy of the rectangular spring, and the second transmission member 32 is in the rectangular spring. The cleaning assembly 40 descends in the axial direction under the applied elastic restoring force until the cleaning assembly 40 contacts the ground again, and then the cleaning assembly 40 is driven by the cleaning power output by the driving device 20 to clean the floor.

As shown in Figure 2, the reset member 53 of the cleaning mechanism according to the embodiment of the present invention includes a coil spring. The coil spring is sleeved on the screw 52, and one end of the coil spring abuts the screw nut 51. The other end of the spring presses against one end of the lead screw 52 facing the cleaning assembly 40 . In this way, when the driving device 20 outputs lifting power to cause the screw 52 to rotate forward and move in the vertical direction relative to the screw nut 51, the coil spring is compressed by the screw 52 and stores elastic potential energy. , that is, the elastic restoring force is stored, and when the cleaning assembly 40 is lifted to the highest position, the driving device 20 continues to output the lifting power to maintain balance with the elastic potential energy of the coil spring, so that the cleaning assembly 40 remains in the highest position. When the driving device 20 outputs cleaning power again, at this time, the output gear loses the lifting force output from the driving device 20 to balance the elastic potential energy of the coil spring, and the output gear is acted upon by the restoring force exerted by the coil spring. The lower edge descends vertically downward until the cleaning assembly 40 contacts the ground again, and then the cleaning assembly 40 is driven by the cleaning power output by the driving device 20 to clean the floor.

In another embodiment, the reset member 53 includes a plurality of coil springs, which are arranged circumferentially at intervals around the screw 52 , and one end of each coil spring abuts the screw nut 51 . The other end of the spring abuts one end of the lead screw 52 toward the cleaning assembly 40 . The working principle of the multiple coil springs in this embodiment is the same as the working principle of one coil spring in the previous embodiment, and thus will not be described again.

In another embodiment, the reset member 53 may also be a coil spring, a torsion spring or a spring. In this case, the reset member 53 can follow the screw 52 relative to the screw nut 51 in a preset direction. Inductive torsional deformation occurs during rotation and axial movement, thereby storing elastic potential energy, that is, elastic restoring force. Moreover, when the cleaning assembly 40 is lifted to the highest position, the driving device 20 continues to output lifting power. Maintaining balance with the elastic potential energy of the reset member 53 , the cleaning assembly 40 remains in the highest position. When the driving device 20 outputs cleaning power again, at this time, the output gear loses the lifting force output from the driving device 20 to balance the elastic potential energy of the reset member 53 , then the second transmission member 32 Under the elastic restoring force exerted by the restoring member 53 , the cleaning assembly 40 descends in the axial direction until the cleaning assembly 40 contacts the ground again, and then the cleaning assembly 40 is driven by the cleaning power output by the driving device 20 to clean the floor.

In order to avoid self-locking between the external threads of the lead screw 52 and the internal threads of the lead screw nut 51 during the relative rotation of the lead screw 52 and the lead screw nut 51, the lead screw 52 The helix angle of the thread is greater than 30°.

Further, the screw and the screw nut form a thread pair, and the equivalent friction coefficient of the thread pair is less than tan30°.

Moreover, the screw and the screw nut form a thread pair, and the thread pitch angle of the thread screw and the thread pitch angle of the thread screw nut are greater than the equivalent friction angle of the thread pair.

For the reset member 53 where the elastic restoring force exerted by a rectangular spring, a coil spring, etc. is an axial force, it is necessary to design the thread lead angle of the thread pair, the equivalent friction coefficient of the thread pair, and the equivalent friction angle of the thread pair to achieve Only when the thread pair is not self-locking can the thread pair be reset under the action of the axial elastic reset force of the reset member 53 in the non-self-locking state. Furthermore, for the return member 53 whose elastic return force exerted by a rectangular spring, a coil spring, etc. is an axial force, the return member 53 is installed between the screw nut 51 and the screw 52 .

In addition, for the reset member 53 where the elastic reset force exerted by coil springs, torsion springs, springs, etc. is a rotational moment, the elastic reset force can directly drive the screw 52 to reversely rotate in the preset direction, and there is no need to design The thread lead angle of the thread pair, the equivalent friction coefficient of the thread pair, and the equivalent friction angle of the thread pair. Moreover, for the return member 53 whose elastic return force exerted by coil springs, torsion springs, elastic sheets, etc. is a rotational moment: the return member 53 is installed between the box shell 10 and the screw 52; or, The reset member 53 is installed between the second transmission member 32 and the box shell 10 .

As shown in FIGS. 1 to 3 , in the cleaning mechanism of the embodiment of the present invention, the cleaning component 40 includes a bracket 401 and a cleaning member 402 . Generally, the cleaning member 402 is a wiping member, that is, a rag. The bracket 401 is provided with an installation plate 42 and a shaft connected to the installation plate 42 and serving as the connecting end 41 . The cleaning member 402 is installed on the installation plate 42 . In the process of assembling the cleaning assembly 40, the installation plate 42 is fixedly connected to one end of the shaft through the screw 80, and the output gear at the other end of the shaft is fixedly connected, and the cleaning member 402 is detachably installed on on the installation disk 42.

In order to make the lifting movement of the cleaning assembly 40 smooth, the cleaning mechanism also includes a shaft sleeve 70 , the shaft sleeve 70 is fixedly installed on the box shell 10 , and the connecting end 41 passes through the shaft sleeve 70 Connected to the second transmission member 32 . In this way, the shaft sleeve 70 can guide the lifting movement of the connecting end 41 in the shaft sleeve 70 to ensure that the cleaning assembly 40 will not deflect during the lifting process and maintain the stability of the lifting.

The following takes the transmission assembly 30 including the transmission gear set 33 as an example to illustrate the complete assembly process of the cleaning mechanism:

First, prepare all parts and components. Then, install the shaft sleeve 70 on the second housing 12, pass the shaft serving as the connecting end 41 through the shaft sleeve 70, and then connect the second transmission member 32 to the second housing 12. On the connecting end 41, each transmission gear in the transmission gear set 33 is installed on the second housing 12, and adjacent gears mesh with each other, and make the columnar shape of the transmission gear set 33 The tooth surface 331 meshes with the gear teeth of the second transmission member 32 . Next, the inner ring of the one-way bearing 60 is fixedly connected to the second transmission member 32, and then the outer ring of the one-way bearing 60 is fixedly connected to the screw 52, and then the rectangular spring sleeve is fixedly connected. on the lead screw 52. Then, the screw nut 51 is fixedly installed on the first housing 11 through the screw 80, and then the screw nut 51 is screwed on the screw 52. At this time, the screw nut 51 is fixed on the first housing 11. The rod nut 51 is located on the top of the screw 52 together with the first housing 11 . At this time, the first housing 11 is fixed, and then the screw 52 is driven to rotate in the preset direction by rotating the connecting end 41, then the screw 52 moves in the axial direction, and the rectangular spring are compressed, and the first housing 11 and the second housing 12 are close to each other until the first housing 11 and the second housing 12 cover each other, and then are connected by bolts or welding. After the first housing 11 and the second housing 12 are firmly connected, the connecting end 41 can be released. Then, the output shaft 21 of the driving device 20 passes through the first housing 11 and is extended to the first transmission member 31 . The output shaft 21 and the first transmission member 31 can be connected by The key connection method realizes the driving connection, so that the output rotating shaft 21 drives the first transmission member 31 to rotate synchronously to continue to output cleaning power or lifting power backward, and then the shell of the driving device 20 is fixed by bolt connection. on the first housing 11 . Next, the cleaning assembly 40 is assembled. First, the cleaning member 402 is connected to the installation plate 42 , and then the installation plate 42 is fixedly connected to a point away from the connecting end 41 through the screw 80 . on the end of the second transmission member 32. In this way, the assembly work of the entire cleaning mechanism is completed.

According to another aspect of embodiments of the present invention, a cleaning robot (not shown) is provided. Specifically, the cleaning robot includes the aforementioned cleaning mechanism. Further, the cleaning robot includes a control device (not shown). The control device is electrically connected to the driving device 20, so that the output shaft 21 of the driving device 20 is controlled to rotate through the control device, so that both driving and driving can be achieved. The cleaning component 40 rotates to clean the floor, and can also drive the screw 52 to rotate to drive the cleaning component 40 to lift. Compared with the complex lifting structure design of the existing cleaning robot that lifts the cleaning mechanism. In other words, the cleaning mechanism has a simple structural design and a modular design, which is easy to mass produce and assemble. When integrated into the cleaning robot, it greatly reduces the production cost of the cleaning robot.

When using the cleaning robot provided by the embodiment of the present invention to clean the floor, the driving device 20 is started to provide cleaning power, and the cleaning power is transmitted through the transmission assembly 30 , that is, the cleaning power is output from the output shaft 21 and drives the cleaning power. The first transmission member 31 rotates, and the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30. The second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate, so that the The cleaning assembly 40 rotates on the ground to clean the ground. Since the second transmission member 32 and the screw 52 are connected through the one-way bearing 60, the screw 52 does not follow at this time. The second transmission member 32 rotates.

When the cleaning robot completes cleaning the floor or needs to return to the cleaning base station to clean the cleaning parts 402 during the cleaning work, the driving device 20 provides lifting power (at this time, the rotation direction of the output shaft 21 (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, that is: the lifting power is output from the output 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 in a preset direction, and the second transmission member 32 drives the connection of the cleaning assembly 40. The end 41 rotates synchronously along the preset direction, and at the same time, the second transmission member 32 drives the screw 52 to also rotate synchronously along the preset direction. Since the screw nut 51 is fixedly installed on the box shell 10, the The screw 52 rotates in a preset direction so that the screw 52 moves axially, thereby driving the cleaning assembly 40 to lift. After the cleaning assembly 40 is lifted, the walking system of the cleaning robot starts working 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 lower the cleaning assembly 40 again to clean the cleaning assembly 40 , and the driving device 20 outputs cleaning power again. At this time, the reset member 53 can provide an elastic restoring force to the lead screw 52 to cause it to reversely rotate in the preset direction. The reverse rotation of the lead screw 52 in the preset direction will drive the cleaning assembly 40 to descend in the axial direction. Until the cleaning component 40 contacts the cleaning plate of the cleaning base station, the driving device 20 outputs cleaning power to drive the cleaning component 40 to continue rotating on the cleaning plate, thereby cleaning the cleaning piece 402 .

After the cleaning parts 402 are cleaned in the cleaning base station, the driving device 20 outputs the lifting power again to lift the cleaning assembly 40. Then, the walking system of the cleaning robot operates to cause the cleaning robot to leave the cleaning base station and return. After returning to the original place, the driving device 20 outputs cleaning power again, thereby continuing to clean the floor. Or, after the cleaning parts 402 are cleaned in the cleaning base station, and the cleaning robot has completed cleaning the floor when it returns, the cleaning robot stays in the cleaning robot at this time, that is, the cleaning robot is in a standby state, and waits again After receiving the cleaning work instruction, it leaves from the cleaning base station to clean the ground.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A cleaning mechanism, characterized in that it includes: box shell; A driving device, the driving device is installed on the box shell, and the driving device has an output rotating shaft; Transmission assembly, the transmission assembly is installed on the box shell, the transmission assembly includes a first transmission member and a second transmission member linked with the first transmission member, the first transmission member and the output shaft connection, the second transmission member is used to connect the cleaning assembly, and the driving device drives the cleaning assembly to rotate synchronously through the first transmission member and the second transmission member; Lifting assembly, the lifting assembly includes a screw nut, a screw, a one-way bearing and a reset member. The screw nut is installed on the box shell. The screw is coaxial with the rotation axis of the second transmission member. It is configured that one end of the screw is screwed to the screw nut, the other end of the screw is connected to the second transmission member through the one-way bearing, and the second transmission member rotates in a preset direction When, 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 rise; the reset member It is used to provide an elastic restoring force to rotate the screw in a direction opposite to the preset direction. 2. The cleaning mechanism according to claim 1, characterized in that: The first transmission member is provided with a first gear, the second transmission member is provided with a second gear, the transmission assembly further includes a transmission gear set, the transmission gear set is drivingly connected between the first gear and the Between the second gears, the transmission gear set includes a third gear meshed with the second gear, the third gear is columnar, the third gear has a columnar tooth surface, and the extending direction of the columnar tooth surface Arranged parallel to the direction of the rotation axis of the third gear, the axial extension length of the cylindrical tooth surface is greater than the axial movement distance of the screw, when the screw moves axially relative to the screw nut , the second gear of the second transmission member slides along the cylindrical tooth surface. 3. The cleaning mechanism according to claim 1, characterized in that: The first transmission member is provided with a first pulley, the second transmission member is provided with a first transmission gear, the transmission assembly also includes a third transmission member and a transmission belt, the third transmission member is provided with a second belt pulley and a second transmission gear coaxially arranged with the second pulley, the transmission belt is drivingly connected between the first pulley and the second pulley, and the second transmission gear is connected to the second pulley. A transmission gear meshes with the second transmission gear. The second transmission gear has a cylindrical tooth surface. The extension direction of the cylindrical tooth surface is arranged parallel to the direction of the rotation axis of the second transmission gear. The axial extension length of the cylindrical tooth surface is greater than The axial movement distance of the screw. When the screw moves axially relative to the screw nut, the second gear of the second transmission member slides along the cylindrical tooth surface. 4. The cleaning mechanism according to claim 1, characterized in that: One of the inner ring and the outer ring of the one-way bearing is fixedly connected to the second transmission member, and the other one of the inner ring and the outer ring of the one-way bearing is fixed to the end of the screw. connect. 5. The cleaning mechanism according to claim 1, characterized in that: The helix angle of the screw thread is greater than 30°. 6. The cleaning mechanism according to claim 1, characterized in that: The screw and the screw nut form a thread pair, and the equivalent friction coefficient of the thread pair is less than tan30°. 7. The cleaning mechanism according to claim 1, characterized in that: The screw and the screw nut form a thread pair, and the thread pitch angle of the thread screw and the thread pitch angle of the thread screw nut are greater than the equivalent friction angle of the thread pair. 8. The cleaning mechanism according to claim 1, characterized in that: The reset member is installed between the screw nut and the screw; or the reset member is installed between the box shell and the screw; or the reset member is installed on the second transmission between the components and the box shell. 9. The cleaning mechanism according to claim 1, characterized in that: The reset member is a rectangular spring, and the reset member produces elastic expansion and contraction deformation when the screw rotates relative to the screw nut and moves axially; or the reset member is a coil spring, a torsion spring or a spring, The reset member generates elastic torsional deformation when the screw rotates and moves axially relative to the screw nut. 10. A cleaning robot, characterized by comprising the cleaning mechanism according to any one of claims 1-9.