CN216675658U - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN216675658U CN216675658U CN202122708966.9U CN202122708966U CN216675658U CN 216675658 U CN216675658 U CN 216675658U CN 202122708966 U CN202122708966 U CN 202122708966U CN 216675658 U CN216675658 U CN 216675658U
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Abstract
The cleaning robot provided by the utility model comprises a base, an execution part, a lifting mechanism and a detection positioning device, wherein the execution part is used for connecting a cleaning piece; the lifting mechanism is connected with the base and the executing part and is used for driving the executing part to move up and down relative to the base; the detection positioning device is used for detecting the position of the cleaning piece and positioning the lifting mechanism. In this scheme the lifting mechanism drive the activity of execution portion to make the cleaning member also is relative the base is along the activity of going up and down, works as after the cleaning member moved to the home position, the location makes the cleaning member stops in the home position to avoid cleaning robot can't take notes the high position of cleaning member, and influence user experience.
Description
Technical Field
The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot.
Background
The cleaning robot is one of intelligent family service robots, integrates research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, can complete cleaning work such as cleaning and washing of family sanitation by means of certain artificial intelligence, brings great convenience to life of people, liberates both hands of people, and is more and more favored by people. However, the existing cleaning robot does not have the prior art that the mop module can be lifted and the lifting height of the mop module can be recorded, the cleaning robot with the mop lifting function can provide more extreme use experience for users, and if the height of the mop module cannot be recorded, the user experience can be influenced.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a cleaning robot, aiming at solving the technical problem that the floor mopping module height of the cleaning robot cannot be recorded and the user experience is influenced.
To achieve the above object, the present invention provides a cleaning robot comprising:
a base;
the execution part is used for connecting the cleaning piece;
the lifting mechanism is connected with the base and the executing part and is used for driving the executing part to move up and down relative to the base; and the number of the first and second groups,
and the detection positioning device is used for detecting the position of the cleaning piece and positioning the lifting mechanism.
Optionally, the detection and positioning device comprises a sensor.
Optionally, the cleaning robot further comprises a control device electrically connected to the lifting mechanism and the sensor.
Optionally, the sensor is a contact sensor disposed on the movable stroke of the executing part, and the contact sensor includes a microswitch type sensor.
Optionally, the sensor further comprises a photoelectric sensor formed with a light path extending horizontally and on the moving stroke of the implement portion.
Optionally, the lifting mechanism includes a lifting driving assembly and a lifting executing assembly, the lifting executing assembly is connected with the base and the executing part, the lifting driving assembly is used for providing power for the lifting mechanism, and at least one motion parameter of the lifting driving assembly can be obtained;
the detection positioning device is arranged on the stroke of the lifting execution component or the execution part and is used for providing resistance when contacting with the lifting execution component.
Optionally, the cleaning robot further comprises a control device electrically connected to the lift drive assembly.
Optionally, the lifting mechanism comprises a lifting drive assembly and a lifting execution assembly, the lifting execution assembly is connected with the base and the execution part, and the lifting drive assembly is used for providing power for the lifting mechanism;
the lifting executing assembly comprises a screw rod, a nut and a guide mechanism, the executing part moves on the base along the guide mechanism, the screw rod is rotatably arranged on the base, the nut is arranged on the executing part, and the screw rod is meshed with the nut;
the lifting driving assembly is connected with the screw rod.
Optionally, the guide mechanism includes a guide shaft disposed on the base, the guide shaft extends in the up-down direction, and the executing portion is provided with a guide hole for sliding along the guide shaft; and/or the presence of a gas in the gas,
the executing part is convexly provided with a transmission shaft in the direction away from the base, and one end of the transmission shaft away from the executing part is used for connecting the cleaning piece.
Optionally, the lifting mechanism includes a brush motor and an encoder, the brush motor drives the executing portion to move, and the encoder is configured to obtain a rotation angle of a driving shaft of the brush motor; or the like, or, alternatively,
the lifting mechanism comprises a stepping motor, and the stepping motor drives the execution part to move; or the like, or, alternatively,
the lifting mechanism comprises a brushless motor and a Hall sensor, the brushless motor drives the execution part to move, and the Hall sensor is used for acquiring the rotation angle of a driving shaft of the brushless motor.
The cleaning robot provided by the utility model comprises a base, an execution part, a lifting mechanism and a detection positioning device, wherein the execution part is used for connecting a cleaning piece; the lifting mechanism is connected with the base and the executing part and is used for driving the executing part to move up and down relative to the base; the detection positioning device is used for detecting the position of the cleaning piece and positioning the lifting mechanism. In this scheme the lifting mechanism drive the activity of execution portion to make the cleaning member also is relative the base is along the activity of going up and down, works as after the cleaning member moved to the home position, the location makes the cleaning member stops in the home position to avoid cleaning robot can't take notes the high position of cleaning member, and influence user experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a cleaning robot (with an actuator in a non-reset position) according to the present invention;
fig. 2 is a schematic structural view of an actuator of the cleaning robot of fig. 1 in a reset position.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
33 | Encoder for encoding a |
| 1 | |
34 | Guide shaft |
| 2 | Execution unit | 4 | |
| 21 | Transmission shaft | 41 | |
| 3 | |
5 | Fixed |
| 31 | Screw mandrel | 6 | |
| 32 | Brush motor |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. Also, the technical solutions in the embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The cleaning robot brings great convenience to the life of people, liberates the hands of people and is more and more favored by people. However, the existing cleaning robot has the condition that the height of the floor mopping module cannot be recorded, and user experience is influenced.
In view of this, the present invention provides a cleaning robot, and aims to solve the technical problem that the cleaning robot in the prior art affects user experience due to the fact that the height of a floor mopping module cannot be recorded. Please refer to fig. 1 and fig. 2, which illustrate an embodiment of a cleaning robot according to the present invention.
Referring to fig. 1 and 2, a cleaning robot 100 according to the present invention includes a base 1, an executing portion 2, a lifting mechanism 3, and a detecting and positioning device 4, wherein the executing portion 2 is used to connect a cleaning member 6; the lifting mechanism 3 is connected with the base 1 and the executing part 2 and is used for driving the executing part 2 to move up and down relative to the base 1; the detection positioning device 4 is used for detecting the position of the cleaning piece 6 and positioning the lifting mechanism 3. In the scheme, the lifting mechanism 3 drives the executing part 2 to move, so that the cleaning piece moves up and down relative to the base 1, and when the cleaning piece moves to the original position, the cleaning piece stops at the original position through positioning, so that the problem that the cleaning robot 100 cannot record the height of the cleaning piece to influence user experience is avoided.
It should be noted that, in this embodiment, the cleaning member 6 is a mop. Further, the up-down direction in the present application is the up-down positional relationship between the respective components of the cleaning robot 100 in normal operation, and if the specific attitude is changed, the directional indication is changed accordingly.
In addition, the origin position may be a position where the cleaning member 6 moves away from the base 1, or may be other specific positions, which is not limited herein. In the present embodiment, the origin position is a position where the cleaning member 6 moves to be close to the base 1, that is, a highest point to which the cleaning member 6 can move.
Meanwhile, in an embodiment, after the cleaning member 6 stops at the original position, the driving direction of the lifting mechanism 3 may be switched, and the executing portion 2 is driven to move in a direction opposite to the previous moving direction.
Further, in an embodiment, the detecting and positioning device 4 is a sensor, and the cleaning robot 100 further includes a control device electrically connected to the lifting mechanism 3 and the sensor.
Furthermore, in order to improve the integration of the cleaning robot 100 to achieve the effect of reducing the volume, the sensor is a touch sensor 41 disposed on the moving stroke of the implement part 2, and the touch sensor 41 is electrically connected to the control device. In this embodiment, the contact sensor 41 is located on the moving stroke of the actuator 2, and is configured to contact with the actuator 2, so that the cleaning member stops at the original position. Since the actuator 2 must be movably installed, a space corresponding to a moving stroke of the actuator 2 needs to be installed to avoid interference with the actuator 2 when designing the cleaning robot 100. Therefore, when the contact sensor 41 is disposed on the moving stroke of the executing part 2, another corresponding space is not required to be disposed for disposing the contact sensor 41, so as to reduce the size of the cleaning robot 100, and further, the cleaning of a relatively narrow space is facilitated, thereby eliminating dead angles.
It should be noted that the control device is a circuit board assembly, and the circuit board assembly is electrically connected to the lifting mechanism 3 and the touch sensor 41, so that when the executing portion 2 contacts the touch sensor 41, the circuit board assembly can respond quickly and control the lifting mechanism 3 to stop moving, so that the cleaning member stops at the origin position.
It can be understood that the circuit board assembly is in the prior art, and the touch sensor 41 and the lifting mechanism 3 may be controlled, which is not described herein again. The form of arrangement of the touch sensor 41 is not limited, and may be a micro switch type sensor, or may be another form of touch sensor 41.
In another embodiment, the sensor comprises a photoelectric sensor formed with a light path extending horizontally and over the active travel of the implement portion 2. The position of the actuator 2 is detected by the photoelectric sensor. Specifically, when the executing part 2 is located at a position close to the base 1, the optical path of the photoelectric sensor is blocked, and the photoelectric sensor makes feedback after detecting a corresponding signal.
Because the driving shaft of a power source like a driving motor is blocked in the normal working process, the output current of the driving motor or the like measuring power output intensity index parameter can fluctuate greatly. In one embodiment, the lifting mechanism 3 includes a lifting driving component and a lifting executing component, the lifting executing component is connected with the base 1 and the executing part 2, the lifting driving component is used for providing power for the lifting mechanism 3, and at least one motion parameter of the lifting driving component can be obtained; the detection positioning device 4 is arranged on the stroke of the lifting execution component or the execution part 2 and is used for providing resistance when contacting with the lifting execution component.
Specifically, in this embodiment, the setting form of the detection positioning device 4 is not limited, and may be a form of a limiting block, the limiting block is disposed on one side of the base 1 close to the executing portion 2, and when the cleaning member 6 moves to the original point position, the limiting block is located between the executing portion 2 and the base 1 to limit the executing portion 2 to continue moving upward, so as to block the movement of the lifting driving assembly, and further change the corresponding movement parameter of the lifting driving assembly.
The detection positioning device 4 can also be a compression spring which is arranged on one side of the base 1 close to the executing part 2, and when the cleaning piece 6 is located at the original position, the compression spring is compressed at the limit position so as to limit the executing part 2 to move upwards continuously. The detection and positioning device 4 can also be in other forms.
The scheme utilizes the characteristic of a power source such as a driving motor and the like to judge the original position of the cleaning piece 6. When the actuator 2 moves to a position close to the base 1, the detection positioning device 4 prevents the lift actuator from moving so that the corresponding parameters of the lift drive assembly, such as current, fluctuate significantly.
It will be appreciated that a sensing mechanism may also be provided in this embodiment to sense fluctuations in the current to the lift drive assembly and make adjustments accordingly. Specifically, in this scheme, the detection device is the control device. Therefore, after the control device acquires the corresponding parameters output by the lifting driving assembly, the lifting driving assembly is controlled to stop driving, so that the cleaning piece is temporarily stopped at the original point position.
The arrangement form of the lifting mechanism 3 is not limited, and the lifting mechanism can be in a gear and rack transmission mode, a belt and chain transmission mode or other forms. In this embodiment, the lifting mechanism 3 includes a lifting driving component and a lifting executing component, the lifting executing component is connected to the base 1 and the executing part 2, and the lifting driving component is used for providing power for the lifting mechanism 3; the lifting executing assembly comprises a screw rod 31, a nut and a guide mechanism, the executing part 2 moves on the base 1 along the guide mechanism, the screw rod 31 is rotatably arranged on the base 1, the nut is arranged on the executing part 2, and the screw rod 31 is meshed with the nut; the lifting drive assembly is connected to the lead screw 31. The scheme is that the screw rod 31 is matched with the screw nut to realize that the cleaning piece 6 moves up and down, the structure is simple and reliable, and the cost is saved.
Furthermore, in order to increase the moving space of the cleaning member 6, a transmission shaft 21 is convexly arranged on the executing part 2 in the direction away from the base 1, and one end of the transmission shaft 21 away from the executing part 2 is used for connecting the cleaning member 6. According to the scheme, the cleaning piece 6 extends out of the shell of the cleaning robot 100 through the transmission shaft 21, so that the cleaning piece 6 can move conveniently.
Further, in order to avoid the position of the executing part 2 from shifting when moving in the up-down direction, in this embodiment, the guiding mechanism includes a guiding shaft 34 disposed on the base 1, the guiding shaft 34 extends in the up-down direction, and the executing part 2 is provided with a guiding hole for sliding along the guiding shaft 34. The accuracy of the moving stroke of the executing part 2 is improved by matching the guide hole with the executing part 2, and meanwhile, the executing part 2 can move up and down on the screw rod 31 conveniently, so that the movement of the cleaning piece 6 is smoother and more stable.
Further, the specific driving arrangement of the lifting mechanism 3 is not limited. In an embodiment, the lifting mechanism 3 includes a brush motor 32 and an encoder 33, the brush motor 32 drives the executing portion 2 to move, and the encoder 33 is configured to obtain a rotation angle of a driving shaft of the brush motor 32.
It is understood that the encoder 33 may be a magnetic encoder or a grating encoder, and is not limited thereto. The encoder 33 may also record the corresponding power pattern output by the brush motor 32.
In another embodiment, the lifting mechanism 3 includes a stepping motor, and the driving portion is formed at the stepping motor. The embodiment records the output rotation angle, rotation speed and the like by utilizing the pulse counting characteristic of the stepping motor.
In another embodiment, the lifting mechanism 3 includes a brushless motor driving the actuator 2 to move, and a hall sensor for acquiring a rotation angle of a driving shaft of the brushless motor. The embodiment can also record the rotating speed output by the brushless motor by utilizing the Hall sensor.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the technical solutions of the present invention that are made by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cleaning robot, characterized by comprising:
a base;
the execution part is used for connecting the cleaning piece;
the lifting mechanism is connected with the base and the execution part and is used for driving the execution part to move up and down relative to the base; and the number of the first and second groups,
and the detection positioning device is used for detecting the position of the cleaning piece and positioning the lifting mechanism.
2. The cleaning robot of claim 1, wherein the detection positioning device comprises a sensor.
3. The cleaning robot of claim 2, further comprising a control device electrically connected to the lift mechanism and the sensor.
4. The cleaning robot according to claim 2, wherein the sensor is a touch sensor provided on a movable stroke of the actuator, and the touch sensor includes a micro switch type sensor.
5. The cleaning robot according to claim 2, wherein the sensor further comprises a photoelectric sensor formed with a light path extending horizontally and on a moving stroke of the implement portion.
6. The cleaning robot of claim 1, wherein the lift mechanism includes a lift actuator assembly and a lift actuator assembly, the lift actuator assembly coupled to the base and the implement, the lift actuator assembly configured to power the lift mechanism, the lift actuator assembly having at least one motion parameter accessible;
the detection positioning device is arranged on the stroke of the lifting execution component or the execution part and is used for providing resistance when contacting with the lifting execution component.
7. The cleaning robot of claim 6, further comprising a control device electrically coupled to the lift drive assembly.
8. The cleaning robot of claim 1, wherein the lift mechanism includes a lift drive assembly and a lift actuator assembly, the lift actuator assembly coupled to the base and the implement, the lift drive assembly configured to power the lift mechanism;
the lifting executing assembly comprises a screw rod, a nut and a guide mechanism, the executing part moves on the base along the guide mechanism, the screw rod is rotatably arranged on the base, the nut is arranged on the executing part, and the screw rod is meshed with the nut;
the lifting driving assembly is connected with the screw rod.
9. The cleaning robot as claimed in claim 8, wherein the guide mechanism includes a guide shaft provided on the base, the guide shaft extending in an up-down direction, and the actuator has a guide hole for sliding along the guide shaft; and/or the presence of a gas in the gas,
the executing part is convexly provided with a transmission shaft in the direction away from the base, and one end of the transmission shaft away from the executing part is used for connecting the cleaning piece.
10. The cleaning robot as claimed in claim 1 or 3, wherein the lifting mechanism includes a brush motor for driving the actuator to move, and an encoder for acquiring a rotation angle of a driving shaft of the brush motor; or the like, or, alternatively,
the lifting mechanism comprises a stepping motor, and the stepping motor drives the execution part to move; or the like, or, alternatively,
the lifting mechanism comprises a brushless motor and a Hall sensor, the brushless motor drives the execution part to move, and the Hall sensor is used for acquiring the rotation angle of a driving shaft of the brushless motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122708966.9U CN216675658U (en) | 2021-11-05 | 2021-11-05 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122708966.9U CN216675658U (en) | 2021-11-05 | 2021-11-05 | Cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216675658U true CN216675658U (en) | 2022-06-07 |
Family
ID=81832425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122708966.9U Active CN216675658U (en) | 2021-11-05 | 2021-11-05 | Cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216675658U (en) |
-
2021
- 2021-11-05 CN CN202122708966.9U patent/CN216675658U/en active Active
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Address after: 518000, Building 1, Yunzhongcheng A2901, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Address before: 523808 building 7, No. 4, Xingye Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. |