CN210990012U - Side brush assembly and cleaning robot - Google Patents
Side brush assembly and cleaning robot Download PDFInfo
- Publication number
- CN210990012U CN210990012U CN201921551942.3U CN201921551942U CN210990012U CN 210990012 U CN210990012 U CN 210990012U CN 201921551942 U CN201921551942 U CN 201921551942U CN 210990012 U CN210990012 U CN 210990012U
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- side brush
- brush
- bristles
- bristle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The utility model relates to a limit brush subassembly and cleaning robot belongs to cleaning equipment technical field, solves the problem that the brush hair influence that has cleaned the robot now removed smoothly of cleaning the robot. The side brush assembly comprises a side brush body, a side brush motor and brush bristles; the side brush body is provided with a brush hair accommodating part; the bristles are arranged in the bristle containing part; the side brush motor can drive the bristles to extend out of and/or retract back from the bristle containing part, and the side brush motor can drive the side brush body to rotate. The utility model discloses can prevent that the brush hair card of limit brush from going into in the gap on ground, can not lead to the fact the influence to the removal of the robot of sweeping the floor, reduce the power consumption for ground robot can quick travel to the assigned position, and can increase the time of cleaning of the robot of sweeping the floor.
Description
Technical Field
The utility model relates to a cleaning device technical field especially relates to a limit brush subassembly and clean robot.
Background
When the cleaning robot performs cleaning, if the amount of electricity in the power supply member is too low, the cleaning robot needs to stop the current cleaning operation and return to the charging stand for charging. However, if the distance between the cleaning robot and the charging seat is too far, and the side brush, the rolling brush and the dust collection motor are still in working states during the process of returning the cleaning robot to the charging seat, the power consumption is still fast, and finally the remaining power is insufficient, so that the cleaning robot cannot smoothly reach the charging seat and stops on the way of returning to the charging seat.
SUMMERY OF THE UTILITY MODEL
In view of the above analysis, the present invention is directed to a side brush assembly and a cleaning robot for solving the problem that the brush of the existing cleaning robot affects the smooth movement of the cleaning robot.
The purpose of the utility model is mainly realized through the following technical scheme:
one technical scheme of the utility model provides an edge brush assembly, which comprises an edge brush body, an edge brush motor and brush hair;
the side brush body is provided with a brush hair accommodating part; the bristles are arranged in the bristle containing part; the side brush motor can drive the bristles to extend out of and/or retract back from the bristle containing part, and the side brush motor can drive the side brush body to rotate.
The utility model discloses an among one set of technical scheme, the limit brush body is equipped with the axis of rotation, brush hair and axis of rotation fixed connection, mechanical transmission between the output shaft of axis of rotation and limit brush motor.
In one technical scheme of the utility model, the rotating shaft can be at least in a first forward rotating state, a first reverse rotating state and a second forward rotating state; the forward direction is the clockwise direction or the anticlockwise direction of the rotating shaft;
when the rotating shaft is in a first reverse rotation state, the bristles are wound on the rotating shaft;
when the rotating shaft is in a first positive rotating state, the bristles are unwound from the rotating shaft;
when the rotating shaft is in the second positive rotating state, the rotating shaft drives the side brush body to rotate together.
In one technical proposal of the utility model, the side brush body is rotationally connected with the rotating shaft through the rotating shaft assembling groove, and the rotating shaft and the side brush body are coaxially arranged;
a sliding limiting structure is arranged between the circumferential contact surfaces of the rotating shaft and the rotating shaft assembling groove;
the sliding limiting structure comprises a limiting key and a circumferential sliding key groove, and the circumferential sliding key groove can limit the rotating angle of the rotating shaft through the limiting key.
The utility model discloses an among one set of technical scheme, the central angle that circumference slip keyway corresponds is 90 at least.
In one technical solution of the utility model, the limit key and/or the circumferential sliding key groove are provided with sensors; the sensor is capable of sending a feedback signal when the rotating shaft is at the extreme position of the first reverse rotation state.
In one technical scheme of the utility model, the sensor is a contact sensor; the contact sensor is arranged on the reverse contact surface; the reverse contact surface is a contact surface of the limit key and the circumferential sliding key groove when the rotating shaft is at the limit position of the first reverse rotating state.
In one technical proposal of the utility model, the rotating shaft is provided with a brush neck; the rotating shaft is fixedly connected with the fixed ends of the bristles through the bristle clamping grooves.
In one technical proposal of the utility model, the brush holding part comprises a plurality of brush sleeves which are circumferentially and evenly distributed; the brush hair is provided with a plurality of bundles of brush hair, and each bundle of brush hair correspondingly penetrates through one brush hair sleeve; the free ends of the bristles can extend and/or retract from the bristle sleeve.
The utility model discloses an among the one set of technical scheme, the lateral wall of limit brush body is equipped with the brush hair through-hole, the stiff end of brush hair from the brush hair cover break out, pass the brush hair through-hole and with axis of rotation fixed connection.
The utility model discloses an one set of technical scheme still provides a clean robot, cleans the robot and includes limit brush subassembly, the foretell limit brush subassembly of limit brush subassembly.
In one technical solution of the utility model, the cleaning robot further comprises a main control unit; the main control unit structure receives signals sent by the sensors; the main control unit controls the motion state of the side brush motor.
The utility model discloses technical scheme can realize one of following effect at least:
1. when the rotating shaft of the utility model is in the first reverse rotation state, the brush hair can be wound on the rotating shaft, so that the brush hair can be contracted into the brush hair accommodating part, the brush hair of the side brush can be prevented from being clamped into the gap of the working surface when the cleaning robot moves, and the influence of the brush hair on the motion of the cleaning robot is avoided;
2. when the rotating shaft of the utility model is in the first positive rotating state, the brush hair can extend out of the brush hair through accommodating part, and the cleaning robot can be ensured to carry out cleaning operation;
3. when the rotating shaft of the utility model is in the second positive rotating state, the rotating shaft can drive the side brush to move through the limiting action of the limiting key and the circumferential sliding key groove, thereby realizing the cleaning of the working surface by the brush hair;
4. use the utility model discloses a during the method, no matter clean the robot and need return to the department of charging by oneself and charge, still the manual work has changed the position that cleans of cleaning the robot, or has filled the electricity and get back to the original position and continue to clean the working face, can all avoid the brush hair card to go into working face or brush hair and working face friction, make the removal that cleans the robot more smooth, also can avoid the excessive loss of brush hair.
The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.
Fig. 1 is an exploded view of a first embodiment of the present invention;
FIG. 2 is a partially enlarged view of the side brush body according to the first embodiment of the present invention;
fig. 3 is a schematic view illustrating a first forward rotation state according to a first embodiment of the present invention;
fig. 4 is a schematic view of a first reverse rotation state according to a first embodiment of the present invention;
fig. 5 is a schematic structural view of a rotating shaft according to a first embodiment of the present invention;
fig. 6 is a sectional view of a rotating shaft a-a according to a first embodiment of the present invention.
Reference numerals:
1-side brush body; 2-brush hair; 3-a rotating shaft; 4-brushing the hair sleeve; 5-rotating shaft assembling groove; 6-bristle clamping groove; 7-a limit key; 8-circumferential sliding keyway.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of this application, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit its scope.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
When the cleaning robot operates, the cleaning robot needs to move its own position under some special conditions, and the cleaning is not needed in the moving process, for example, the electric quantity of the cleaning robot is too low, and the cleaning robot needs to be moved to a charging seat for charging, and if the cleaning robot is manually controlled by a user to change a cleaning area, the cleaning robot also needs to move under the condition that the cleaning robot does not clean any more. However, the working surface of the cleaning robot is often complicated, for example, carpet or floor mat is laid, or spliced tile or floor is provided, so that the brush bristles 2 of the side brush of the cleaning robot are easily hooked or clamped, and the cleaning robot cannot move normally, and for a plane with large roughness, such as a cement floor, the smooth movement of the cleaning robot is affected by strong friction, and the abrasion of the brush bristles 2 is also easily caused. The embodiment of the utility model provides a through improving the structure of whole limit brush subassembly, under the prerequisite that does not increase too much parts for the in-process limit brush subassembly that removes can be withdrawed brush hair 2, thereby avoids above-mentioned problem.
Example one
As shown in fig. 1, an embodiment of the present invention provides an edge brush assembly, which includes an edge brush body 1, an edge brush motor, and bristles 2; the side brush body 1 is provided with a brush hair containing part which can be an integral structure or two fixedly connected parts; the bristles 2 are arranged in the bristle containing part; the side brush motor can drive the bristles 2 to extend out of and/or retract back from the bristle containing part, and the side brush motor can drive the side brush body 1 to rotate. When cleaning the robot and need removing, limit brush motor drive brush hair 2 income brush hair portion of holding for brush hair 2 and working face separation, when cleaning the robot and need clean the operation, limit brush motor drive brush hair 2 stretches out from the brush hair portion of holding, makes brush hair 2 once more with the working face contact, and limit brush motor drive limit brush body 1 is rotatory simultaneously, makes brush hair 2 rotate along with limit brush body 1, is used for cleaning the operation. It should be noted that the working surface is not necessarily a ground surface, but may be a non-ground surface or a non-horizontal plane or curved surface, such as a table, a wall, a slope, etc.
The installation of the air valve component of the side brush assembly cannot be obviously influenced by the installation of the side brush motor, and the power of the side brush motor needs to be stably output. The embodiment of the utility model provides an in, limit brush body 1 is equipped with axis of rotation 3, brush hair 2 and 3 fixed connection of axis of rotation, mechanical transmission between the output shaft of axis of rotation 3 and limit brush motor. When the rotating shaft 3 rotates towards a certain direction, the brush bristles 2 are wound on the rotating shaft 3, and the tail ends of the brush bristles 2 are drawn back into the brush bristle accommodating part; when the rotating shaft 3 rotates reversely, the bristles 2 are unwound from the rotating shaft, and the distal ends of the bristles 2 protrude from the bristle-holding portion.
Since the different states of motion of the rotary shaft 3 correspond to the states of the side brush assemblies. As shown in fig. 3 and 4, in the embodiment of the present invention, the rotation shaft 3 can be at least in the first forward rotation state, the first reverse rotation state and the second forward rotation state, and can also have more rotation states, but the motion states related to the problem to be solved by the embodiment of the present invention are at least the three mentioned above. For convenience of description, the clockwise direction or the counterclockwise direction of the rotating shaft 3 is regarded as the forward direction. Namely: the forward direction is clockwise direction, and the reverse direction is anticlockwise direction; the forward direction is counterclockwise and the reverse direction is clockwise.
For convenience of description, exemplarily, in the embodiment of the present invention, when looking up at the side brush assembly, the forward direction is counterclockwise: the first reverse rotation state is that the rotation shaft 3 rotates clockwise, and both the first forward rotation state and the second forward rotation state rotate counterclockwise.
Specifically, when the rotating shaft 3 is in a first reverse rotation state, the bristles 2 are wound on the rotating shaft 3, the free ends of the bristles 2 are retracted into the bristle accommodating parts until the free ends of the bristles 2 are separated from the working surface, and at the moment, the bristles 2 do not influence the movement of the cleaning robot any more; when the rotating shaft 3 is in a first positive rotating state, the bristles 2 are unwound from the rotating shaft 3, and the bristles 2 extend out of the bristle accommodating part again until the free ends of the bristles 2 are in contact with a working surface, so that the cleaning robot can perform cleaning operation; when the rotating shaft 3 is in the second forward rotating state, the rotating shaft 3 drives the side brush body 1 to rotate together, namely the side brush of the cleaning robot rotates to clean the working surface.
Considering that the turning shaft 3 has the above-described motion state, the turning shaft 3 needs to be improved. Specifically, as shown in fig. 2, 5 and 6, in the embodiment of the present invention, the side brush body is rotatably connected to the rotating shaft 3 through the rotating shaft assembling groove 5, and the rotating shaft 3 and the side brush body 1 are coaxially disposed; a sliding limiting structure is arranged between circumferential contact surfaces of the rotating shaft 3 and the rotating shaft assembling groove 5; the sliding limiting structure comprises a limiting key 7 and a circumferential sliding key groove 8, and the circumferential sliding key groove 8 can limit the rotating angle of the rotating shaft 3 through the limiting key 7. In axis of rotation assembly groove 5 was inserted to axis of rotation 3, when axis of rotation 3 was in first forward rotation state and first reverse rotation state, axis of rotation 3 took place relative rotation with limit brush body 1, and at this moment, spacing key 7 carries out the circumferential direction slip in circumferential direction slip keyway 8, and the central angle of circumferential direction slip keyway 8 is axis of rotation 3 limit angle that can rotate at first forward rotation state and first reverse rotation state promptly. When the rotating shaft 3 rotates to the limit position in the first positive rotation state and the limit key 7 and the circumferential sliding key groove 8 are in the limit state, the rotating shaft 3 enters a second positive rotation state; when axis of rotation 3 further rotated, because spacing key 7 and circumference slip keyway 8 are in spacing state, axis of rotation 3 can drive limit brush body 1 and rotate, and the free end of brush hair 2 has contacted with the working face this moment, and brush hair 2 rotates along with limit brush body 1 jointly, realizes cleaning the working face.
It is emphasized that one of the limit key 7 and the circumferential sliding key groove 8 is provided on the rotary shaft 3 and the other is provided on the rotary shaft fitting groove 5, the limit key 7 and the circumferential sliding key groove 8 are used for limiting the contact surface between the rotary shaft 3 and the rotary shaft fitting groove 5, and the circumferential sliding and limiting functions are used for limiting the relative rotation angle relationship between the rotary shaft 3 and the rotary shaft fitting groove 5, specifically: the limiting key 7 is arranged on the rotating shaft 3, and the circumferential sliding key groove 8 is arranged on the rotating shaft assembling groove 5; alternatively, the limit key 7 is provided on the rotating shaft fitting groove 5, and the circumferential sliding key groove 8 is provided on the rotating shaft 3.
For convenience of illustration, in the embodiment of the present invention, the counterclockwise rotation of the rotating shaft is defined as the forward direction, the limit key 7 is disposed on the rotating shaft 3, and the circumferential sliding key groove 8 is disposed on the rotating shaft assembling groove 5. The rotating shaft 3 rotates clockwise to a limit position, namely the rotating shaft 3 is in the limit position of a first reverse rotation state, and the clockwise front face of the limit key 7 and the circumferential sliding key groove 8 are in the limit state at the moment; the rotating shaft 3 rotates anticlockwise to a limit position, namely the rotating shaft 3 is in the limit position of a first forward rotation state, and at the moment, the clockwise needle back of the limit key 7 and the circumferential sliding key groove 8 are in the limit state; the axis of rotation 3 further anticlockwise rotation, axis of rotation 3 is in the second forward rotation state promptly, and this moment is in spacing state because of spacing key 7's the counterclockwise direction needle back and circumference sliding key groove 8, and axis of rotation 3 drives limit brush body 1 and rotates jointly.
When the rotating shaft 3 is in the first reverse rotation state, the bristles 2 are wound around the rotating shaft 3, and the rotating shaft 3 needs to rotate enough to allow bristles 2 of sufficient length to be wound around the rotating shaft 3 so that the free ends of the bristles 2 are separated from the working surface. The total length of considering comprehensively brush hair 2 and the thickness of axis of rotation 3, the embodiment of the utility model provides an, the central angle that circumference slip keyway 8 corresponds is 90 at least, brush hair 2 from the state of stretching out completely to the state of withdrawing completely promptly, and axis of rotation 3 should turn 90 at least.
When the rotating shaft 3 is in the first reverse rotation state and rotates to the limit position, the brush bristles 2 are separated from the working surface, the cleaning robot moves again and is influenced by the brush bristles 2, and the time needs to be fed back that the cleaning robot can move safely. In addition, this spacing key 7 and the circumferential direction sliding key groove 8 of moment also can be in the spacing state, if axis of rotation 3 continues to rotate, then axis of rotation 3 can drive limit brush body 1 antiport because spacing key 7 and circumferential direction sliding key groove 8 also can be in the spacing state, because brush hair 2 has broken away from with the working face, the antiport of limit brush body 1 does not have obvious positive meaning almost, can waste the electric energy on the contrary, need feed back to cleaning robot stop limit brush motor at this moment. In the embodiment of the utility model, the limit key 7 and/or the circumferential sliding key groove 8 are provided with sensors; the sensor is able to send a feedback signal when the rotating shaft 3 is in the extreme position of the first counter-rotating state. The main control unit of the cleaning robot receives the feedback signal, namely the feedback signal represents that the brush bristles 2 are in a completely retracted state and are separated from the working surface, and the main control unit can send a stop signal for stopping the operation of the side brush motor and a motion control signal at the same time, and controls a motion part corresponding to the cleaning robot to drive the cleaning robot to move to a target position.
It should be noted that the sensor may be a position sensor, and specifically, a touch sensor and a hall sensor may be used. Considering sensor signaling's moment, spacing key 7 and circumference slip keyway 8 are in the spacing state of contact, the embodiment of the utility model provides an embodiment sensor adopts contact pick up, and contact pick up sets up on reverse contact surface, and the contact surface of spacing key 7 and circumference slip keyway 8 when reverse contact surface is in the extreme position of first counter-rotation state for axis of rotation 3.
For convenience of description, in the embodiment of the present invention, the counterclockwise rotation of the rotating shaft has been defined as the forward direction, the limit key 7 is disposed on the rotating shaft 3, and the contact sensor is disposed on the clockwise direction front face of the limit key 7; as long as the rotating shaft is at the limit position of the first reverse rotation state, the clockwise front surface of the limit key 7 is in contact with the circumferential sliding key groove 8 for limiting, namely, the contact sensor is triggered.
In order to firmly connect the fixed ends of the bristles 2 with the rotating shaft 3, as shown in fig. 5, in the embodiment of the present invention, the rotating shaft 3 is provided with a bristle clamping groove 6; the rotating shaft 3 is fixedly connected with the fixed ends of the bristles 2 through the bristle clamping grooves 6. Illustratively, the bristle catching groove 6 is an axially disposed groove, and the fixed end of the bristle 2 is inserted into the bristle catching groove 6 and fixed to the rotating shaft 3. In order to prevent the fixed ends of the bristles 2 from being excessively bent and damaged, as shown in fig. 6, the bristle catching grooves 6 are positively inclined in the depth direction toward the winding direction of the bristles 2.
For convenience of illustration, in the embodiment of the present invention, it has been defined that the rotation axis rotates counterclockwise as a forward direction, the rotation axis rotates clockwise, that is, the rotation axis is in a first reverse rotation state, the bristles 2 are wound on the rotation axis along the clockwise direction, the bristle clamping groove 6 inclines towards the forward direction along the depth direction, that is, towards the clockwise direction, the bending angle of the fixed end of the bristles 2 is less than 90 °, that is, the bristles 2 are in an obtuse angle state, and the fixed end of the bristles 2 can be prevented from being excessively bent.
Because brush hair 2 is crooked very easily when following limit brush body 1 and rotating, the area that leads to cleaning diminishes, the embodiment of the utility model provides an, brush hair holding portion includes the brush hair cover 4 of a plurality of circumference equipartitions, and brush hair 2 is equipped with the multi-beam, and every brush hair 2 correspondence runs through a brush hair cover 4, and brush hair cover 4 can prevent that brush hair 2's middle part is crooked, guarantees that 2 length direction's of brush hair most all is in the state that straightens, guarantees that limit brush utensil is equipped with great cleaning coverage area. The free ends of the bristles 2 can extend and/or retract from the bristle cover 4. illustratively, the bristle cover 4 can be a rubber or plastic tube through which the bristles 2 extend.
In order to make the flexible removal in the brush hair cover 4 of brush hair 2 more smooth, prevent its wearing and tearing, the embodiment of the utility model provides an, the lateral wall of limit brush body 1 is equipped with the brush hair through-hole, and brush hair 2's stiff end is worn out, passed brush hair through-hole and with 3 fixed connection of axis of rotation from brush hair cover 4, can make the brush hair 2 in the brush hair cover 4 and the part between the rotation axis, obvious low-angle buckling can not appear, guarantees the flexible removal of brush hair 2 can be smoothly in brush hair cover 4, avoids excessive wearing and tearing.
Example two
An embodiment of the utility model provides a clean robot, including limit brush subassembly, limit brush subassembly refers to the limit brush subassembly in the embodiment one.
The embodiment of the utility model provides an in, clean the robot except basic function, can independently remove at least and need not to clean the operation to the working face at the in-process that removes, clean the purpose that the robot removed and do not limit, can go to the charging seat to charge, also can be to return after the charge and continue to clean the operation, also can stop to clean the operation at present and go to new operation region etc..
Because the moving process of the cleaning robot has a certain degree of automation, in the embodiment of the utility model, the cleaning robot also comprises a main control unit; the main control unit structure receives signals sent by the sensors; the main control unit controls the motion state of the side brush motor. The main control unit can be a part which is arranged on the cleaning robot and is used for controlling the cleaning robot to move independently, and can also be integrated with a control unit with other functions of the cleaning robot.
EXAMPLE III
The embodiment of the utility model provides a moving method of cleaning robot, cleaning robot reference embodiment two.
The moving method comprises the following steps:
and S1, the main control unit of the cleaning robot generates a control side brush control signal and sends the control side brush control signal to the side brush assembly.
The main control unit receives the moving indication signal, determines the position of the moving target and sends a side brush control signal to the side brush assembly.
It should be noted that the movement indication signal can be an electric quantity early warning signal, a breakpoint position continuous scanning signal, a return charging stand signal and a fast movement signal. When the current electric quantity in the power supply part is lower than 15% of the total electric quantity and needs to return to the charging seat for charging, the power supply part generates an electric quantity early warning signal and sends the electric quantity early warning signal to the main control unit; when the cleaning robot is cleaning, if the cleaning is suspended and the cleaning is returned to the charging seat for charging because the electric quantity is too low, the breakpoint position coordinate is generated. After the cleaning robot is charged, calling the coordinates of the breakpoint position to generate a breakpoint position continuous scanning signal, and sending the breakpoint position continuous scanning signal to the main control unit; when the cleaning robot receives a charging-seat returning signal sent by the operation end or a charging-seat returning signal generated due to the completion of cleaning, the cleaning robot sends the charging-seat returning signal to the main control unit; when the cleaning robot cleans, if the cleaning robot receives the position moving signal sent by the operation end, a quick moving signal is generated and sent to the main control unit.
The electric quantity early warning signal, the breakpoint position continuous scanning signal, the return charging seat signal and the quick movement signal all include signal identification which can be identified by the main control unit and is unique in the generation process, and the main control unit can analyze the type of the received signal by the signal identification.
S2, the side brush component receives the side brush control signal and retracts the brush bristles 2 to enable the brush bristles 2 to be separated from the working surface, and the side brush component sends a feedback signal.
The side brush motor receives a side brush control signal, the side brush motor drives the rotating shaft 3 to be in a first reverse rotation state, and the brush bristles 2 are retracted into the brush bristle accommodating part; until the rotating shaft 3 is at the limit position of the first reverse rotation state, the brush bristles 2 are separated from the working surface, and the sensor sends a feedback signal.
In the above process, the edge brush control signal includes a preceding edge brush emergency stop signal and a succeeding bristle recovery signal. Before the side brush assembly receives the side brush control signal, the rotating shaft 3 is in a second forward rotating state to drive the side brush to rotate to clean the working surface, the side brush assembly receives the side brush emergency stop signal and then the brush motor stops operating immediately, so that the side brush is switched to the emergency stop state from the working state, the side brush assembly receives a brush hair recovery signal again, the side brush motor rotates reversely, the rotating shaft 3 is in a first reverse rotating state, and the brush hair 2 is wound on the rotating shaft 3 to realize the recovery of the brush hair 2 from the brush hair sleeve 4.
And S3, the main control unit receives the feedback signal, generates a stall signal and sends the stall signal to the side brush assembly.
The main control unit receives the feedback signal, and indicates that the main control unit confirms that the bristles 2 are separated from the working surface, the cleaning robot can move on the premise of not being influenced by the bristles 2, the rotating shaft does not need to rotate from the moment, and the main control unit immediately sends a stop signal to stop the operation of the side brush motor.
S4, the side brush component receives the stop signal, the adjustment of the brush hair 2 is stopped, and the cleaning robot starts to move.
The side brush motor receives the stop signal, the side brush motor stops running, the bristles 2 are kept in a state of being retracted into the bristle accommodating part, and the moving part of the cleaning robot drives the cleaning robot to move to a moving target position.
After the side brush assembly receives the stalling signal sent by the main control unit, the side brush motor is in a stalling state. When the side brush assembly is in a stop state, the main control unit detects the electric quantity consumption of the power supply assembly, and if the electric quantity consumption is the same as the electric quantity consumed by a walking wheel of the cleaning robot during walking, the electric quantity consumed by the rolling brush during rotation and the electric quantity consumed by the dust collection motor during working state, the side brush assembly is determined to be switched to the stop state.
When the main control unit determines that the side brush assembly is switched to the stop state, the main control unit can also respectively send a rolling brush stop signal and a dust collection motor stop signal to the rolling brush assembly and the dust collection motor assembly, so that the rolling brush and the dust collection motor are in the stop state, and after the side brush assembly and the rolling brush assembly stop, the resistance generated by the rotation of the side brush and the contact of the rotation of the rolling brush and the ground can be reduced when the cleaning robot moves.
The target position includes a charging-stand position when the cleaning robot needs to be returned to the charging stand due to low power, a breakpoint position generated when the cleaning robot cannot continue to be cleaned due to low power, and a movement position to which the cleaning robot needs to reach, which is transmitted from the operation terminal.
The charging seat position, the breakpoint position and the moving position are coordinates of the charging seat position, the breakpoint position and the moving position.
When the electric quantity of the cleaning robot is too low, the working states of the side brush, the rolling brush and the dust collection motor are switched to a stop state, the consumption of the residual electric quantity in the power supply assembly can be greatly reduced, the cleaning robot can reach a charging seat before the electric quantity is completely consumed to charge, and the cleaning robot is prevented from stopping at a certain position due to the insufficient electric quantity.
When the cleaning robot needs to move to the target position, the working states of the side brush, the rolling brush and the dust collection motor are switched to the stop state, so that the resistance generated by the contact of the rotation of the side brush and the rotation of the rolling brush with the ground can be greatly reduced, and the floor robot can move to the target position in an express way.
To sum up, the embodiment of the present invention provides an edge brush assembly and a cleaning robot, wherein the rotating shaft of the present invention, when in a first reverse rotation state, can wind bristles around the rotating shaft, so that the bristles can be retracted into the bristle holding portion, thereby preventing the bristles of the edge brush from being clamped into the gap of the working surface when the cleaning robot moves, and further preventing the bristles from affecting the motion of the cleaning robot; when the rotating shaft of the utility model is in the first positive rotating state, the brush hair can extend out of the brush hair through accommodating part, and the cleaning robot can be ensured to carry out cleaning operation; when the rotating shaft of the utility model is in the second positive rotating state, the rotating shaft can drive the side brush to move through the limiting action of the limiting key and the circumferential sliding key groove, thereby realizing the cleaning of the working surface by the brush hair; cleaning robot is using the utility model discloses a during the method, no matter clean the robot and need return to the department of charging by oneself and charge, still artifical has changed cleaning robot's the position of cleaning, or has filled the electricity and get back to the original position and continue to clean the working face, can all avoid brush hair card to go into working face or brush hair and working face friction, make cleaning robot's removal more smooth, also can avoid the excessive loss of brush hair.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (12)
1. The side brush assembly is characterized by comprising a side brush body (1), a side brush motor and brush bristles (2);
the side brush body (1) is provided with a bristle accommodating part; the bristles (2) are arranged in the bristle containing part; the side brush motor can drive the bristles (2) to extend out of and/or retract back from the bristle containing part, and the side brush motor can drive the side brush body (1) to rotate.
2. The side brush assembly according to claim 1, wherein the side brush body (1) is provided with a rotating shaft (3), the bristles (2) are fixedly connected with the rotating shaft (3), and the rotating shaft (3) is in mechanical transmission with an output shaft of the side brush motor.
3. A side brush assembly according to claim 2, wherein the rotatable shaft (3) is capable of at least a first forward rotation state, a first reverse rotation state and a second forward rotation state; the forward direction is the clockwise direction or the anticlockwise direction of the rotating shaft (3);
when the rotating shaft (3) is in a first reverse rotating state, the bristles (2) are wound on the rotating shaft (3);
when the rotating shaft (3) is in a first positive rotating state, the bristles (2) are unwound from the rotating shaft (3);
when the rotating shaft (3) is in a second positive rotating state, the rotating shaft (3) drives the side brush body (1) to rotate together.
4. The side brush assembly according to claim 3, wherein the side brush body (1) is rotatably connected to the rotating shaft (3) through a rotating shaft fitting groove (5), and the rotating shaft (3) and the side brush body (1) are coaxially arranged;
a sliding limiting structure is arranged between circumferential contact surfaces of the rotating shaft (3) and the rotating shaft assembling groove (5);
the sliding limiting structure comprises a limiting key (7) and a circumferential sliding key groove (8), and the circumferential sliding key groove (8) can limit the rotating angle of the rotating shaft (3) through the limiting key (7).
5. A side brush assembly according to claim 4, wherein the circumferential sliding key slot (8) corresponds to a central angle of at least 90 °.
6. A side brush assembly according to claim 4, wherein the limit key (7) and/or the circumferential sliding key groove (8) is provided with a sensor; when the rotating shaft (3) is at the limit position of the first reverse rotating state, the sensor can send a feedback signal.
7. The edge brush assembly of claim 6, wherein the sensor is a contact sensor; the contact sensor is arranged on the reverse contact surface; the reverse contact surface is the contact surface of the limit key (7) and the circumferential sliding key groove (8) when the rotating shaft (3) is at the limit position of the first reverse rotating state.
8. A side brush assembly according to claim 6, wherein the rotary shaft (3) is provided with a bristle clamping slot (6); the rotating shaft (3) is fixedly connected with the fixed ends of the bristles (2) through bristle clamping grooves (6).
9. An edge brush assembly according to any of claims 6-8, wherein the bristle receiving portion comprises a plurality of circumferentially equispaced bristle sleeves (4); the brush bristles (2) are provided with a plurality of bundles, and each bundle of brush bristles (2) correspondingly penetrates through one brush bristle sleeve (4); the free ends of the bristles (2) can be extended and/or retracted from the bristle cover (4).
10. An edge brush assembly according to claim 9, wherein the side wall of the edge brush body (1) is provided with a bristle through hole, and the fixed end of the bristle (2) penetrates out of the bristle sleeve (4), passes through the bristle through hole and is fixedly connected with the rotating shaft (3).
11. A cleaning robot comprising an edge brush assembly according to any one of claims 6 to 10.
12. The cleaning robot as claimed in claim 11, further comprising a main control unit; the main control unit structure receives signals sent by the sensors; the main control unit controls the motion state of the side brush motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921551942.3U CN210990012U (en) | 2019-09-18 | 2019-09-18 | Side brush assembly and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921551942.3U CN210990012U (en) | 2019-09-18 | 2019-09-18 | Side brush assembly and cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210990012U true CN210990012U (en) | 2020-07-14 |
Family
ID=71495487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921551942.3U Expired - Fee Related CN210990012U (en) | 2019-09-18 | 2019-09-18 | Side brush assembly and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210990012U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547733A (en) * | 2019-09-18 | 2019-12-10 | 小狗电器互联网科技（北京）股份有限公司 | side brush assembly, cleaning robot and moving method of cleaning robot |
| CN114947624A (en) * | 2022-06-30 | 2022-08-30 | 深圳巴诺机器人有限公司 | Wood floor cleaning method and device |
| CN115429161A (en) * | 2022-07-29 | 2022-12-06 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
-
2019
- 2019-09-18 CN CN201921551942.3U patent/CN210990012U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547733A (en) * | 2019-09-18 | 2019-12-10 | 小狗电器互联网科技（北京）股份有限公司 | side brush assembly, cleaning robot and moving method of cleaning robot |
| CN110547733B (en) * | 2019-09-18 | 2023-08-11 | 北京小狗吸尘器集团股份有限公司 | Side brush assembly, cleaning robot and moving method of cleaning robot |
| CN114947624A (en) * | 2022-06-30 | 2022-08-30 | 深圳巴诺机器人有限公司 | Wood floor cleaning method and device |
| CN115429161A (en) * | 2022-07-29 | 2022-12-06 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
| CN115429161B (en) * | 2022-07-29 | 2023-09-29 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210990012U (en) | Side brush assembly and cleaning robot | |
| CN110547733A (en) | side brush assembly, cleaning robot and moving method of cleaning robot | |
| AU2006257390A1 (en) | Hybrid vacuum cleaner nozzle | |
| CN107854055A (en) | The intelligent floor-sweeping of automatically replaceable rubbing head wipes ground integrated device for cleaning | |
| CN107007212B (en) | Cleaning device | |
| CN107049158A (en) | Roll cloth and its Intelligent cleaning robot | |
| CN110115544A (en) | Intelligent scrubbing brush | |
| CN112741554A (en) | Cleaning robot | |
| CN215777784U (en) | Cleaning device and cleaning system | |
| CN208491957U (en) | High-altitude cleaning robot cleaning systems with class manual work mode | |
| CN107713916B (en) | Multifunctional intellectual cleans integrated device | |
| CN211723001U (en) | Cleaning robot | |
| CN213757078U (en) | Rolling brush and cleaning device with same | |
| CN206949843U (en) | A kind of Electric brush | |
| CN208002739U (en) | Cleaning equipment | |
| CN210277089U (en) | Vibration decontamination mop | |
| CN210433417U (en) | Cleaning robot | |
| CN210077575U (en) | Charging stand | |
| CN112701622A (en) | Be used for supplementary buried line equipment of construction | |
| CN208064761U (en) | Telescopic brush tube brush | |
| CN112716393A (en) | Floor sweeping robot | |
| CN113876254B (en) | Robot of sweeping floor based on 5G communication | |
| CN210277059U (en) | Mopping assembly and intelligent cleaning robot thereof | |
| CN214117398U (en) | Cylinder brush for building decoration | |
| CN114680723B (en) | Floor brush structure and dust collection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200714 Termination date: 20210918 |