CN219331535U

CN219331535U - Cleaning robot

Info

Publication number: CN219331535U
Application number: CN202223022018.0U
Authority: CN
Inventors: 门胜强
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2022-11-14
Filing date: 2022-11-14
Publication date: 2023-07-14
Anticipated expiration: 2032-11-14

Abstract

The disclosure provides a cleaning robot, which comprises at least one group of side brushes, a transmission mechanism and a motor, wherein the motor is connected with the side brushes through the transmission mechanism; the driving mechanism comprises a driving piece and a fixing piece, the driving piece is in transmission connection with the fixing piece, and the driving piece is fixedly connected with an output shaft of the motor or in transmission connection with the output shaft of the motor; at least one group of edge brushes is coaxially connected with the driving piece; the axis of the fixing piece is parallel to the rotation axis of the driving piece, and the axis of the fixing piece is fixed in position in the transmission process of the transmission mechanism; the driving part rotates along with the rotation of the motor output shaft and with the rotation axis, and meanwhile, the rotation axis of the driving part rotates around the axis of the fixing part, the rotation track is polygonal, and the cleaning area of at least one group of side brushes coaxially connected with the driving part is polygonal. The cleaning robot side brush assembly with the structure can be well attached to the corner, the corner is effectively cleaned, and the cleaning robot side brush assembly is more convenient to use.

Description

Cleaning robot

Technical Field

The disclosure relates to the technical field of cleaning machines, and in particular relates to a cleaning robot.

Background

The existing sweeping robot has a circular shape, and the motion track of the side brush for cleaning the wall and corner areas is also circular. The sweeping robot has the following defects when in use:

when the robot is close to the position of right angle shape corner of sweeping floor, the robot of sweeping floor of circular structure can produce one at the root of right angle shape corner of wall and clean the dead angle, if the limit brush hair is too short, then can't touch the corner region, if the limit brush hair is too long, although can cover the corner region, when cleaning the corner, the partial region is by brush hair deformation completion cleaning, leads to the corner region to be unable clean completely all the time, and cleaning efficiency is low.

Disclosure of Invention

In view of the above, an object of the present disclosure is to provide a cleaning robot capable of solving at least one technical problem of failing to clean corners and hair winding.

Based on the above object, the present disclosure provides a cleaning robot including: at least one group of side brushes, a transmission mechanism and a motor, wherein the motor is connected with the side brushes through the transmission mechanism;

the driving mechanism comprises a driving piece and a fixing piece, the driving piece is in transmission connection with the fixing piece, and the driving piece is fixedly connected with an output shaft of the motor or in transmission connection with the output shaft of the motor; the at least one group of edge brushes are coaxially connected with the driving piece;

the axis of the fixing piece is parallel to the rotation axis of the driving piece, and the axis of the fixing piece is fixed in position in the transmission process of the transmission mechanism;

the driving part rotates along with the rotation of the motor output shaft along with the rotation axis, meanwhile, the rotation axis of the driving part rotates around the axis of the fixing part, the rotation track is polygonal, and the cleaning area of at least one group of side brushes coaxially connected with the driving part is polygonal.

Optionally, the driving part is a planetary gear, the fixing part is a fixed gear, the transmission mechanism further comprises at least one reverse gear and a planetary carrier, the planetary gear, the at least one reverse gear and the fixed gear are meshed in sequence, the planetary gear and the at least one reverse gear are arranged on the planetary carrier through a rotating shaft, the planetary carrier is in rotary connection with the fixed gear, and the planetary carrier revolves around the fixed gear and drives the planetary gear to revolve and rotate.

Optionally, the cleaning robot further comprises a first gear and a second gear, the first gear is connected with an output shaft of the motor and meshed with the second gear, and the axis of the second gear is fixedly connected with the planet carrier.

Optionally, the ratio of the fixed gear to the planetary gear is 4:3.

optionally, the number of the reversing gears is an odd number.

Optionally, the driving part is a leno triangle member, and comprises a main body and at least one rotating shaft, wherein the rotating shaft is positioned at the center of the main body and penetrates through the main body;

the fixing piece is a frame with square holes, the Leno triangle component is arranged in the square holes, and the side length of the main body is equal to the side length of the square holes.

Optionally, the at least one rotating shaft includes a first rotating shaft and a second rotating shaft, which are respectively located at two sides of the main body; the first rotating shaft is coincident with the rotating axis of the main body, and the second rotating shaft is parallel to the first rotating shaft and is separated by a preset distance.

Optionally, the motor further comprises at least one universal coupling, and two ends of the universal coupling are respectively connected with the first rotating shaft and the motor output shaft.

Optionally, the at least one group of edge brushes comprises three groups of hair bundles, and included angles between every two of the three groups of hair bundles are equal.

Optionally, the cleaning robot further comprises a body, and the cleaning robot side brush is installed at the bottom of the body.

Compared with the prior art, the technical scheme provided by the present disclosure can achieve the following technical effects: the driving mechanism adopts the driving part and the fixing part, the driving part revolves around the axis of the fixing part in the rotation process, the revolution track is polygonal, the movement track of the side brush coaxially connected with the driving part is also polygonal, the cleaning range formed by the movement of the side brush is a polygonal area, and the side brush can be well attached to the shape of a corner, so that the purpose of effectively cleaning the corner can be achieved. Meanwhile, the side brush movement is not regular round, so that the problem that the side brush and the rotating shaft thereof are wound by hair and the like can be solved, and the use is more convenient.

Drawings

In order to more clearly illustrate the technical solutions of the present disclosure or related art, the drawings required for the embodiments or related art description will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a schematic structural view of one embodiment of a cleaning robot side brush assembly of the present disclosure;

FIG. 2 is a schematic perspective view of one embodiment of a cleaning robot side brush assembly of the present disclosure;

FIG. 3 is a front view of one embodiment of a cleaning robot side brush assembly of the present disclosure;

FIG. 4 is a side view of one embodiment of a cleaning robot side brush assembly of the present disclosure;

FIG. 5 is a schematic perspective view of another embodiment of a cleaning robot side brush assembly of the present disclosure;

fig. 6 is a schematic view of an embodiment of a cleaning robot frame of the present disclosure, wherein fig. 6 (a) is a perspective view of the frame and fig. 6 (b) is a front view of the frame;

fig. 7 is a schematic view of one embodiment of a minoxidil triangle member of a cleaning robot of the present disclosure, wherein fig. 7 (a) is a perspective view of one embodiment of a minoxidil triangle member, and fig. 7 (b) is a front view of one embodiment of a minoxidil triangle member;

fig. 8 is a schematic view of another embodiment of a minoxidil triangle member of a cleaning robot of the present disclosure, wherein fig. 8 (a) is a perspective view of another embodiment of a minoxidil triangle member, and fig. 8 (b) is a side view of one embodiment of a minoxidil triangle member;

FIG. 9 is a front view of one embodiment of a cleaning robot side brush assembly of the present disclosure;

FIG. 10 is a perspective view of one embodiment of a cleaning robot of the present disclosure;

FIG. 11 is a second perspective view of one embodiment of a cleaning robot of the present disclosure;

fig. 12 is a schematic structural view of an embodiment of a cleaning robot of the present disclosure.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first," "second," and the like, as used in embodiments of the present disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

The inventor finds that the reason that the existing sweeping robot cannot clean the corner efficiently is that the edge brushes rotate around the same point, the movement track of the edge brushes is round, and the covered area is approximately round, so that the shape of the corner cannot be attached, and the corner cannot be cleaned efficiently. The inventor makes the motion track of the side brush be polygon through unique mechanical structure design, and the clean scope that the side brush motion covered is polygon region, can fine laminating corner's shape to the purpose of effective clean corner has been reached.

The present disclosure provides a cleaning robot side brush assembly, comprising at least one set of side brushes 104, a transmission mechanism, a motor 020, the motor 020 being connected with the side brushes 104 through the transmission mechanism.

The transmission mechanism comprises a driving part and a fixing part, wherein the driving part and the fixing part are both gyrorotor and are provided with rotation axes. The driving part is in transmission connection with the fixing part, and optionally, the transmission connection is gear engagement, sliding connection or the like. The axis of the fixing piece is parallel to the rotation axis of the driving piece, the axis of the fixing piece is fixed in position in the transmission process of the transmission mechanism, and the rotation axis of the driving piece rotates around the axis of the fixing piece.

The driving member is fixedly connected or in transmission connection with the output shaft of the motor 020, at least one group of side brushes 104 is coaxially connected with the driving member, and the driving member and the side brushes 104 rotate along with the rotation of the output shaft of the motor and the rotation axis of the driving member and the side brushes. Preferably, the driving member, motor 020, is coaxially coupled to the brush 104.

In the transmission process, the rotation axis of the driving part rotates around the axis of the fixing part, the rotation track is polygonal, so that the motion track of the side brush 104 is polygonal, a polygonal cleaning area is formed, and the sufficient cleaning of corners is realized.

As shown in fig. 1-3, one embodiment of a cleaning robot side brush assembly of the present disclosure comprises: the side brush 104 and a transmission mechanism, wherein the transmission mechanism comprises a fixed gear 101, at least one reversing gear 102, a planetary gear 103 and a planetary carrier 105, the fixed gear 101 is a fixed part, and the planetary gear 103 is a driving part.

The side brush 104 is coaxially connected with the planetary gear 103, and the rotation center O of the side brush 104 is located above the rotation axis of the planetary gear 103, thereby ensuring that the rotation angular velocity of the side brush 104 and the planetary gear 103 is the same. The side brush 104 includes more than one group of tufts, and the number of tufts may be two or more, preferably three. When the number of the hair bundles is more than two, the hair bundles of different groups are arranged symmetrically by taking the rotation center of the side brush 104 as the center of a circle, and the included angles between the hair bundles of each group are equal. As shown in fig. 1, the side brush 104 is formed by three groups of tufts, and the included angle between every two tufts is 120 °.

The planetary gear 103 is fixedly connected or in driving connection with the motor output shaft. Preferably, the planetary gear 103 is fixedly mounted on the motor output shaft to rotate with the rotation of the motor output shaft. The planetary gear 103 is meshed with the fixed gear 101 through the reverse gear 102, that is, the reverse gear 102 is meshed with the planetary gear 103, the fixed gear 101 is meshed with the reverse gear 102, and the fixed gear 101 is not meshed with the planetary gear 103. The rotation axis of the planetary gear 103 is parallel to the axis of the fixed gear 101.

The counter gear 102 and the planetary gear 103 are mounted on the carrier 105, for example, the center holes of the counter gear 102 and the planetary gear 103 are formed, and are mounted on the carrier 105 through pins, and the counter gear 102 and the planetary gear 103 can rotate around the pins. The fixed gear 101 is fixedly mounted on the mounting shaft, and the fixed mounting manner adopts, for example, interference connection, D-type shaft connection, key connection and the like. The axis of the fixed gear 101 is fixed in position during transmission. The carrier 105 is rotatably connected to the fixed gear 101, for example, the carrier 105 is mounted on a mounting shaft of the fixed gear 101 by a bearing.

The planetary gear 103 rotates with the rotation of the motor output shaft, and the carrier 105 is rotated around the mounting shaft of the fixed gear 101 by the reverse gear 102, so that the side brush rotates around the fixed gear 101. The planetary gear 103 rotates in the above-described transmission process, and at the same time, its rotation axis revolves around the installation shaft of the fixed gear 101, and the revolution locus is polygonal, so that the movement locus of the end of the side brush 104 is approximately square, or square with rounded corners, and the side brush 104 forms an approximately square cleaning area when rotating.

The number of teeth of the counter gear 102 is preferably equal to the number of teeth of the planetary gears 103. The number of the reverse gears 102 is an odd number to ensure that the rotation direction of the planetary gears 103 is opposite to the rotation direction of the carrier 105 or the fixed gear 101, and the number of the reverse gears 102 is preferably one.

The ratio of the number of teeth of the fixed gear 101 to the number of teeth of the planetary gear 103 can be adjusted according to the radius of the side brush 104 with respect to the rotation center thereof and the number of groups of hair bundles. In some embodiments, the ratio of the number of teeth of the fixed gear 101 to the planetary gear 103 is 4:1 to 4:3, preferably 4:3. when the ratio of the number of teeth of the fixed gear 101 to the planetary gear 103 is 4:3, the motion track of the tail end of the side brush 104 is square.

The working process of the cleaning robot side brush assembly of the embodiment is as follows:

referring to fig. 12, the second gear is engaged with the first gear, and the motor 107 drives the first gear to rotate, so that the second gear rotates, and the shaft center of the second gear is fixedly connected with the carrier 105, so that the carrier 105 is driven to rotate. In this way, the fixed gear 101 is fixed, and the planetary gear 103 and the side brush 104 are driven by the motor 107 to rotate around the rotation axis of the planetary gear 103 at the same angular velocity, and the carrier 105 is driven to rotate around the fixed gear 101 in the opposite direction to the planetary gear 103 by the transmission of the reverse gear 102.

The side brush 104 revolves around the fixed gear 101 while rotating along with the planetary gear 103, and through the structural design, in each movement period of the planetary carrier 105 rotating around the fixed gear 101 for one turn, three hair bundles of the side brush 104 all have one movement to four fixed points, and the movement track formed by the tail ends of the hair bundles is polygonal, so that the coverage area formed by the side brush 104 is polygonal, and the aim of fully cleaning corners can be achieved.

It will be appreciated that when the edge brush 104 is a set of tufts, the locus of motion of the ends of the set of tufts is still approximately square, as long as the structural design described above is employed.

As shown in fig. 5-8, another embodiment of a cleaning robot side brush assembly of the present disclosure includes: a frame 210, a leno triangle 220, an edge brush 104, at least one universal coupling 230. The frame 210 is a fixed member and the minox triangular member 220 is a driving member.

As shown in fig. 6, which shows a specific structure of the frame 210, fig. 6 (a) is a perspective view thereof, and fig. 6 (b) is a front view thereof, the frame 210 is provided with square holes 211, and the side length of the square holes 211 is L.

As shown in fig. 7, an embodiment of the minor triangle 220 is shown in fig. 7 (a) which is a perspective view, and fig. 7 (b) which is a front view, and includes a main body 221 and a first rotating shaft 222, wherein the main body 221 is a rotating body, and has a shape of a generally flat triangular prism, and any section perpendicular to the rotating shaft is a triangle with rounded edges. The first rotation shaft 222 is located at a central position of the main body 221, penetrating the main body 221.

The side brush 104 and the universal joint 230 are fixedly connected with two ends of the first rotating shaft 222 respectively. The universal joint 230 is used to stabilize the first shaft 222 and accommodate rotation of the minor triangle 220, ensuring smooth operation of the cleaning robot side brush assembly, avoiding undesired swing. The other end of the universal coupling 230 is fixedly connected with the motor output shaft.

Optionally, the number of the universal couplings 230 is more than two to improve the stability of the shaft during rotation.

The leno triangular member 220 is mounted in a square hole 211 of the frame 210 with a side length R equal to the side length of the frame 210, i.e. l=r. The minox triangular member 220 is parallel to the rotational axis of the frame 210. The rotational axis of the frame 210 is fixed in position during transmission. The leno triangle member 220 rotates during transmission, and at the same time, the rotation axis of the leno triangle member rotates around the rotation axis of the frame 210, the rotation track is the same as the shape of the hole of the frame 210, and is square, or square with rounded corners, so that the motion track of the side brush 104 is approximate to square, or square with rounded corners, and the side brush 104 forms a cleaning area approximate to square during rotation.

The working process of the cleaning robot side brush assembly of the embodiment is as follows: the frame 210 is fixed, the leno triangle member 220 is driven by external force to rotate along four sides of the square hole 211 of the frame 210, and the first rotating shaft 222 moves in a square shape around the center of the frame 210, so that the movement track of three bristles of the side brush 104 fixedly connected with the first rotating shaft 222 is in a square shape, thereby forming a square coverage area, and achieving the purpose of fully cleaning corners.

As shown in fig. 8, fig. 8 (a) is a perspective view thereof and fig. 8 (b) is a side view thereof, which is a specific structure of another embodiment of the minox-triangle member 220 of the present disclosure. The rotation shaft of the minoxidil triangle 220 includes two first rotation shafts 222 and second rotation shafts 223 respectively located at both sides of the main body 221, the first rotation shafts 222 being coincident with the rotation axis of the main body 221. The first rotation shaft 222 and the second rotation shaft 223 are parallel to each other with a predetermined distance therebetween. By adjusting the spacing between the first rotation axis 222 and the second rotation axis 223, the area of the square track formed by the side brush 104 can be adjusted, thereby facilitating adjustment of the cleaning range of the side brush 104. The side brush 104 and the universal coupling 230 are fixedly connected with a first rotating shaft 222 and a second rotating shaft 223 on two sides of the main body 221 respectively.

In some embodiments, as shown in fig. 9, a reduction box 030 is further included, and the motor 020 is connected to the cleaning robot side brush assembly through the reduction box 030, and the reduction box 030 is used for improving the output torque force of the motor 020. Preferably, the reduction gearbox 030 includes a planetary gear reduction mechanism.

In some embodiments, optionally, the side brush 104 is provided with a mounting hole at the center and is mounted on the rotating shaft of the planetary gear 103. Alternatively, the center of the side brush 104 includes a rotating shaft, and the rotating shaft is fixedly connected with the rotating shaft of the planetary gear 103 through a shaft sleeve or a coupling.

Alternatively, the hair bundles can be replaced by materials such as cloth, sponge, brush and the like, and the hair bundles are selected according to the use situation.

Optionally, the cleaning robot side brush assembly of another embodiment of the present disclosure further includes a brush holder 106, as shown in fig. 4. The brush holder 106 is used to mount and support the side brush 104 and provide protection against hair being entangled in the shaft.

As shown in fig. 10-11, which are perspective views of a cleaning robot 410 according to an embodiment of the present disclosure, fig. 10 and 11 are perspective views of the cleaning robot 410, the cleaning robot 410 includes a body 401, a cleaning robot side brush assembly 010 installed at the bottom of the body 401, and a plurality of traveling wheels 411. The cleaning robot side brush assembly 010 is mounted to an edge of the bottom of the body 401. If the body is square or rounded square, the cleaning robot side brush assembly 010 is preferably mounted at the square corners of the square.

The body 401 is provided with a power source, a control circuit, and a power unit (not shown).

When the cleaning robot 410 walks to the corner, the edge brush 104 at the corner rotates to form a polygonal track attached to the corner, thereby effectively cleaning the corner.

Only one cleaning robot side brush assembly 010 is shown, and it will be appreciated by those skilled in the art that the cleaning robot 410 may also be equipped with a plurality of cleaning robot side brush assemblies 010 simultaneously so that the corners can be cleaned quickly when any position of the cleaning robot 410 is at the corner.

For example, the cleaning robot side brush assembly 010 may also be mounted at the straight edge of the body 401 for cleaning a wall or skirting line, as desired.

Optionally, the cleaning robot 410 further includes a power mechanism that drives the travelling wheel 411 to move, and the cleaning robot side brush assembly 010 moves through the travelling wheel 411, and in this process, the side brush 104 rotates to form a square cleaning area, so that the application range of the cleaning robot 410 can be increased.

The following technical effects are achieved in the above embodiments of the present disclosure: the driving mechanism adopts the driving part and the fixing part, the driving part revolves around the axis of the fixing part in the rotation process, the revolution track is polygonal, the movement track of the side brush coaxially connected with the driving part is also polygonal, the cleaning range formed by the movement of the side brush is a polygonal area, and the side brush can be well attached to the shape of a corner, so that the purpose of effectively cleaning the corner can be achieved. Meanwhile, the side brush movement is not regular round, so that the problem that the side brush and the rotating shaft thereof are wound by hair and the like can be solved, the cleaning burden on the cleaning robot is reduced, and the use is more convenient.

Those of ordinary skill in the art will appreciate that: the discussion of any of the above embodiments is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the present disclosure, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure described above, which are not provided in detail for the sake of brevity.

The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the embodiments of the disclosure, are intended to be included within the scope of the disclosure.

Claims

1. A cleaning robot, comprising: at least one group of side brushes, a transmission mechanism and a motor, wherein the motor is connected with the side brushes through the transmission mechanism;

2. The cleaning robot according to claim 1, wherein the driving member is a planetary gear, the fixing member is a fixed gear, the transmission mechanism further comprises at least one reverse gear and a planetary carrier, the planetary gear, the at least one reverse gear and the fixed gear are sequentially meshed, the planetary gear and the at least one reverse gear are arranged on the planetary carrier through a rotating shaft, the planetary carrier is rotatably connected with the fixed gear, and the planetary carrier revolves around the fixed gear while driving the planetary gear to revolve and rotate.

3. The cleaning robot according to claim 2, further comprising a first gear and a second gear, wherein the first gear is connected to an output shaft of the motor and meshed with the second gear, and an axis of the second gear is fixedly connected to the carrier.

4. The cleaning robot of claim 2, wherein the ratio of fixed gear to planetary gear is 4:3.

5. the cleaning robot of claim 2, wherein the number of the reverse gears is an odd number.

6. The cleaning robot of claim 1, wherein the driving member is a leno triangle member including a main body and at least one rotation shaft, the rotation shaft being located at a central position of the main body, penetrating the main body;

7. The cleaning robot of claim 6, wherein the at least one rotation shaft includes a first rotation shaft and a second rotation shaft, respectively located at both sides of the main body; the first rotating shaft is coincident with the rotating axis of the main body, and the second rotating shaft is parallel to the first rotating shaft and is separated by a preset distance.

8. The cleaning robot of claim 7, further comprising at least one universal coupling having opposite ends coupled to the first shaft and the motor output shaft, respectively.

9. The cleaning robot of claim 1, wherein the at least one set of edge brushes comprises three sets of tufts, the three sets of tufts having equal included angles.

10. The cleaning robot of any one of claims 1-9, further comprising a body, wherein the cleaning robot side brush is mounted to a bottom of the body.