CN216602747U - Cleaning robot - Google Patents

Abstract

The application belongs to the technical field of intelligent household equipment, especially, relate to a cleaning machines people, include: the base plate is provided with an assembly space, and one side of the base plate, which is far away from the floor, is provided with at least one mounting seat; the roller device comprises a cylinder shell, a connecting rod structure, a roller and a first scraping strip, wherein the cylinder shell is positioned in the assembly space, one end of the connecting rod structure is rotatably connected to the outer side wall of the cylinder shell, the other end of the connecting rod structure is rotatably connected to the mounting seat, the roller is mounted on the cylinder shell, the first scraping strip is assembled on the cylinder shell, and a scraping edge of the first scraping strip is used for abutting against a floor; and the motor component is assembled on the drum shell so that the integral gravity center of the drum device and the motor component is close to or coincided with the central position of the drum device. The technical scheme of the embodiment of the utility model solves the problem that the cleaning robot in the prior art adopts a power mechanism or a balancing weight to adjust in order to ensure that the center of gravity of the floating roller structure is positioned at the middle position of the whole body.

Description

Cleaning robot

Technical Field

The application belongs to the technical field of intelligent household equipment, and particularly relates to a cleaning robot.

Background

The roller or the disc brush of the existing floor washing machine mostly applies adjusting force to the roller or the disc brush in a mode of controlling the lifting of an assembly by a motor so as to enable the integral gravity center of the roller or the disc brush to be located in the middle and cross obstacles. The scheme needs to identify the barrier, control the motor and each functional mechanism to cooperate cooperatively, and has high maintenance cost.

One end is arranged in more to the motor among the current drum assembly that has the floor cleaning machine of function of hindering more, in order to guarantee that whole focus is in the centre, adopts the mode of balancing weight to carry out focus adjustment more, and this mode makes drum assembly very heavy, and two contact to earth the problem that the wearing and tearing are too fast can appear in the gyro wheel for the lower face of drum assembly.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a cleaning robot, which aims to solve the problem that in the cleaning robot in the prior art, a power mechanism or a balancing weight is adopted to adjust in order to ensure that the center of gravity of a floating roller structure is located at the whole middle position.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions: a cleaning robot, comprising: the base plate is provided with an assembly space, and one side of the base plate, which is far away from the floor, is provided with at least one mounting seat; the cleaning robot comprises a roller device, a cleaning device and a cleaning device, wherein the roller device comprises a cylinder shell, a connecting rod structure, a roller and a first scraping strip, the cylinder shell is positioned in an assembly space, one end of the connecting rod structure is rotatably connected to the outer side wall of the cylinder shell, the other end of the connecting rod structure is rotatably connected to an installation seat, the roller is rotatably installed in the cylinder shell, the first scraping strip is assembled on the cylinder shell and positioned on the rear side of the roller in the advancing direction of the cleaning robot, and the scraping edge of the first scraping strip is used for abutting against the floor; and the motor assembly is assembled on the drum shell so that the integral gravity center of the drum device and the motor assembly is close to or coincided with the central position of the drum device.

Optionally, the cleaning robot further comprises at least two tension springs arranged at intervals, one end of each tension spring is connected with the cylinder shell, the other end of each tension spring is connected to the chassis, and each tension spring applies elastic force to the roller device to offset a part of gravity of the roller device.

Alternatively, the mounting seat is disposed at a rear side of the fitting space in the advancing direction of the cleaning robot, and the connection position of each tension spring to the chassis is located at the rear side of the fitting space in the advancing direction of the cleaning robot.

Optionally, the roller device further comprises a plurality of rollers arranged at intervals, and the plurality of rollers are connected to the cylinder shell and positioned at the rear side of the roller in the advancing direction of the cleaning robot.

Optionally, the number of the mounting seats is multiple, and one mounting seat corresponds to one connecting rod structure.

Optionally, the roller device further comprises a second scraper bar mounted to the drum shell, the second scraper bar being located between the roller and the first scraper bar, a scraping edge of the second scraper bar extending towards the roller.

Optionally, the cartridge is provided with a suction attachment for communication with a blower device of the cleaning robot to create a relative negative pressure inside the cartridge.

Optionally, the connecting rod structure comprises a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are arranged in parallel up and down and are arranged at intervals.

Optionally, the extending direction of the first link and the extending direction of the second link are parallel to each other.

Optionally, the motor assembly comprises a motor, a transmission shaft and a speed reduction structure, the motor and the speed reduction structure are both mounted on the drum shell, one end of the transmission shaft is connected with an output shaft of the motor, the other end of the transmission shaft is connected with an input end of the speed reduction structure, and an output end of the speed reduction structure is connected with the drum.

The embodiment of the application has at least the following beneficial effects:

the cleaning robot provided by the embodiment of the utility model is applied to cleaning the ground, as the cylinder shell is connected to the chassis through the connecting rod structure, namely, the cylinder shell forms a self-adaptive floating type device assembly mode with the chassis through the connecting rod structure, the roller and the first scraping strip are assembled on the cylinder shell to clean the ground, and the motor component is assembled on the cylinder shell, the integral gravity center of the roller device and the motor component is close to or coincided with the central position of the roller device, so that the roller and the first scraping strip can better lean against the ground, and the ground is cleaned more thoroughly. Compared with the cleaning robot in the prior art, the cleaning robot provided by the embodiment of the utility model has the advantages that the cylinder shell, the cylinder, the first scraping strip and the motor component are assembled on the chassis in a floating manner through the connecting rod structure, the structural design is simple, in addition, the motor component is assembled on the cylinder shell to adjust the integral gravity center position of a module formed by the cylinder device and the motor component, so that the integral gravity center of the cylinder device and the motor component is close to or coincided with the central position of the cylinder device, the cylinder and the first scraping strip can better lean against the ground, and the ground is more thoroughly cleaned.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a first schematic view of an assembly structure of a roller device and a motor assembly on a chassis of a cleaning robot according to an embodiment of the present invention;

fig. 2 is a bottom view of the cleaning robot shown in fig. 1;

fig. 3 is a top view of the cleaning robot shown in fig. 1;

fig. 4 is a sectional view taken in the direction of a-a in fig. 3.

10. A chassis; 11. an assembly space; 12. a mounting seat; 13. a drive wheel; 14. a universal wheel; 20. a drum device; 21. a cartridge housing; 211. a suction pipe joint; 22. a connecting rod structure; 221. a first link; 222. a second link; 23. a drum; 24. a first wiper strip; 25. a second wiper strip; 30. a motor assembly; 31. a motor; 32. a drive shaft; 33. a deceleration structure; 40. a tension spring; 50. and a roller.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the embodiments of the present application and should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

As shown in fig. 1 to 4, the cleaning robot provided by the embodiment of the present invention includes a chassis 10, a roller device 20, and a motor assembly 30, where the chassis 10 serves as a support body of the cleaning robot, and the chassis 10 is equipped with a driving wheel 13 and a universal wheel 14, preferably, the driving wheel 13 is a wheel hub motor, the driving wheel 13 is a driving wheel, and the universal wheel 14 is a driven wheel (as shown in fig. 2, when turning, a differential speed is formed between the two wheel hub motors, and the universal wheel 14 cooperates with the driving wheel, so as to achieve turning). In the cleaning robot, a roller device 20 and a motor assembly 30 are mounted on a chassis 10, and the roller device 20 is driven by the motor assembly 30 to clean the floor. In the cleaning robot, the chassis 10 is provided with an assembly space 11, and one side of the chassis 10 facing away from the floor is provided with at least one mounting seat 12, the roller device 20 comprises a cylinder shell 21, a connecting rod structure 22, a roller 23 and a first scraping strip 24, the cylinder shell 21 is positioned in the assembly space 11, one end of the connecting rod structure 22 is rotatably connected to the outer side wall of the cylinder shell 21, the other end of the connecting rod structure 22 is rotatably connected to the mounting seat 12, the roller 23 is rotatably installed in the cylinder shell 21, the first scraping strip 24 is assembled on the cylinder shell 21 and positioned at the rear side of the roller 23 along the advancing direction of the cleaning robot, the scraping edge of the first scraping strip 24 is abutted against the floor, so that the roller device 20 is assembled on the chassis 10 in a floating manner and is adapted to be matched with the bulge and the groove on the floor through self-adaptive up-and-down floating manner, during the cleaning work of the floor, the roller 23 cleans or scrubs the floor, the first scraping strip 24 is used for scraping water on the ground to collect the water on the ground so as to clean the water on the ground, and when the roller 23 and the first scraping strip 24 meet the protrusion or the groove on the ground, the roller 23 and the first scraping strip 24 can adaptively fit the protrusion or the groove to move close to each other due to the adaptive floating assembly mode formed between the cylinder shell 21 and the chassis 10 through the connecting rod structure 22, so that the ground can be better cleaned. And, the motor assembly 30 is assembled to the drum housing 21, so that the center of gravity of the whole of the drum device 20 and the motor assembly 30 is close to or coincident with the center position of the drum device 20 (close: close to each other, that is, the center of gravity of the whole of the drum device 20 and the motor assembly 30 is close to the center position of the drum device 20), so that the drum device 20 and the motor assembly 30 are assembled into a floating type module whole relative to the chassis 10, and the center of gravity of the whole of the drum device 20 and the motor assembly 30 is adjusted to approach the center position of the whole module by the motor assembly 30, so that the drum 23 and the first scraping strip 24 can better abut against the ground, and the situation that the drum 23 shakes left and right is avoided, thereby performing a more thorough cleaning work on the ground.

The cleaning robot applying the embodiment of the present invention performs cleaning work on the ground, since the cylinder housing 21 is connected to the chassis 10 through the connecting rod structure 22, that is, the cylinder housing 21 forms an adaptive floating type device configuration mode with the chassis through the connecting rod structure 22, and the motor assembly 30 is assembled to the cylinder housing 21, so that the overall center of gravity of the cylinder device 20 and the motor assembly 30 is close to or coincident with the center position of the cylinder device 20, the cylinder 23 and the first scraping strip 24 can better abut against the ground, thereby performing more thorough cleaning work on the ground.

Compared with the cleaning robot in the prior art which adopts a power mechanism or adopts a counterweight block to adjust in order to ensure that the gravity center of the floating roller structure is located at the integral middle position, the cleaning robot provided by the embodiment of the utility model assembles the cylinder shell 21, the roller 23, the first scraping strip 24 and the motor assembly 30 on the chassis 10 in a floating manner through the connecting rod structure 22, and the structural design is simple.

And, the motor assembly 30 is assembled on the drum shell 21 to adjust the gravity center position of the whole module formed by the drum device 20 and the motor assembly 30, so that the whole gravity center of the drum device 20 and the motor assembly 30 is close to or coincided with the center position of the drum device 20, the drum 23 and the first scraping strip 24 can better abut against the ground, and the ground is cleaned more thoroughly.

As shown in fig. 1 and 3, on the chassis 10 of the cleaning robot, the number of the installation bases 12 is plural, two adjacent installation bases 12 are distributed at intervals, and one installation base 12 corresponds to one link structure 22. That is, in the length direction of the cylinder shell 21, the cylinder shell 21 is floatingly connected to the chassis 10 through the plurality of mounting seats 12 and the corresponding number of the connecting rod structures 22, so that the acting stress on the chassis 10 caused by the up-and-down floating of the cylinder 23 and the first scraping strip 24 when the cylinder 23 and the first scraping strip 24 are adaptive to the projection or the groove on the ground is shared through the plurality of connecting rod structures 22, the cylinder 23 and the first scraping strip 24 are more stable when the cylinder 23 and the first scraping strip 24 are used for cleaning the ground, and the situation that the cylinder 23 shakes left and right is avoided. Preferably, the number of the mounting sockets 12 in the cleaning robot according to the embodiment of the present invention is two, and accordingly, the number of the link structures 22 is also two.

Specifically, as shown in fig. 4, each link structure 22 includes a first link 221 and a second link 222, and the connection strength of each link structure 22 between the chassis 10 and the casing 21 is optimized, so that the link structure 22 can be prevented from being broken when the roller 23 and the first scraping strip 24 are subjected to up-and-down floating motions when meeting protrusions or grooves on the ground, and the roller device 20 can be ensured to work normally. During specific assembly, the first connecting rod 221 and the second connecting rod 222 are arranged in parallel and at intervals, one end of the first connecting rod 221 and one end of the second connecting rod 222 are rotatably connected to the mounting base 12 through a pin shaft, and the other end of the first connecting rod 221 and the other end of the second connecting rod 222 are rotatably connected to the cylinder shell 21 through a pin shaft. Further, in the cleaning robot according to the embodiment of the present invention, the extending direction of the first link 221 and the extending direction of the second link 222 are parallel to each other, that is, the length dimensions of the first link 221 and the second link 222 are equal, and further, the dimensions and the contour shapes of the first link 221 and the second link 222 are the same, that is, the first link 221 and the second link 222 are assembled by using the same rod.

In order to enable the roller 23 and the first wiper strip 24 to adaptively follow the ground and enable the roller 23 and the first wiper strip 24 to excessively press against the ground under the gravity of the integrated module assembled by the roller device 20 and the motor assembly 30 during the traveling of the cleaning robot when the roller 23 and the first wiper strip 24 encounter the protrusions or recesses on the ground and the upward and downward floating motions occur, the brush on the roller 23 is severely worn and the first wiper strip 24 is excessively deformed, and therefore, as shown in fig. 1, 3 and 4, the cleaning robot further includes at least two tension springs 40 arranged at intervals, one end of each tension spring 40 is connected with the cylinder housing 21, the other end of each tension spring 40 is connected to the chassis 10, and each tension spring 40 applies an elastic force to the roller device 20 to counteract a part of the gravity of the roller device 20. The elastic tension is applied to the cartridge case 21 by the tension spring 40 to counteract the gravity of a portion of the integrated module assembled by the roller device 20 and the motor assembly 30, so that the roller 23 and the first wiper strip 24 can be adaptively advanced against the ground without excessively pressing against the ground to cause serious wear of the brush on the roller 23 and excessive deformation of the first wiper strip 24. Moreover, when the roller 23 and the first scraping strip 24 encounter a protrusion or a groove on the ground and float up and down, the elastic tension applied to the drum shell 21 by the tension spring 40 can buffer the up-and-down floating action of the roller device 20 and the motor assembly 30, reduce the damage to the brush on the roller 23 and the first scraping strip 24, and prolong the service life of the roller 23 and the first scraping strip 24.

In the cleaning robot according to the embodiment of the present invention, the mount 12 is disposed at the rear side of the fitting space 11 in the forward direction of the cleaning robot, and the connection position of each tension spring 40 to the chassis 10 is located at the rear side of the fitting space 11 in the forward direction of the cleaning robot. Thus, the assembly space of the chassis 10 is fully utilized, and when the roller 23 and the first scraping strip 24 encounter a projection or a groove on the ground and float up and down, the action directions of the connecting rod structure 22 and the tension spring 40 on the cylinder shell 21 by the chassis 10 acting fixed pivot are consistent, and the structural design is more reasonable and optimized.

As shown in fig. 2 and 4, the roller device 20 further includes a plurality of rollers 50 arranged at intervals, and the plurality of rollers 50 are used for assisting in supporting the roller device 20 against the ground. In particular, when assembled, the plurality of rollers 50 are connected to the drum housing 21 and located at the rear side of the drum 23 in the advancing direction of the cleaning robot. Preferably, the cartridge case 21 of the embodiment of the present invention is provided with two rollers 50, and the two rollers 50 are respectively mounted on two end portions of the cartridge case 21.

In the cleaning robot according to the embodiment of the present invention, the roller device 20 further includes a second wiper strip 25, as shown in fig. 2 and 4, when the second wiper strip 25 is assembled to the housing 21, the second wiper strip 25 is located between the roller 23 and the first wiper strip 24, and a wiping edge of the second wiper strip 25 extends toward the roller 23. In the process that the cleaning robot cleans or brushes the ground, when the roller 23 cleans or brushes the ground, and when the roller 23 hoists the debris garbage on the ground into the drum shell 21, for the garbage with large particles (the garbage exceeding the size of the gap formed between the second scraping strip 25 and the roller 23), the second scraping strip 25 can hang the garbage with large particles from the roller 23, so as to avoid the garbage with large particles from entering the drum shell 21 to cause blockage or jamming of the roller 23, and cause the cleaning robot to be incapable of normally cleaning the opposite side.

As shown in fig. 2 and 3, the cartridge 21 is provided with a suction nozzle 211, and the suction nozzle 211 is used for communicating with a blower device (not shown) of the cleaning robot to form a relative negative pressure inside the cartridge 21. In the process that the cleaning robot cleans the ground, when the garbage on the ground is hoisted by the roller 23 and enters the inside of the barrel shell 21 through the gap between the second scraping strip 25 and the roller 23, relative negative pressure is formed inside the barrel shell 21 under the air suction effect of the fan device, so that the garbage entering the inside of the barrel shell 21 can be sucked away from the suction pipe joint 211 and conveyed into a garbage box or a dust suction box.

In the cleaning robot according to the embodiment of the present invention, as shown in fig. 1 and 3, the motor assembly 30 includes a motor 31, a transmission shaft 32 and a speed reducing structure 33, generally, the weight of the motor 31 is greater than that of the speed reducing structure 33, and the weight of the speed reducing structure 33 is greater than that of the transmission shaft 32, so that, in order to adjust the center of gravity of the whole of the drum device 20 and the motor assembly 30 by the motor assembly 30 to approach to the central position of the whole module, when the motor assembly 30 is assembled, the motor 31 and the speed reducing structure 33 are both mounted on the drum housing 21, one end of the transmission shaft 32 is connected to the output shaft of the motor 31, the other end of the transmission shaft 32 is connected to the input end of the speed reducing structure 33, and the output end of the speed reducing structure 33 is connected to the drum 23. It will be appreciated that the motor 31, the drive shaft 32 and the speed reducing structure 33 are all located at the same level with respect to the cartridge case 21 (i.e. the axis of the drive shaft 32 is parallel to the length direction of the cartridge case 21). In this way, the roller device 20 and the motor assembly 30 are assembled into a floating module whole relative to the chassis 10, and the center of gravity of the whole of the roller device 20 and the motor assembly 30 is adapted to be adjusted by the motor assembly 30 to approach the central position of the whole module, so that the roller 23 and the first scraping strip 24 can better abut against the ground, the left and right shaking of the roller 23 can not happen, and the ground can be cleaned more thoroughly.

The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not intended to limit the present application, and any modifications, equivalents and improvements made within the spirit and principle of the embodiments of the present application should be included in the scope of the present application.

Claims (10)

1. A cleaning robot, characterized by comprising:

the floor board comprises a chassis, wherein the chassis is provided with an assembly space, and one side of the chassis, which is far away from the floor board, is provided with at least one mounting seat;

the roller device comprises a cylinder shell, a connecting rod structure, a roller and a first scraping strip, the cylinder shell is positioned in the assembly space, one end of the connecting rod structure is rotatably connected to the outer side wall of the cylinder shell, the other end of the connecting rod structure is rotatably connected to the mounting seat, the roller is rotatably installed in the cylinder shell, the first scraping strip is assembled on the cylinder shell and positioned on the rear side of the roller in the advancing direction of the cleaning robot, and the scraping edge of the first scraping strip is used for abutting against the floor;

the motor assembly is assembled on the drum shell, so that the integral gravity center of the drum device and the motor assembly is close to or coincided with the central position of the drum device.

2. The cleaning robot according to claim 1,

the cleaning robot further comprises at least two tension springs arranged at intervals, one ends of the tension springs are connected with the drum shell, the other ends of the tension springs are connected to the chassis, and the tension springs apply elastic force to the drum device to offset part of gravity of the drum device.

3. The cleaning robot according to claim 2,

the mounting seat is arranged on the rear side of the assembly space in the advancing direction of the cleaning robot, and the connection position of each tension spring and the chassis is located on the rear side of the assembly space in the advancing direction of the cleaning robot.

4. The cleaning robot according to claim 3,

the roller device further comprises a plurality of rollers which are arranged at intervals, and the rollers are connected to the drum shell and are positioned on the rear side of the roller along the advancing direction of the cleaning robot.

5. The cleaning robot according to claim 1,

the number of the installation bases is multiple, and one installation base corresponds to one connecting rod structure.

6. The cleaning robot according to claim 1,

the roller device further comprises a second scraping strip, the second scraping strip is assembled on the barrel shell and located between the roller and the first scraping strip, and a scraping edge of the second scraping strip extends towards the roller.

7. The cleaning robot according to claim 1,

the cylinder shell is provided with a suction pipe connector which is communicated with a fan device of the cleaning robot so as to form negative pressure inside the cylinder shell.

8. The cleaning robot according to any one of claims 1 to 7,

the connecting rod structure comprises a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are arranged in parallel up and down and are arranged at intervals.

9. The cleaning robot according to claim 8,

the extending direction of the first connecting rod is parallel to the extending direction of the second connecting rod.

10. The cleaning robot according to claim 8,

the motor assembly comprises a motor, a transmission shaft and a speed reducing structure, the motor and the speed reducing structure are mounted on the drum shell, one end of the transmission shaft is connected with an output shaft of the motor, the other end of the transmission shaft is connected with an input end of the speed reducing structure, and an output end of the speed reducing structure is connected with the drum.

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