CN217185937U - Brush mechanism and its cleaning robot - Google Patents

Abstract

The application relates to a brush dish mechanism and cleaning machines people thereof belongs to the cleaning machines people field, and brush dish mechanism, including at least one brush dish subassembly, the brush dish subassembly includes: the connecting rod mechanism comprises a bracket, a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged; the front brush disc and the rear brush disc are arranged on the second connecting rod; and one end of the elastic piece is connected to the support, the other end of the elastic piece is connected to one of the first connecting rod, the second connecting rod and the third connecting rod, and the connecting rod mechanism has a contraction function and can retract the brush disc when the brush disc collides with the outside.

Description

Brush mechanism and its cleaning robot

technical field

The present application relates to the field of cleaning robots, in particular, to a brushing mechanism and a cleaning robot thereof.

Background technique

The cleaning robot rationally uses modern intelligent mobile robot technology and vacuum cleaning technology, and combines them into one, successfully removing people's dependence on hands for indoor cleaning. It can fully replace the traditional heavy manual cleaning work. With the continuous improvement of my country's industrial design level and the continuous improvement of product manufacturing capabilities, cleaning robots are also more and more valued by researchers at home and abroad.

Common cleaning robots include a body, a walking mechanism and a cleaning mechanism. The cleaning mechanism also includes a brush plate for brushing the ground. By rotating the brush plate, it cleans paper scraps, dust and other garbage on the ground. The traditional brush plate is fixed on the ground pivot. It is connected to the body, that is, its position relative to the body cannot be changed, but it can only be rotated relative to the body. This setting method is that the cleaning range is limited and it is difficult to fully cover the ground. Disc crashed.

Utility model content

The present application aims to provide a brush disc mechanism and a cleaning robot thereof, the brush disc mechanism has a link mechanism, the brush disc is mounted on the cleaning robot through the link mechanism, and the link mechanism has a retractable Function, the brush plate can be retracted when the brush plate collides with the outside world.

The embodiments of the present application are implemented as follows:

In a first aspect, the present application proposes a brush plate mechanism, which is applied to a cleaning robot, and includes at least one brush plate assembly, and the brush plate assembly includes:

a link mechanism, including a bracket, a first link, a second link and a third link that are hinged in sequence;

The front brush plate and the rear brush plate are installed on the second connecting rod;

An elastic member, one end is connected to the bracket, the other end is connected to one of the first link, the second link and the third link, the elastic member is used to provide the The elastic force of the lever mechanism to reset.

In the above solution, when the brush plate is impacted by the outside world, the first link and the third link rotate under the push of the second link, and the brush plate moves closer to the body of the cleaning robot , to prevent the brush plate from being damaged by impact, and at the same time, the elastic member is compressed when the first link and the third link rotate, buffering the first link and the third link, so that the The kinetic energy of the first link and the third link is converted into elastic potential energy, and after the cleaning robot moves away, the brush disc is reset under the action of the elastic restoring force of the elastic member.

According to some embodiments of the present application, the front brush plate is installed at the hinge of the second link and the first link, and the rear brush plate is installed at the third link and the second link The hinge of the connecting rod.

In the above solution, each brush plate is arranged at each hinge, and the first link and the third link can directly drive the corresponding front brush plate and rear brush plate to move, so as to improve the front brush plate and rear brush plate. The flexibility of the disc in motion.

According to some embodiments of the present application, the brush plate mechanism further includes a drive motor and a transmission assembly, the drive motor is used to drive the front brush plate or the rear brush plate, the front brush plate and the rear brush plate The disks are connected through the transmission assembly, and the transmission assembly is used to rotate the front brush disk and the rear brush disk synchronously.

In the above solution, as mentioned above, each brush plate assembly is provided with two brush plates, which can effectively increase the cleaning area. During the working process of the cleaning robot, each brush plate needs to keep rotating, and each brush plate The driving of the disk corresponding to one driving motor will increase the energy consumption during the operation of the cleaning robot and increase the production cost. Through the transmission assembly, only one driving motor is required to drive the front brush disk or the rear brush disk to rotate, that is, The two brush discs can be driven to rotate together, thus reducing the production cost and improving the endurance of the cleaning robot.

According to some embodiments of the present application, the transmission assembly includes:

a first pulley, rotatably connected to the second link, and fixedly connected to the front brush plate;

a second pulley, rotatably connected to the second link, and fixedly connected to the rear brush plate;

A timing belt is wound around the outer edges of the first pulley and the second pulley.

In the above solution, when one of the brush discs is rotated under the driving of the drive motor, the pulley connected to the pulley rotates synchronously, that is, the pulley is the driving pulley, and under the transmission action of the synchronous belt, The other pulley rotates accordingly to achieve the purpose of driving the two brush discs to rotate at the same time.

According to some embodiments of the present application, the brush plate mechanism includes two brush plate assemblies, the two brush plate assemblies are symmetrically arranged in the left-right direction, and the brackets of the two brush plate assemblies are fixedly connected or One piece.

In the above solution, the symmetrically arranged brush plate assemblies can simultaneously clean both sides of the cleaning robot during the movement of the cleaning robot, thereby improving the cleaning efficiency.

According to some embodiments of the present application, the distance between the two front brush discs is greater than the distance between the two rear brush discs.

In the above solution, the advantage of this arrangement is that the space between the two front brush discs can be cleaned by the two rear brush discs, so that during the movement of the cleaning robot, the brush discs on the two brush disc assemblies The ground can be cleaned without omission.

According to some embodiments of the present application, the bracket is L-shaped and includes a transverse beam and a longitudinal beam, the longitudinal beam extends in a front-rear direction, the transverse beam extends in a left-right direction from a front end of the longitudinal beam, and the first connecting beam extends in a left-right direction. The rod is hinged to one end of the transverse beam away from the longitudinal beam, and the third link is hinged to the middle of the longitudinal beam.

In the above solution, firstly, the beams of the brackets play a connecting and supporting role to connect the overall brush plate assembly with the body of the cleaning robot, and the longitudinal beams play an installation and adjustment role. As mentioned above, the two front brush plates The distance between the two rear brush plates is greater than the distance between the two rear brush plates, that is, the distance from the front brush plate to the beam is greater than the distance from the rear brush plate to the beam, and the above purpose is achieved by connecting the first connecting rod. This can be achieved by being hingedly arranged on the longitudinal beam.

According to some embodiments of the present application, the brushing mechanism further includes:

The negative pressure collection cover is arranged behind the rear brush plate and is used to collect the garbage collected by the front brush plate and the rear brush plate. The inlet of the negative pressure collection cover faces the rear brush plate, so The negative pressure collection cover is provided with a negative pressure air inlet.

In the above solution, in order to achieve the purpose of cleaning and collecting the garbage on the ground, the brush discs on the two brush disc assemblies should rotate relative to each other, and the brush discs on the two brush disc assemblies should rotate inward. When the garbage is cleaned, It will move between the brush discs, and at the same time, it will be affected by the action of moving it backward. The negative pressure collection cover is arranged behind the rear brush disc and faces the rear brush disc, so that the garbage can be collected behind the back brush plate. Under the action of the brush disc, it is thrown into the negative pressure collection cover, and the negative pressure equipment can suck out the garbage in the negative pressure collection cover through the negative pressure air inlet on the negative pressure collection cover.

According to some embodiments of the present application, the brushing mechanism further includes:

a fixing frame, the fixing frame is used to be fixedly connected with the robot body, and the negative pressure collecting cover is fixedly connected to the fixing frame;

The quick-release structure includes a guide sleeve and a threaded connector, the brackets of the two brush disc assemblies are connected through the guide sleeve, and the fixing frame is inserted into the guide sleeve along the front-rear direction, The screw connection is used to fasten the fixing frame to the guide sleeve.

During the use of the brush disc, due to the entanglement of some garbage or the wear of the bristles, etc., the brush disc needs to be disassembled for operations such as replacement or maintenance. In the quick release structure, the fixing frame is inserted into the The bracket can be connected with the robot body in the guide sleeve, and the guide sleeve can be fastened by fixing the threaded connector, so that the brush plate assembly can be fixed. The brush plate assembly can be quickly disassembled by loosening the threaded connection, thereby improving work efficiency.

In a second aspect, the present application further provides a cleaning robot, including a robot body and the aforementioned brushing mechanism, wherein the brushing mechanism is disposed at the front end of the robot body.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a structural diagram of a cleaning robot applying a brushing mechanism provided according to some embodiments of the present application;

2 is a structural diagram of a link mechanism provided according to some embodiments of the present application;

FIG. 3 is a schematic diagram illustrating the cooperation between a link mechanism and a fixing frame provided according to some embodiments of the present application;

FIG. 4 is a schematic diagram of the connection between the brushing mechanism and the robot body according to some embodiments of the present application.

Icons: 1-robot body, 10-brush plate assembly, 110-brush plate, 111-first link, 112-second link, 113-third link, 114-beam, 115-longitudinal beam, 116- Guide sleeve, 117-cylinder, 118-synchronous belt, 119-first pulley, 120-second pulley, 121-drive motor, 122-elastic part, 123-threaded connection, 124-negative pressure collection cover, 125-negative pressure air inlet, 126-fixing frame, 20-washing mechanism, 30-scraping mechanism, 40-wiping mechanism.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of this application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" appear ” and other indications are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the application is usually placed in use, and are only for the convenience of describing the application and simplifying the description, rather than indicating Or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application. In addition, if the terms "first", "second" and the like appear in the description of the present application, they are only used to distinguish the description, and should not be understood as indicating or implying relative importance.

Furthermore, the appearance of the terms "horizontal", "vertical" and the like in the description of the present application does not mean that the component is required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "arranged", "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed The connection can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

As a kind of service robot, the cleaning robot mentioned in this application is different from the small cleaning robot used for home use, and refers to the use in public areas like residential buildings and large open areas such as office buildings, hotels, hospitals, etc. Scenarios, compared to living in a residential room, in the public areas of residential buildings, office buildings, hotels, hospitals and other places, first, the working area is wider, and the battery life requirements of cleaning robots are higher. Obviously, small cleaning robots are difficult to meet. Second, It is because the types and quantities of garbage to be cleaned are more diverse, and the processing capacity of cleaning robots is higher.

The core of the cleaning robot lies in its various working components that are used to deal with different types of garbage, including mopping components and cleaning components. The mopping components are usually arranged at the rear end of the cleaning robot, and the cleaning components are usually arranged at the front end of the cleaning robot. , During the working process, the cleaning component cleans the ground, sweeps dust, garbage, etc. to the suction port of the vacuum cleaner, and the vacuum cleaner absorbs the dust, garbage, etc. for temporary storage. The residual moisture is removed by adsorption. The core working part of the mopping component is the mopping part, which is mostly made of cloth material, such as a rag. The cleaning robot drives the mopping part to move to realize the wiping and cleaning of the ground.

It is well known that the structure of a cleaning robot mainly includes a body, a walking mechanism, a cleaning mechanism, and a vacuuming mechanism for collecting garbage. The walking mechanism is used to drive the body to walk and transfer the cleaning position. The cleaning mechanism is used to clean and collect garbage. It is used to suck the garbage collected by the cleaning mechanism into the garbage storage tank. The brush plate mechanism is a part of the cleaning mechanism, which is a disc-shaped brush structure, and the brush plate of the traditional cleaning robot is rotatably connected to the body. The inventor found that such an arrangement has many disadvantages.

First, the cleaning range is limited and cannot be fully covered. For example, when cleaning the wall, due to the need to avoid collision between the brush plate and the wall, it is necessary to reserve enough space between the brush plate and the wall, which leads to the location close to the wall. It is impossible to clean or the cleaning effect is limited.

Second, the brush plate is prone to damage, which increases the cost of use. Since the position of the brush plate relative to the body cannot be changed, it is difficult to ensure that the brush plate does not collide with other objects in complex usage scenarios, which makes the brush plate easy to be damaged. damaged by impact.

To sum up, in view of the problems existing in the prior art, the inventor proposes a brush plate mechanism, the brush plate mechanism has a link mechanism, the brush plate is installed on the robot body through the link mechanism, and the The link mechanism has a retracting function, and can retract the brush disk when the brush disk collides with the outside world.

As shown in FIGS. 1 and 2 , FIG. 1 is a structural diagram of a cleaning robot applying a brushing mechanism provided according to some embodiments of the present application, and FIG. 2 is a structural diagram of a link mechanism provided according to some embodiments of the present application; A brushing mechanism is proposed, which is applied to a cleaning robot, and includes at least one brushing assembly 10. The brushing assembly 10 includes:

The link mechanism includes a bracket, a first link 111, a second link 112 and a third link 113 that are hinged in sequence;

The front brush plate 110 and the rear brush plate 110 are installed on the second connecting rod 112;

An elastic piece 122, one end is connected to the bracket, the other end is connected to one of the first link 111, the second link 112 and the third link 113, the elastic piece 122 is used to provide the link mechanism to reset elasticity.

The first link 111 and the third link 113 are hinged with the bracket, so that the first link 111 and the third link 113 can rotate relative to the bracket, and the second link 112 is connected with the first link 111 and the third link The connecting rod 113 is hinged to form a link mechanism, so that the brush plate 110 arranged on the second link 112 can move relative to the bracket. When the brush plate 110 is impacted by the outside, the first link 111 and the third link 113 is rotated under the push of the second link 112, and the brush plate 110 is moved closer to the body of the cleaning robot, so as to prevent the brush plate 110 from being damaged by impact.

The elastic member 122 is compressed when the first link 111 and the third link 113 rotate. On the one hand, it avoids the first link 111 and the third link 113 from rotating too fast to collide with the robot body 1, and on the other hand, the first link 111 and the third link 113 are prevented from colliding with the robot body 1. The connecting rod 111 and the third connecting rod 113 are buffered to convert the kinetic energy of the first connecting rod 111 and the third connecting rod 113 into elastic potential energy. After the external restriction disappears, the elastic restoring force of the brush plate 110 on the elastic member 122 is made The brush disk 110 is reset under the action of .

Obviously, the single rod structure in which the brush plate 110 is directly disposed on the first link 111 or the third link 113 can also achieve the purpose of retracting the brush plate 110 to protect the brush plate 110 from damage. However, the present application The linkage mechanism can not only achieve the above-mentioned purposes, but also, compared with the single-rod structure described above, the linkage mechanism can bear a larger torque in the horizontal direction, which increases the distance between the brush plate 110 and the robot body 1 . The connection strength of the brush plate 110 is improved, and the stability of the brush plate 110 is improved during the rotation of the brush plate 110 .

In addition, the above-mentioned single rod structure is prone to collision between the brush plate 110 and the robot body 1 during rotation, which is not worth the loss from the perspective of protecting the brush plate 110, and the link mechanism of the present application is in the brush plate 110. The moving process is not only to move closer to the robot body 1, but also to move to the back of the robot body 1. Compared with the simple rotation and retraction, the brush disc 110 moves towards the robot body 1 less distance, avoiding the brush disc 110 and the robot body 1. A phenomenon in which the robot body 1 collides occurs.

As shown in FIG. 2 , according to some embodiments of the present application, optionally, the front brush plate 110 is installed at the hinge of the second connecting rod 112 and the first connecting rod 111 , and the rear brush plate 110 is installed on the first connecting rod 111 . The hinge joint between the third link 113 and the second link 112 .

Each brush plate 110 is arranged at each hinge, the first connecting rod 111 and the third connecting rod 113 can directly drive the corresponding front brush plate 110 and rear brush plate 110 to move, so as to improve the front brush plate 110 and the rear brush plate 110 . 110 Flexibility in motion.

As shown in FIG. 4, FIG. 4 is a schematic diagram of the connection between the brush plate mechanism and the robot body 1 provided according to some embodiments of the present application. According to some embodiments of the present application, optionally, the brush plate mechanism further includes a drive motor 121 and a A transmission assembly, the driving motor 121 is used to drive the front brush plate 110 or the rear brush plate 110, and the front brush plate 110 and the rear brush plate 110 are connected through the transmission assembly, and the transmission assembly is used to make The front brush plate 110 and the rear brush plate 110 rotate synchronously.

Most common cleaning robots have a structure with one brush disc 110 on one side, so the cleaning area is too small, and there is a blind spot for cleaning. For example, between the two brush discs 110, there are often some areas that cannot be cleaned. In this application, Each brush plate assembly 10 is provided with two brush plates 110. By reasonably setting parameters such as the size and spacing of the brush plates 110, the blind spot can be reduced or even eliminated, and the cleaning effect and cleaning efficiency can be improved. During the operation of the robot, each brush plate 110 needs to keep rotating, and the driving of each brush plate 110 corresponding to a drive motor 121 will increase the energy consumption of the cleaning robot during operation and increase the production cost. Only one driving motor 121 needs to drive the front brush plate 110 or the rear brush plate 110 to rotate to drive the two brush plates 110 to rotate together, which reduces the production cost and improves the endurance of the cleaning robot.

As shown in FIG. 2, according to some embodiments of the present application, optionally, the transmission assembly includes:

The first pulley 119 is rotatably connected to the second connecting rod 112 and is fixedly connected to the front brush plate 110;

The second pulley 120 is rotatably connected to the second connecting rod 112 and is fixedly connected to the rear brush plate 110;

The timing belt 118 is wound around the outer edges of the first pulley 119 and the second pulley 120 .

The belt transmission structure composed of the first pulley 119 , the second pulley 120 and the synchronous belt 118 can achieve the purpose of driving the two brush discs 110 to rotate at the same time. Specifically, when one of the brush discs 110 is driven by the driving motor 121 When rotating, the pulley connected with the pulley rotates synchronously, that is, the pulley is the driving pulley, and under the transmission action of the synchronous belt 118, the other pulley rotates accordingly; at the same time, the belt transmission structure can realize long-distance transmission, That is, even if the distance between the front brush plate 110 and the rear brush plate 110 is long, the front brush plate 110 and the rear brush plate 110 can still be driven to rotate simultaneously.

In the present application, the first pulley 119 and the second pulley 120 may be the synchronous belt 118 pulleys, and the synchronous belt 118 is meshed with the synchronous belt 118 pulleys to improve the transmission efficiency.

According to some embodiments of the present application, optionally, the brush plate mechanism includes two brush plate assemblies 10 , the two brush plate assemblies 10 are symmetrically arranged in the left-right direction, and the brackets of the two brush plate assemblies 10 are fixedly connected or integral molding.

The symmetrically arranged brush plate assemblies 10 can simultaneously clean both sides of the cleaning robot during the movement of the cleaning robot, thereby improving cleaning efficiency. The brackets of the two brush plate assemblies 10 are fixedly connected or integrally formed so that the relative positions of the two brush plate assemblies 10 are fixed, which facilitates the control of the positions of the two brush plate assemblies 10 relative to the robot body 1 .

As shown in FIG. 1 , FIG. 2 , FIG. 3 , and FIG. 4 , according to some embodiments of the present application, optionally, the distance between the two front brush plates 110 is greater than the distance between the two rear brush plates 110 .

First of all, this setting enables the space between the two front brush discs 110 to be cleaned by the two rear brush discs 110, so that during the movement of the cleaning robot, the brush discs 110 on the two brush disc assemblies 10 can be cleaned without omission. Sweep the ground. Furthermore, the front brush plate 110 and the rear brush plate 110 form an "eight"-shaped structure. During operation, the brush plates 110 of the two brush plate assemblies 10 can be rotated in opposite directions, and both rotate inward. When the cleaning robot moves to one place, the front brush plate 110 first cleans the garbage on the ground, the garbage moves between the two front brush plates 110 on the one hand, and moves backward on the other hand, and its movement trajectory is similar to a parabola. , as the cleaning robot continues to move forward, the rear brush plate 110 sweeps the ground while sweeping the garbage collected by the front brush plate 110 backwards. At this time, the front brush plate 110 can block the garbage, When the rear brush plate 110 cleans the garbage, the garbage will fly out around;

As shown in FIG. 2 , according to some embodiments of the present application, optionally, the bracket is L-shaped and includes a transverse beam 114 and a longitudinal beam 115 , the longitudinal beam 115 extends in the front-rear direction, and the transverse beam 114 extends from the front end of the longitudinal beam 115 along the Extending in the left-right direction, the first link 111 is hinged to one end of the transverse beam 114 away from the longitudinal beam 115 , and the third link 113 is hinged to the middle of the longitudinal beam 115 .

The brush plate assembly 10 is connected to the robot body 1 through the beam 114. In order to satisfy that the distance between the two front brush plates 110 is greater than the distance between the two rear brush plates 110, the distance between the front brush plate 110 and the beam 114 should be The distance between the rear brush plate 110 and the beam 114 can be achieved by adjusting the position where the first connecting rod 111 is connected to the longitudinal beam 115. In this application, the beam 114 and the longitudinal beam 115 can be integrally formed. Obviously, by adding The length of the first link 111 can also make the distance from the front brush plate 110 to the beam 114 greater than the distance from the rear brush plate 110 to the beam 114. However, the longer the length of the first link 111, the more the front The worse the stability of the brush disc 110 when it moves, the further it will cause the front brush disc 110 to vibrate up and down when it moves. When it vibrates upwards, first, the bristles of the brush disc 110 rebound, causing the brush surface of the brush disc 110 to become smaller and lower. The cleaning area, the second is that the pressure acting on the brush surface of the brush plate 110 changes, so that the garbage adhering to the ground cannot be swept, reducing the cleaning efficiency and cleaning effect.

Further, the elastic member 122 can be a spring, the two ends of the spring are provided with hooks, and the two components connected by the spring are respectively provided with cylinders 117, so that the hooks can be hung on the corresponding cylinders. 117, for example, the column 117 can be respectively arranged on the longitudinal beam 115 and the third link 113. When the front brush plate 110 is stressed, the first link 111 and the third link 113 rotate backward, so The spring is stretched.

As shown in FIG. 3, according to some embodiments of the present application, optionally, the brushing mechanism further includes:

The negative pressure collecting cover 124 is disposed behind the rear brush plate 110 for collecting the garbage collected by the front brush plate 110 and the rear brush plate 110. The inlet of the negative pressure collecting cover 124 faces the rear brush A negative pressure air inlet 125 is provided on the disc 110 and the negative pressure collecting cover 124 .

As mentioned above, when the brush plate 110 is working, the garbage is swept to the middle and backward at the same time, and the negative pressure collection cover 124 is arranged at the rear end of the rear brush plate 110, so that the garbage can be directly swept into the negative pressure collection cover 124, At the same time, the negative pressure equipment such as vacuuming equipment can be communicated with the inside of the negative pressure collection cover 124 through the negative pressure air inlet 125, so that the garbage can be directly collected in the garbage bag, and dust can be prevented from flying.

According to some embodiments of the present application, optionally, the brushing mechanism further includes:

a fixing frame 126, the fixing frame 126 is used for fixed connection with the robot body 1, and the negative pressure collecting cover 124 is fixedly connected to the fixing frame 126;

Quick release structure, the quick release structure includes a guide sleeve 116 and a threaded connector 123, the brackets of the two brush plate assemblies 10 are connected by the guide sleeve 116, the fixing frame 126 is inserted in the guide sleeve 116 in the front-rear direction, and the threaded connection The member 123 is used to fasten the fixing frame 126 to the guide sleeve 116 .

After working for a period of time, the brush plate 110 needs to be maintained. For example, the bristles of the brush plate 110 are always rubbing against the ground, which will cause the bristles of the brush plate 110 to gradually wear out. At the same time, some garbage is easily wrapped around the brush plate 110 On the bristles, the brush disc assembly 10 needs to be disassembled and cleaned. The brush disc 110 of the existing cleaning robot is mostly fixed by fasteners such as bolts, and it takes a long time to disassemble. The brackets of the two brush plate assemblies 10 are connected by the guide sleeves 116. Insert the fixing brackets 126 into the guide sleeves 116 and tighten the threaded connectors 123 to connect the two brush plate assemblies 10 to the robot body 1. Otherwise, loosen the The threaded connector 123 can disassemble the two brush plate assemblies 10 at the same time, thereby improving the work efficiency.

In the present application, the guide sleeve 116 may be formed by bending and processing a metal plate, the guide sleeve 116 may be in an incomplete sleeve shape, and a notch groove may be formed on the side wall to reduce the weight of the guide sleeve 116 .

Further, multiple sets of brush disc assemblies 10 can be prepared in advance, and when the cleaning robot needs to be replaced, it can be quickly replaced to continue working.

Furthermore, the threaded connector 123 may include a threaded rod body and a head end, the threaded rod body and the guide sleeve 116 are connected by threads, and a limiting hole may be provided on the fixing frame 126, and the thread is threaded when the guide sleeve 116 and the fixing frame 126 are fixed. The rod body can be screwed into the limiting hole on the fixing frame 126; the head end is in the shape of a handle that is convenient to hold by hand. For example, the head end can be a hexagonal structure, and the arc at the junction of its adjacent edges is excessive. , to increase hand comfort. The head end enables the user to screw the threaded rod body without carrying professional tools such as a wrench, which further improves the working efficiency of the quick-release structure.

As shown in FIG. 4 , in a second aspect, the present application further provides a cleaning robot, including a robot body 1 and the aforementioned brushing mechanism, wherein the brushing mechanism is disposed at the front end of the robot body 1 .

The robot body 1 further includes: a scrubbing mechanism 20, which is arranged behind the brushing mechanism for washing the ground; a scraping mechanism 30, which is arranged behind the scrubbing mechanism 20, is used to collect water on the ground; a dragging mechanism 40, which is arranged after the scraping mechanism 30, and is used for dragging the ground.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. A brush plate mechanism, applied to a cleaning robot, is characterized in that, comprising at least one brush plate assembly, and the brush plate assembly comprises: a link mechanism, including a bracket, a first link, a second link and a third link that are hinged in sequence; The front brush plate and the rear brush plate are installed on the second connecting rod; An elastic member, one end is connected to the bracket, the other end is connected to one of the first link, the second link and the third link, the elastic member is used to provide the The elastic force of the lever mechanism to reset. 2 . The brush plate mechanism according to claim 1 , wherein the front brush plate is installed at the hinge joint between the second link and the first link, and the rear brush plate is installed at the The hinge joint between the third link and the second link. 3 . The brush disc mechanism according to claim 1 , wherein the brush disc mechanism further comprises a drive motor and a transmission assembly, and the drive motor is used to drive the front brush disc or the rear brush disc, and the brush disc mechanism 3 . The front brush plate and the rear brush plate are connected through the transmission assembly, and the transmission assembly is used to make the front brush plate and the rear brush plate rotate synchronously. 4. The brush plate mechanism according to claim 3, wherein the transmission assembly comprises: a first pulley, rotatably connected to the second link, and fixedly connected to the front brush plate; a second pulley, rotatably connected to the second link, and fixedly connected to the rear brush plate; A timing belt is wound around the outer edges of the first pulley and the second pulley. 5 . The brush plate mechanism according to claim 1 , wherein the brush plate mechanism comprises two brush plate assemblies, and the two brush plate assemblies are symmetrically arranged in the left-right direction. 6 . , the brackets of the two brush plate assemblies are fixedly connected or integrally formed. 6 . The brush plate mechanism according to claim 5 , wherein the distance between the two front brush plates is greater than the distance between the two rear brush plates. 7 . 7 . The brush disc mechanism according to claim 6 , wherein the bracket is L-shaped and comprises a transverse beam and a longitudinal beam, the longitudinal beam extends in the front-rear direction, and the transverse beam extends from the front end of the longitudinal beam along the longitudinal direction. 8 . Extending in the left-right direction, the first link is hinged to one end of the transverse beam away from the longitudinal beam, and the third link is hinged to the middle of the longitudinal beam. 8. The brushing mechanism according to claim 5, wherein the brushing mechanism further comprises: The negative pressure collection cover is arranged behind the rear brush plate and is used to collect the garbage collected by the front brush plate and the rear brush plate. The inlet of the negative pressure collection cover faces the rear brush plate, so The negative pressure collection cover is provided with a negative pressure air inlet. 9. The brushing mechanism according to claim 8, wherein the brushing mechanism further comprises: a fixing frame, the fixing frame is used to be fixedly connected with the robot body, and the negative pressure collecting cover is fixedly connected to the fixing frame; The quick release structure includes a guide sleeve and a threaded connector, the brackets of the two brush disc assemblies are connected through the guide sleeve, and the fixing frame is inserted into the guide sleeve along the front-rear direction, The screw connection is used to fasten the fixing frame to the guide sleeve. 10. A cleaning robot, characterized in that it comprises a robot body and a brushing mechanism according to any one of claims 1-9, wherein the brushing mechanism is arranged at the front end of the robot body.

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