CN211633129U

CN211633129U - Cleaning robot and lifting mechanism thereof

Info

Publication number: CN211633129U
Application number: CN201922171164.1U
Authority: CN
Inventors: 王晓冰; 李良清
Original assignee: Zhaoqing Hengyi Industrial Co ltd
Current assignee: Zhaoqing Hengyi Industrial Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-10-09
Anticipated expiration: 2029-12-06

Abstract

Cleaning robot and elevating system thereof. The lifting mechanism comprises an electromagnetic coil and a retainer. The electromagnetic coil has a longitudinal hole formed therein for mounting on the robot body. A holder for holding the cleaning element has a plunger rod capable of reciprocating within a longitudinal bore of the solenoid. The utility model discloses a cleaning machines people has not only adopted simple structure and low-cost elevating system, can also realize reliable convenient cleaning element lift operation with the low energy consumption.

Description

Cleaning robot and lifting mechanism thereof

Technical Field

The present disclosure relates generally to cleaning machines.

Background

Existing cleaning machines typically have both sweeping/vacuuming and mopping functions. In applications such as home use, it is often necessary to lift cleaning elements such as sweeping elements and/or mopping elements to accommodate different floor work environments.

The cleaning machines disclosed in CN109157165A, CN107485341A and CN107242837A, etc. are provided with lifting mechanisms for cleaning elements, but these lifting mechanisms are all to be further improved in structural design, energy consumption, operation, cost, etc.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to provide an improved cleaning element lifting mechanism which can be used, for example, in a cleaning robot or the like.

According to an aspect of the present invention, there is provided an elevating mechanism for a cleaning robot, the elevating mechanism including:

an electromagnetic coil having a longitudinal hole formed therein, for being mounted on the robot body; and

a holder for holding a cleaning element has a plunger rod or plunger rod of ferrous material capable of reciprocating within a longitudinal bore of a solenoid.

The utility model discloses an elevating system can also be including having the cylindric support of inside vertical hole, and solenoid sets up and installs or fix on the robot body through the cylindric support around the periphery wall of cylindric support, and wherein the vertical hole of cylindric support's vertical hole formation solenoid.

The internal longitudinal bore of the cylindrical support is preferably in sliding engagement with (in relation to) the core rod of the cage.

The lifting mechanism of the utility model can also comprise a magnetic field strengthening iron core which is at least partially inserted into the longitudinal hole of the electromagnetic coil or the longitudinal hole of the cylindrical support. The magnetic field reinforcing iron core can be positioned at one end of the longitudinal hole of the electromagnetic coil, which is far away from the iron core rod.

According to a preferred embodiment of the lifting mechanism of the invention, the magnetic field reinforcing core forms a cartridge cap shape with a base, a peripheral wall surrounding the base and projecting towards the core rod, and a stem projecting substantially from the centre of the base and towards the core rod, wherein the base, the peripheral wall and the stem together form an annular recess for accommodating the electromagnetic coil (or its cylindrical support); and a core rod also correspondingly formed into a cylindrical shape and having a base, an outer peripheral wall surrounding the base, a leg located approximately at a central position of the base, and an annular recess formed therewith for receiving the electromagnetic coil (or its cylindrical support), wherein the outer peripheral wall of the core rod is substantially aligned with the outer peripheral wall of the magnetic field reinforcing core and the leg of the core rod is substantially aligned with the leg of the magnetic field reinforcing core.

According to a further preferred embodiment of the lifting mechanism of the present invention, the outer peripheral wall of the iron core bar is substantially identical to the cross-sectional shape of the outer peripheral wall of the magnetic field reinforcing iron core and the core column of the iron core bar is substantially identical to the cross-sectional shape of the core column of the magnetic field reinforcing iron core.

According to an alternative embodiment of the lifting mechanism of the present invention, wherein

The longitudinal section of the magnetic field strengthening iron core is E-shaped, and the magnetic field strengthening iron core is provided with a base part, two arms extending downwards at two opposite sides of the base part, and a core column extending downwards from the center of the base part approximately, wherein the core column is inserted into a longitudinal hole of the electromagnetic coil; and

the core rod is also E-shaped in longitudinal cross-section and has a base portion, two arms extending upwardly on opposite sides of the base portion, and a stem located approximately in the center of the base portion and extending upwardly for insertion into the longitudinal bore of the electromagnetic coil, wherein the two arms of the core rod are respectively substantially aligned with the two arms of the magnetic field reinforcing core and the stem of the core rod is substantially aligned with the stem of the magnetic field reinforcing core.

In the above-described alternative embodiment, it is preferable that both arms of the core bar substantially conform to the cross-sectional shapes of both arms of the magnetic-field-reinforcing core, respectively, and that the core column of the core bar substantially conform to the cross-sectional shape of the core column of the magnetic-field-reinforcing core.

According to an important embodiment of the present invention, the lifting mechanism preferably comprises at least two electromagnetic coils, the magnetic field reinforcing core has at least two core columns connected through the base, the at least two core columns are respectively inserted into corresponding longitudinal holes of the at least two electromagnetic coils; the cage also has at least two core bars connected by a ferrous base. In the case where both the solenoid coil and the iron core rod are provided, it is more preferable that the direction of the current in one of the solenoid coils is opposite to the direction of the current in the other solenoid coil during the lifting or elevating of the cage, for example, one is clockwise and the other is counterclockwise.

According to an aspect of the present invention, there is provided a cleaning robot, comprising the above-mentioned lifting mechanism, wherein a mop is held on a holder of the lifting mechanism, and the working state is located below the electromagnetic coil.

The utility model discloses in, iron core pole or iron material all indicate can with electro-magnet or the permanent magnet material that produces magnetic attraction each other in the magnetic field.

The utility model discloses a cleaning machines people has not only adopted simple structure and low-cost elevating system, can also realize reliable convenient cleaning element lift operation with the low energy consumption.

Drawings

Fig. 1 to 5 are schematic views of partial cross-sectional structures of cleaning robots according to various embodiments of the present invention.

Detailed Description

The present invention is further described with reference to the following examples and accompanying drawings, which are included to provide a further understanding of the invention, and are not intended to limit the invention.

Referring to fig. 1 to 5, the cleaning robot 1 of the present invention has a body 10. The body 10 is mounted with a cleaning member elevating mechanism which will be described in detail below. Cleaning elements include, but are not limited to, mops or mops and the like.

Fig. 1 is a sectional view partially showing a lifting mechanism according to a first embodiment of the present invention. The lifting mechanism includes a solenoid 20 and a cage. The electromagnetic coil 20 is held on the cylindrical bracket 21 and is mounted or fixed on the body 10 of the cleaning robot 1 through the cylindrical bracket 21. The cylindrical holder 21 has an inner longitudinal hole 22, and the electromagnetic coil 20 is disposed around the outer peripheral wall of the cylindrical holder 21. Of course, it is also possible to omit the cylindrical bracket 21 and mount or fix the electromagnetic coil 20 on the body 10 of the cleaning robot 1 in other suitable manners; in this case, the solenoid coil 20 will still have or form an internal longitudinal bore 22.

As shown in fig. 1, the cage is composed of a longitudinal core bar 30 and a transverse fixing plate 31 perpendicular to the core bar 30. A cleaning element 32, such as a mop cloth, is fixed to the fixing plate 31. The illustrated core rod 30 is cylindrically configured to slidably engage the longitudinal bore 22 of the cylindrical support 21, which is also cylindrically configured. When the electromagnetic coil 21 is energized and electromagnetic attraction is generated on the iron core rod 30, the iron core rod 30 moves upwards along the longitudinal hole 22 of the cylindrical bracket 21 to an upper limit position or a lifting position, at this time, the fixing plate 31 of the retainer is lifted to a high position or a retracting position (a position which is attached to the outer contour of the body 10 of the cleaning robot 1 is shown) together with the cleaning element 32; after the solenoid 21 is de-energized, the holder with the cleaning elements 32 will move by their own weight down the longitudinal bore 22 along the cylindrical support 21 to a lower limit position or working position to perform the corresponding cleaning function. Although not specifically shown, a latch mechanism may be provided between the plunger rod 30 and the longitudinal hole 22 of the cylindrical holder 21 to prevent the plunger rod 30 from being separated from the longitudinal hole 22 of the cylindrical holder 21.

The embodiment of fig. 2 is similar to the embodiment of fig. 1 except that the elevator mechanism further includes a magnetic field reinforcing core 23 inserted into the longitudinal hole 22 of the cylindrical support 21 at an end of the longitudinal hole 22 remote from the core bar 30. The magnetic field reinforcing core 23 reinforces the electromagnetic attractive force generated by the electromagnetic coil 20 when it is energized, and also serves to abut against the core bar 30 to define the upper limit position thereof. Further, although not shown, a cushion pad may be provided between the magnetic field reinforcing iron-core 23 and the iron-core rod 30 or a damping device may be provided in the longitudinal hole 22 to reduce noise or the like.

The embodiment of fig. 3 is similar to the embodiment of fig. 2, except that the magnetic field-reinforcing core and the core rod are modified. As shown in fig. 3, the magnetic field reinforcing core is formed in a cap shape having a base 230, an outer peripheral wall 231 surrounding the base 230 and projecting downward (toward the core rod), and a stem 232 projecting downward from substantially the center of the base 230. The base 230, the outer peripheral wall 231 and the stem 232 collectively form an annular recess for accommodating the cylindrical holder 21 containing the electromagnetic coil 20. The core rod is also correspondingly formed in a cylindrical shape having a base 300, an outer peripheral wall 301 extending upwardly around the base 300, and a stem 302 extending upwardly at a generally central location of the base 300, which also collectively form an annular recess for receiving or receiving the cylindrical holder 21 containing the electromagnetic coil 20. The peripheral wall 301 of the iron core bar is aligned with the peripheral wall 231 of the magnetic field reinforcing iron core and conforms to the cross-sectional shape thereof; the core leg 302 of the core rod is aligned with and conforms to the cross-sectional shape of the leg 232 of the magnetic field strength core.

In the embodiment shown in fig. 3, the core rod may also cooperate with the magnetic field reinforcing core to define its upper limit position. It is also very important that when the plunger rod reaches its upper limit position abutting the corresponding portion of the field-enhancing plunger after the solenoid coil 20 is energized, the closed magnetic field loop passing from the interior of the solenoid coil 20 through the

legs

302, 232 and outside thereof through the

peripheral walls

231, 301 is substantially completely formed in the ferrous material, rather than passing through a section of air circuit as in the embodiment of fig. 1 or 2, thereby providing a significant enhancement of the magnetic field, requiring only a small current to maintain the cage and cleaning elements 32 secured thereto in the raised or stowed position. In this way, since the magnetic attraction holder needs to be activated by a strong current in the solenoid coil 20 only in a short time during the ascending process, only a small current needs to be maintained in the solenoid coil 20 once the holder reaches the upper limit or the fully retracted position, thereby achieving the energy-saving and power-saving effects.

Of course, in the embodiment shown in fig. 3, the magnetic field reinforcing core and the core rod may not have a cylindrical shape, and for example, they may have a symmetrical structure of two outer arms + inner core column, each having an E-shaped longitudinal section. The structure can also effectively prevent the lifting mechanism from integrally rotating in the lifting process.

The embodiment shown in fig. 4 is similar to the embodiment shown in fig. 2 except that the lifting mechanism includes two

electromagnetic coils

201 and 202 and has two longitudinal holes 221 and 222, respectively, and the magnetic field reinforcing core has two legs 231 'and 232' inserted into the longitudinal holes 221 and 222, respectively, and a base 230 'connecting the two, wherein the legs 231' and 232 'and the base 230' are made of a ferrous material. The cage also has two corresponding core rods 301 ' and 302 ' and a ferrous base 300 ' connecting the two. In this embodiment, the core rod may also cooperate with the magnetic field reinforcing core to define its upper limit position. In addition, in this structure, since the holder is provided with two core rods inserted into the longitudinal holes, it is also possible to prevent the holder from rotating integrally during the lifting. In addition, the double-electromagnetic-coil structure also enhances the magnetic attraction force and ensures the reliability of the device.

In the embodiment of fig. 4, during the cage lifting process, the current in the two

solenoids

201 and 202 is preferably controlled in opposite directions, for example, one in a clockwise direction and the other in a counterclockwise direction. In this case, as in the embodiment shown in fig. 3, a closed magnetic field loop is formed in the ferrous material, i.e., a large complete magnetic field loop is formed from the electromagnetic coil 201 to the electromagnetic coil 202, so that the energy and power saving effects are achieved when the holder is held in the fully retracted position or the high position.

The embodiment of fig. 5 is similar to the embodiment of fig. 4 in that the lifting mechanism again includes two electromagnetic coils and two corresponding plunger rods, except that the magnetic field enhancing plungers of the electromagnetic coils and the plunger rods adopt the configuration shown in fig. 3. This construction of the lifting mechanism also provides the advantages described above for the embodiment of fig. 3 or 4.

It will be understood by those skilled in the art that the various directional terms described above, including "upper", "lower", etc., are used only in conjunction with the embodiments shown in the drawings and are not intended to limit the invention.

Claims

1. A lifting mechanism for a cleaning robot, the lifting mechanism comprising:

a holder for holding a cleaning element has a plunger rod capable of reciprocating within a longitudinal bore of an electromagnetic coil.

2. The lift mechanism of claim 1, further comprising a cylindrical bracket having an internal longitudinal bore, the solenoid being disposed around an outer peripheral wall of the cylindrical bracket and mounted to the robot body by the cylindrical bracket, wherein the longitudinal bore of the cylindrical bracket forms the longitudinal bore of the solenoid.

3. The lift mechanism of claim 2, wherein the inner longitudinal bore of the cylindrical support and the core rod of the cage are in sliding engagement with each other.

4. The lift mechanism of claim 1 or claim 2, further comprising a magnetic field-enhancing plunger at least partially inserted into the longitudinal bore of the electromagnetic coil.

5. The lift mechanism of claim 4, wherein the magnetic field-enhancing core is located at an end of the longitudinal bore of the electromagnetic coil distal from the core rod.

6. The lift mechanism of claim 5,

the magnetic field reinforcing core is formed into a cylinder cap shape and provided with a base, an outer peripheral wall which surrounds the base and extends towards the iron core rod, and a core column which extends from the center of the base approximately and faces the iron core rod, wherein the base, the outer peripheral wall and the core column form an annular groove for accommodating the electromagnetic coil; and

the core rod is also correspondingly formed into a cylindrical shape and has a base, a peripheral wall surrounding the base, a leg located approximately at a central position of the base, and an annular recess formed therewith for receiving the electromagnetic coil, wherein the peripheral wall of the core rod is substantially aligned with the peripheral wall of the magnetic field reinforcing core and the leg of the core rod is substantially aligned with the leg of the magnetic field reinforcing core.

7. The lift mechanism of claim 6, wherein the peripheral wall of the core bar substantially conforms to the cross-sectional shape of the peripheral wall of the magnetic field reinforcing core and the leg of the core bar substantially conforms to the cross-sectional shape of the leg of the magnetic field reinforcing core.

8. The lift mechanism of claim 5,

9. The lift mechanism of claim 8, wherein the arms of the core rod substantially conform to the cross-sectional shape of the arms of the magnetic field strength core and the legs of the core rod substantially conform to the cross-sectional shape of the legs of the magnetic field strength core.

10. The lift mechanism of claim 5, wherein the lift mechanism comprises at least two electromagnetic coils, the field-enhancing core having at least two legs connected by a base, the at least two legs being inserted into respective longitudinal bores of the at least two electromagnetic coils; the cage also has at least two core bars connected by a ferrous base.

11. The lift mechanism of claim 10, wherein the lift mechanism includes two solenoids, the field enhancing core has two legs, and the cage also has two core bars, and wherein the direction of current flow in one solenoid is opposite to the direction of current flow in the other solenoid during lifting of the cage.

12. A cleaning robot comprising a lifting mechanism according to any of claims 1-11, wherein the holder of the lifting mechanism holds a mop cloth, which in operation is located below the magnet coil.