CN217659612U

CN217659612U - Cleaning device

Info

Publication number: CN217659612U
Application number: CN202221235125.9U
Authority: CN
Inventors: 丁卫东; 汤文斌; 占德友; 曹斌; 曹浪; 徐东海; 张旭东; 郑军妹
Original assignee: Ningbo Fotile Kitchen Ware Co Ltd
Current assignee: Ningbo Fotile Kitchen Ware Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-10-28
Anticipated expiration: 2032-05-20

Abstract

The utility model relates to a cleaning device, including the casing, set up two walking wheels on the casing, set up acceleration sensor, assist drive device, the control circuit board in the casing, control circuit board respectively with acceleration sensor, assist drive device signal of telecommunication connection, assist drive device's output is connected with at least one walking wheel. The utility model provides a cleaning device, can acquire cleaning device's moving direction through acceleration sensor, the translation rate, information such as the acceleration situation of change, can predetermine the acceleration to cleaning device very much, the deceleration operation, and then the trend that can better predetermine and turn to, based on these information, can realize the control to assist drive device, make assist drive device can provide with cleaning device walking direction, walking speed assorted helping hand, especially when cleaning device changes at the moving direction, can be based on acceleration sensor's predetermined result, avoid providing the helping hand of opposite direction and lead to the too big condition of user operating resistance.

Description

Cleaning device

Technical Field

The utility model relates to a cleaning device.

Background

Along with the continuous improvement of the living standard of people, people need more and more intelligent cleaning equipment, except the requirements of products such as traditional washing machines and dish washing machines, the requirements of people on cleaning products such as floor sweepers, mopping machines, floor washing machines and dust collectors are gradually increased at present.

Domestic floor cleaning machine, dust catcher need the handheld promotion of user to carry out cleaning work usually, but because floor cleaning machine, dust catcher clean the part need and fully contact between the ground just can reach good cleaning performance, so clean the frictional force between part and the ground and can require great to the driving force of floor cleaning machine, the user is comparatively hard when the operation. In order to solve the problem of labor-consuming operation of a user, an assistance mechanism is additionally arranged in a cleaning product in the prior art, so that the pushing operation is more labor-saving. When the cleaning products such as the floor washing machine and the dust collector are used, a user can push forwards or pull backwards two directions, so that the cleaning products can move forwards and backwards in two movement directions, the assisting force in different directions needs to be provided correspondingly for different movement directions, the movement direction of the cleaning products needs to be detected, and otherwise, the problem of overlarge operation resistance in one direction exists. In addition, the operation speed of the cleaning device by the user cannot be kept constant, and if the difference between the magnitude of the assistance force and the operation speed of the cleaning device by the user is too large, particularly when the user operates the cleaning device to move in a reversing manner, if the operation intention of the user cannot be predicted, the assistance mechanism can provide the assistance force for increasing the operation resistance of the user instead.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a cleaning device that can prejudge switching-over intention, provide and moving direction, moving speed assorted helping hand is provided to above-mentioned prior art.

The utility model provides a technical scheme that above-mentioned technical problem adopted does: the utility model provides a cleaning device, includes the casing, sets up two walking wheels on the casing, its characterized in that: still including setting up acceleration sensor, assist drive device, the control circuit board in the casing, control circuit board respectively with acceleration sensor, assist drive device signal of telecommunication connection, assist drive device's output is connected with at least one walking wheel.

Preferably, the power assisting mechanism is a motor, and an output shaft of the motor is connected with one of the traveling wheels.

In order to realize waterproof, dustproof and shockproof protection of the control circuit board and the acceleration sensor, a protection box is further arranged in the casing, and the control circuit board and the acceleration sensor are arranged in the protection box.

In order to obtain more accurate moving direction information, a direction detection mechanism for detecting the moving direction of the machine shell is further arranged in the machine shell.

In order to improve the sensitivity of the direction change detection, the direction detection mechanism comprises an auxiliary wheel which rotates synchronously with the casing, a detection module for detecting the moving direction of the casing and a transmission assembly; the auxiliary wheel, the detection module and the transmission assembly are all arranged on the shell, the detection module comprises a coded disc and a detection element, the auxiliary wheel is in transmission connection with the coded disc through the transmission assembly, a plurality of signal elements are distributed on the coded disc, the detection element is arranged corresponding to the coded disc and can detect signals acquired by the signal elements, and the detection element is in electrical signal connection with the control circuit board.

Optionally, the signal element is a magnet, the detection element is a hall sensor, a first detection circuit board is arranged on one side of the code disc, the hall sensor faces the code disc and is arranged on the first detection circuit board and is in electrical signal connection with the first detection circuit board, and the first detection circuit board is in electrical signal connection with the control circuit board.

Optionally, the signal element is a grating, the detection element is a photoelectric coding sensor, and a second detection circuit board is arranged on one side of the code disc; the photoelectric coding sensor comprises a U-shaped support, and a light emitter and a light receiver which are arranged on the support, wherein the other side wall of the support is arranged on two sides of the code disc in a way of facing the code disc respectively; the second detection circuit board is in electrical signal connection with the control circuit board.

In order to enable the auxiliary wheel to be in close contact with a working surface below the machine shell, the auxiliary wheel can be enabled to move synchronously along with the direction of a user operating the cleaning device, the auxiliary wheel is arranged at the bottom of the machine shell, a mounting groove with a downward opening is formed in the bottom of the machine shell, the auxiliary wheel, the detection module and the transmission assembly are all arranged in the mounting groove, an elastic piece is arranged between the auxiliary wheel and the top wall of the mounting groove, and the elastic piece has the tendency of pressing the auxiliary wheel downwards.

In order to realize the waterproof and dustproof protection of the detection module, a shell is arranged in the mounting groove, the detection module and the transmission assembly are arranged in the shell, and an embedding groove for embedding the auxiliary wheel and opening downwards is formed in the shell.

Preferably, the trompil has been seted up on the roof of mounting groove, be equipped with the location axle that the matching stretched into in the trompil on the top surface of casing, the upper end of location axle is connected with spacing knot, location off-axial cover is equipped with the elastic component, the both ends of elastic component support respectively on the top surface of casing and the roof of mounting groove.

Compared with the prior art, the utility model has the advantages of: the utility model provides a cleaning device, can acquire cleaning device's moving direction through acceleration sensor, the translation rate, information such as the acceleration situation of change, can predetermine the acceleration to cleaning device very much, the deceleration operation, and then the trend that can better predetermine and turn to, based on these information, can realize the control to assist drive device, make assist drive device can provide with cleaning device walking direction, walking speed assorted helping hand, especially when cleaning device changes at the moving direction, can be based on acceleration sensor's predetermined result, avoid providing the helping hand of opposite direction and lead to the too big condition of user operating resistance.

Drawings

Fig. 1 is a perspective view of a cleaning device according to a first embodiment of the present invention.

Fig. 2 is another view of fig. 1.

Fig. 3 is a cross-sectional view of a cleaning device according to an embodiment of the present invention.

Fig. 4 is a partially enlarged view of fig. 3.

Fig. 5 is a cross-sectional view of a cleaning device according to a second embodiment of the present invention.

Fig. 6 is a partially enlarged view of fig. 5.

Detailed Description

The present invention will be described in further detail with reference to the following embodiments.

Example one

As shown in fig. 1 to 4, the cleaning device in this embodiment includes a housing 1, two traveling wheels 2, an acceleration sensor 100, a power assisting mechanism 9, a control circuit board 8, and a detection mechanism. The control circuit board 8 is respectively connected with the acceleration sensor 100, the boosting mechanism 9 and the detection mechanism through electric signals.

Two setting of walking 2 symmetries of wheel are on casing 1, and two walking wheels 2 set up respectively in casing 1's both sides usually, according to cleaning device's concrete structure, the mounted position and the mounting means of specifically designed walking wheel 2. The two traveling wheels 2 in this embodiment are rotatably connected to both sides of the rear portion of the housing 1.

The control circuit board 8, the boosting mechanism 9 and the acceleration sensor 100 are all arranged in the machine shell 1. The acceleration sensor 100 may employ various types of acceleration sensors 100 in the related art. The power-assisted mechanism 9 is used for providing power assistance in the forward and backward directions for the walking wheels 2, the control circuit board 8 is in electric signal connection with the power-assisted mechanism 9, and the power-assisted mechanism 9 is connected with at least one walking wheel 2. The power-assisted mechanism 9 in the embodiment is a motor, and an output shaft of the motor is connected with one walking wheel 2.

The acceleration sensor 100 can detect the speed change condition and the direction of the cleaning device, and is particularly sensitive to the speed-up and speed-down movement conditions of the cleaning device, so that a certain prejudgment is provided for the steering of the cleaning device, and the control circuit board 8 can control the driving force and the driving rotating speed output by the power assisting mechanism 9 according to the speed change condition of the cleaning device after acquiring the detection signal transmitted by the acceleration sensor 100, and can avoid the situation that the movement direction of the cleaning device changes based on the operation of a user and provides reverse driving force, thereby avoiding the situation that the operation resistance of the user is increased. That is, in the control, the assist mechanism 9 may be controlled to stop working when the acceleration sensor 100 detects that the moving speed of the cleaning device is gradually reduced and approaches to 0, thereby avoiding the problem of providing the reverse assist force.

Although the acceleration sensor 100 can detect the moving direction of the cleaning apparatus, it needs a certain detection time to acquire the reversing information when the cleaning apparatus reverses, that is, there is a certain hysteresis in the reversing detection of the cleaning apparatus, and further, even if the booster drive cannot be applied at the time when the operation resistance corresponding to the reversing time is the maximum, the comfort of the user operation is reduced. Therefore, the following detection mechanism is adopted in this embodiment to improve the accuracy of detecting the moving direction of the cleaning device.

The detection mechanism is used for timely and accurately detecting the moving direction of the casing 1, and the detection mechanism can adopt a structure capable of detecting the moving direction in the prior art, if a plurality of magnets are arranged in the travelling wheels 2, a Hall module is arranged in the casing 1, and then the magnetic force signal of the magnets is detected by the Hall module, and then the advancing and retreating directions of the casing 1 are obtained.

The detection mechanism in this embodiment comprises an auxiliary wheel 3, a detection module 4 and a transmission assembly 5, and the detection mechanism has very high sensitivity to direction detection.

Specifically, auxiliary wheel 3 sets up in the position that can follow casing 1 synchronous motion, and auxiliary wheel 3 diameter in this embodiment is less than the diameter of walking wheel 2, and this auxiliary wheel 3 mainly cooperates detection module 4 work, and then obtains casing 1's moving direction, also is cleaning device's moving direction, and then conveniently according to cleaning device's the direction of advancing, retreating and realize cleaning device's functional control.

In this embodiment, set up auxiliary wheel 3 in the bottom of casing 1, so auxiliary wheel 3 can realize direct contact with the working face, when the user promoted forward and when pulling cleaning device backward, auxiliary wheel 3 can be timely carry out the rotation of equidirectional according to cleaning device. In order to enable the auxiliary wheel 3 to be in close contact with the working face below the machine shell 1, and further ensure that the auxiliary wheel 3 can move in the same direction along with the direction of the user for operating the cleaning device, an elastic part 6 is arranged between the auxiliary wheel 3 and the machine shell 1, the elastic part 6 has the trend of pressing the auxiliary wheel 3 down, so that the auxiliary wheel 3 is always attached to the working face, and the high synchronism of the auxiliary wheel 3 and the machine shell 1 is ensured.

In order to facilitate the installation of the structures of the auxiliary wheel 3, the detection module 4 and the transmission assembly 5, an installation groove 11 with a downward opening is formed in the bottom of the machine shell 1, and the auxiliary wheel 3, the detection module 4 and the transmission assembly 5 are all arranged in the installation groove 11. Specifically, be equipped with casing 7 in the mounting groove 11, detection module 4, drive assembly 5 set up in casing 7, and casing 7 can realize waterproof, dustproof protection to detection module 4 like this, guarantees the reliability of detection module 4 work. The housing 7 is formed with an insertion groove 71 into which the auxiliary wheel 3 is inserted and opened downward. The trompil has been seted up on the roof of mounting groove 11, is equipped with the location axle 72 that the matching stretched into in the trompil on the top surface of casing 7, and the upper end of location axle 72 is connected with spacing knot, and location axle 72 overcoat is equipped with elastic component 6, the both ends of elastic component 6 support respectively on the roof of the top surface of casing 7 and mounting groove 11. The downward urging of the auxiliary wheel 3 is thus achieved by the downward urging force of the elastic member 6 against the housing 7, so that the auxiliary wheel 3 is brought into intimate contact with the action surface.

The detection module 4 is used for detecting the moving direction of the machine shell 1, and the detection module 4 is in transmission connection with the auxiliary wheel 3 through a transmission component 5. Specifically, the detecting module 4 includes a code wheel 41 and a detecting element, and the auxiliary wheel 3 and the code wheel 41 are drivingly connected by a transmission assembly 5. In the present embodiment, the transmission assembly 5 is a transmission gear set, the transmission gear set is connected with the auxiliary wheel 3 through a first connecting shaft 51, and the transmission gear set is connected with the code wheel 41 through a second connecting shaft 52.

A plurality of signal elements are distributed on the code wheel 41, and detection elements are provided corresponding to the code wheel 41 so as to detect signals acquired to the signal elements. In the present embodiment, specifically, the signal elements are magnets, the magnets are circumferentially distributed on the code wheel 41, the corresponding detection elements are hall sensors, the hall sensors include two hall elements with different positions relative to the moving direction of the magnetic member, one side of the code wheel 41 is provided with a first detection circuit board 43, the hall sensors are arranged on the first detection circuit board 43 facing the code wheel 41 and are in electrical signal connection with the first detection circuit board 43, and the first detection circuit board 43 is in electrical signal connection with the control circuit board 8. During operation, code wheel 41 rotates along with auxiliary wheel 3 under the effect of drive assembly 5, and two hall elements in the hall sensor are because the position is different for the magnetic signal time sequence that two hall elements detected is different, and then first detection circuit board 43 outputs the magnetic signal wave form that two verses are different to control circuit board 8, and control circuit board 8 judges the walking direction of casing 1 to be the direction of advance or the direction of retreat according to the magnetic signal wave form. The detection module 4 can acquire the moving direction information of the cleaning device in a short time, and the detection of the magnetic signal is not easily affected by common dirt, so that the work is more reliable.

The detection module 4 is used for detecting the forward and backward directions of the cleaning device and further controlling the driving direction of the power assisting mechanism 9, so that after the cleaning device is judged to move in a reversing manner, the motor can be controlled in time to adjust the driving direction, and the problem of large operation resistance in the reversing process is solved. Namely, when a user operates the cleaning device to move in a reversing way, even if the rotation of the walking wheels 2 has rotation inertia, the walking direction adjustment has hysteresis, the power-assisted direction of the power-assisted mechanism 9 can be timely adjusted by the aid of the auxiliary wheels 3 and the detection module 4 after the reversing information is acquired, and the problem of increased resistance caused by the hysteresis of the power-assisted driving direction adjustment of the walking wheels 2 is avoided. Then, the driving force and the driving rotational speed of the assist mechanism 9 are controlled in accordance with the speed change of the cleaning device detected by the acceleration sensor 100. The power assisting mechanism 9 ensures that the power assisting mechanism is accurate, timely and appropriate in the use process of the cleaning device, and particularly improves the operation comfort in the steering process of the cleaning device.

In addition, based on timely and accurate detection of the change conditions of the moving direction and the moving speed of the cleaning device, other function control of the cleaning device can be realized. Such as whether water is discharged or not, water yield and other additional functions can be controlled according to the timely direction information and the movement change information.

Example two

As shown in fig. 5 and fig. 6, the difference between the present embodiment and the first embodiment is only that: in this embodiment, the signal element of the detection module 4 is a grating, and the arrangement of the grating on the code wheel 41 is specifically set as required. The detection element of the detection module 4 is a photoelectric coding sensor 44, one side of the code wheel 41 is provided with a second detection circuit board 45, and the second detection circuit board 45 is in electric signal connection with the control circuit board 8. The photoelectric coding sensor 44 includes a U-shaped bracket, and a light emitter and a light receiver both disposed on the bracket, the other side wall of the bracket is disposed on both sides of the code wheel 41 facing the code wheel 41, respectively, the light emitter is disposed on one side wall of the bracket facing the code wheel 41, the light receiver is disposed on the other side wall of the bracket facing the code wheel 41 corresponding to the light emitter, and the light receiver is electrically connected to the second detection circuit board 45, and the second detection circuit board 45 is electrically connected to the control circuit board 8. When the cleaning device works, the light emitter emits light to act on the grating on the code disc 41, the receiver obtains light signals on the grating on the code disc 41 along with the rotation of the code disc 41, then the waveform signals are formed through the processing of the second detection circuit board 45, and the control circuit board 8 obtains the moving direction of the cleaning device according to the waveform signals transmitted by the second detection circuit board 45. The detection module 4 has a simple structure, and the detection result is accurate and timely.

Directional terms such as "front", "rear", "upper", "lower", "left", "right", "side", "top", "bottom", and the like are used in the description and claims of the present invention to describe various example structural parts and elements of the present invention, but these terms are used herein for convenience of description only and are determined based on example orientations shown in the drawings. Because the disclosed embodiments of the present invention may be oriented in different directions, the directional terms are used for descriptive purposes and are not to be construed as limiting, e.g., "upper" and "lower" are not necessarily limited to directions opposite to or coincident with the direction of gravity.

Claims

1. The utility model provides a cleaning device, includes casing (1), sets up two walking wheels (2) on casing (1), its characterized in that: still including setting up acceleration sensor (100), assist drive device (9), control circuit board (8) in casing (1), control circuit board (8) respectively with acceleration sensor (100), assist drive device (9) signal of telecommunication connection, the output of assist drive device (9) is connected with at least one walking wheel (2).

2. The cleaning device of claim 1, wherein: the power-assisted mechanism (9) is a motor, and an output shaft of the motor is connected with one of the travelling wheels (2).

3. The cleaning device of claim 1, wherein: still be provided with protection box (10) in casing (1), control circuit board (8), acceleration sensor (100) set up in protection box (10).

4. The cleaning device according to any one of claims 1 to 3, wherein: the casing (1) is also internally provided with a direction detection mechanism for detecting the moving direction of the casing (1).

5. The cleaning device of claim 4, wherein: the direction detection mechanism comprises an auxiliary wheel (3) which synchronously rotates along with the machine shell (1), a detection module (4) for detecting the moving direction of the machine shell (1) and a transmission assembly (5); the auxiliary wheel (3), the detection module (4) and the transmission assembly (5) are all arranged on the machine shell (1), the detection module (4) comprises a coded disc (41) and detection elements, the auxiliary wheel (3) and the coded disc (41) are in transmission connection through the transmission assembly (5), a plurality of signal elements are distributed on the coded disc (41), the detection elements are arranged corresponding to the coded disc (41) and can detect signals acquired to the signal elements, and the detection elements are in electrical signal connection with the control circuit board (8).

6. The cleaning device of claim 5, wherein: the signal element is a magnet, the detection element is a Hall sensor, a first detection circuit board (43) is arranged on one side of the coded disc (41), the Hall sensor faces the coded disc (41), is arranged on the first detection circuit board (43) and is in electric signal connection with the first detection circuit board (43), and the first detection circuit board (43) is in electric signal connection with the control circuit board (8).

7. The cleaning device of claim 5, wherein: the signal element is a grating, the detection element is a photoelectric coding sensor (44), and a second detection circuit board (45) is arranged on one side of the coded disc (41); the photoelectric coding sensor (44) comprises a U-shaped bracket, and a light emitter and a light receiver which are arranged on the bracket, wherein the other side wall of the bracket is respectively arranged on two sides of the code disc (41) facing the code disc (41), the light emitter is arranged on one side wall of the bracket facing the code disc (41), the light receiver is arranged on the other side wall of the bracket facing the code disc (41) and corresponding to the light emitter, and the light receiver is in electric signal connection with a second detection circuit board (45); the second detection circuit board (45) is in electric signal connection with the control circuit board (8).

8. The cleaning device according to any one of claims 5 to 7, wherein: auxiliary wheel (3) set up in the bottom of casing (1), and the bottom of casing (1) is equipped with downwardly opening's mounting groove (11), auxiliary wheel (3), detection module (4), drive assembly (5) all are established in mounting groove (11), be provided with elastic component (6) between the roof of auxiliary wheel (3) and mounting groove (11), elastic component (6) have the trend of pushing down auxiliary wheel (3).

9. The cleaning apparatus of claim 8, wherein: be equipped with casing (7) in mounting groove (11), detection module (4), drive assembly (5) set up in casing (7), casing (7) are gone up the shaping and are had and supply auxiliary wheel (3) embedding and downward open-ended caulking groove (71).

10. The cleaning apparatus of claim 9, wherein: the trompil has been seted up on the roof of mounting groove (11), be equipped with on the top surface of casing (7) and match the location axle (72) that stretch into in the trompil, the upper end of location axle (72) is connected with spacing knot, location axle (72) overcoat is equipped with elastic component (6), the both ends of elastic component (6) support respectively on the roof of the top surface of casing (7) and mounting groove (11).