CN220327388U - Multifunctional intelligent cleaning robot - Google Patents

Abstract

The utility model discloses a multifunctional intelligent cleaning robot which comprises a machine body and a stair climbing frame, wherein the stair climbing frame comprises a main frame, a first driving piece, a first connecting rod mechanism, a second driving piece, a second connecting rod mechanism, a front wheel assembly and a rear wheel assembly, the first driving piece is rotationally connected with the main frame, the output end of the first driving piece is rotationally connected with the first connecting rod mechanism, and one end of the first connecting rod mechanism far away from the first driving piece is connected with the front wheel assembly; the second driving piece is rotationally connected with the main frame, the output end of the second driving piece is rotationally connected with the second connecting rod mechanism, and one end of the second connecting rod mechanism, which is far away from the second driving piece, is connected with the rear wheel assembly. In the application, the first driving piece drives the first connecting rod mechanism to rotate so as to drive the front wheel assembly to swing to realize height adjustment, and the second driving piece drives the second connecting rod mechanism to rotate so as to drive the rear wheel assembly to swing to realize height adjustment; thereby enabling the multifunctional intelligent cleaning robot to be adapted to various working environments with a level difference and a plane.

Description

Multifunctional intelligent cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a multifunctional intelligent cleaning robot.

Background

Now, along with the continuous progress of science and technology, housekeeping activities are gradually replaced by artificial intelligence, so that a plurality of robots for doing housekeeping activities are generated, people can be helped to sweep the floor by the sweeping robot, and some sweeping robots can only sweep the garbage on the flat floor, but the transition direction is not continuously swept after encountering steps, so that a new multifunctional intelligent cleaning robot is necessary to solve the technical problems.

Therefore, it is necessary to provide a new multifunctional intelligent cleaning robot to solve the above technical problems.

Disclosure of Invention

The utility model mainly aims to provide a multifunctional intelligent cleaning robot which aims to solve the problem that steps are inconvenient to clean.

In order to achieve the above object, the present utility model provides a multifunctional intelligent cleaning robot, which comprises a machine body and a stair climbing frame, wherein the stair climbing frame comprises a main frame, a first driving piece, a first connecting rod mechanism, a second driving piece, a second connecting rod mechanism, a front wheel assembly and a rear wheel assembly, the machine body is mounted on the main frame, the first driving piece is rotationally connected with the main frame, the output end of the first driving piece is rotationally connected with the first connecting rod mechanism, and one end of the first connecting rod mechanism far away from the first driving piece is connected with the front wheel assembly; the second driving piece is rotationally connected with the main frame, the output end of the second driving piece is rotationally connected with the second connecting rod mechanism, and one end, far away from the second driving piece, of the second connecting rod mechanism is connected with the rear wheel assembly.

Optionally, the front wheel assembly comprises a rotating shaft and a deformation wheel, the rotating shaft is rotationally connected with one end, far away from the main frame, of the first connecting rod mechanism, and the deformation wheel is sleeved on the rotating shaft; the deformation wheel comprises a plurality of wheel discs which are sequentially arranged along the circumferential direction, each wheel disc can rotate between a first position and a second position, and when each wheel disc is positioned at the first position, a plurality of wheel discs enclose a circular structure.

Optionally, the deformation wheel comprises a connecting ring, a supporting rod, a connecting base, a first folding rod, a second folding rod and the wheel disc, and the connecting ring is sleeved on the rotating shaft; the support rods and the connecting base are arranged on the periphery of the connecting ring, and extend along the radial direction of the connecting ring; the connecting base station the first folding rod and the second folding rod are hinged in sequence, one end of the wheel disc is hinged with one end of the supporting rod away from the connecting ring, and the wheel disc is hinged with one end of the second folding rod away from the first connecting rod mechanism.

Optionally, the connection between the second folding rod and the wheel disc is located at 1/2 to 2/3 of the wheel disc.

Optionally, the number of the wheel discs is 3 to 5.

Optionally, the rear wheel assembly comprises an auxiliary rod and a rotating wheel, the auxiliary rod is connected with one end of the mechanism far away from the main frame, and the auxiliary rod is inclined from top to bottom in a direction far away from the front wheel assembly; the rotating wheel is rotatably connected with the auxiliary rod.

Optionally, a mounting groove is formed in one side, facing the bottom plate, of the auxiliary rod, a plurality of auxiliary wheels are arranged in the mounting groove, the auxiliary wheels are arranged at intervals along the extending direction of the mounting groove, and each auxiliary wheel is rotatably connected with two side walls of the mounting groove.

Optionally, the first link mechanism includes a first connecting rod and two parallel first connecting rods, the two first connecting rods are both connected between the first connecting rod and the main frame, and the front wheel assembly is connected with the lower end of the first connecting rod; and/or the number of the groups of groups,

the second connecting rod mechanism comprises a second connecting rod and two second connecting rods which are arranged in parallel, the two second connecting rods are connected between the second connecting rod and the main frame, and the front wheel assembly is connected with the lower end of the second connecting rod.

Optionally, the number of the front wheel assemblies is two, the two front wheel assemblies are respectively arranged on two sides of the main frame, the first link mechanisms are respectively arranged on the front wheel assemblies correspondingly, and the two first link mechanisms are linked through a first link rod; and/or the number of the groups of groups,

the number of the rear wheel assemblies is two, the two rear wheel assemblies are respectively arranged on two sides of the main frame, the second connecting rod mechanisms are correspondingly arranged on the rear wheel assemblies, and the two second connecting rod mechanisms are in linkage through a second linkage rod.

In the technical scheme of the utility model, the main frame provides a mounting base for the whole multifunctional intelligent cleaning robot, the first driving piece can drive the first connecting rod mechanism to rotate so as to drive the front wheel assembly to swing to realize height adjustment, and similarly, the second driving piece can drive the second connecting rod mechanism to rotate so as to drive the rear wheel assembly to swing to realize height adjustment; therefore, when the multifunctional intelligent cleaning robot faces a working environment with steps, the multifunctional intelligent cleaning robot moves forwards to be abutted against the steps, and the first driving assembly can lift the front wheel assembly through the first connecting rod mechanism to enable the front wheel assembly to straddle the step of the upper stage; when the rear wheel assembly moves to be abutted against the step, the second driving assembly can lift the rear wheel assembly through the second connecting rod mechanism to enable the rear wheel assembly to straddle the step; thus, the stair climbing operation is completed, and the main body can clean the upper stage of steps and the side surfaces of the steps in the stair climbing process and after stair climbing. And on the contrary, the downstairs operation can be realized. Therefore, the multifunctional intelligent cleaning robot can be suitable for various working environments with height differences, such as planes or steps.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a multifunctional intelligent cleaning robot in an embodiment of the utility model;

FIG. 2 is a schematic view of a stair climbing frame according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of a deforming wheel according to an embodiment of the present utility model.

Reference numerals illustrate:

100. multifunctional intelligent cleaning robot; 1. a stair climbing frame; 2. a main frame; 3. a first driving member; 4. a first link mechanism; 41. a first connecting rod; 42. a first link; 5. a second driving member; 6. a second link mechanism; 61. a second connecting rod; 62. a second link; 7. a front wheel assembly; 71. a rotating shaft; 72. a deformation wheel; 721. a connecting ring; 722. a support rod; 723. a connection base; 724. a first folding bar; 725. a second folding bar; 726. a wheel disc; 8. a rear wheel assembly; 81. an auxiliary lever; 811. a mounting groove; 82. a rotating wheel; 83. an auxiliary wheel; 91. a first linkage rod; 92. a second linkage rod; 201. a main body.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present utility model may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present utility model.

As shown in fig. 1 to 3, in an embodiment of the present application, a multifunctional intelligent cleaning robot 100 includes a machine body 201 and a stair climbing frame 1, the stair climbing frame 1 includes a main frame 2, a first driving member 3, a first link mechanism 4, a second driving member 5, a second link mechanism 6, a front wheel assembly 7 and a rear wheel assembly 8, the first driving member 3 is rotationally connected with the main frame 2, an output end of the first driving member 3 is rotationally connected with the first link mechanism 4, and an end of the first link mechanism 4 far away from the first driving member 3 is connected with the front wheel assembly 7; the second driving piece 5 is rotationally connected with the main frame 2, the output end of the second driving piece 5 is rotationally connected with the second link mechanism 6, and one end of the second link mechanism 6 away from the second driving piece 5 is connected with the rear wheel assembly 8.

In the above embodiment, the main frame 2 provides a mounting base for the whole multifunctional intelligent cleaning robot 100, the first driving member 3 can drive the first link mechanism 4 to rotate so as to drive the front wheel assembly 7 to swing to achieve height adjustment, and similarly, the second driving member 5 can drive the second link mechanism 6 to rotate so as to drive the rear wheel assembly 8 to swing to achieve height adjustment; thus, when the multifunctional intelligent cleaning robot 100 faces a working environment with steps, the multifunctional intelligent cleaning robot 100 moves forward to be abutted against the steps, and the first driving assembly can lift the front wheel assembly 7 through the first link mechanism 4 to straddle the step; when the rear wheel assembly 8 moves to be abutted against the step, the second driving assembly can lift the rear wheel assembly 8 through the second link mechanism 6 so as to straddle the step; thus completing the stair climbing operation, the main body 201 can clean the upper stage steps and the side surfaces of the steps during and after the stair climbing. And on the contrary, the downstairs operation can be realized. The multifunctional intelligent cleaning robot 100 can thus be adapted to various working environments having a height difference, such as a plane or a step.

The machine body 201 includes a main brush assembly, a dust box assembly, a water tank outlet assembly, a fan assembly, a water tank assembly, and the like for cleaning, and the machine body 201 may adopt a prior art scheme. The first driving member 3 and the second driving member 5 may be cylinders.

In one embodiment, the front wheel assembly 7 comprises a rotating shaft 71 and a deformation wheel 72, the rotating shaft 71 is rotatably connected with one end of the first link mechanism 4 far away from the main frame 2, and the deformation wheel 72 is sleeved on the rotating shaft 71; the deforming wheel 72 includes a plurality of wheel discs 726 that are disposed in sequence along a circumferential direction, each wheel disc 726 is capable of rotating between a first position and a second position, and when each wheel disc 726 is in the first position, the plurality of wheel discs 726 enclose a circular structure. That is, when the multifunctional intelligent cleaning robot 100 walks on the horizontal ground and each wheel disc 726 is at the first position, the plurality of wheel discs 726 enclose a circular structure; that is, when the multifunctional intelligent cleaning robot 100 performs a stair climbing operation, one wheel disc 726 is abutted against the side wall of the step, and the adjacent wheel disc 726 rotates clockwise to be unfolded, so that the multifunctional intelligent cleaning robot 100 can be taken up on the step, and continuously moves forwards along with the multifunctional intelligent cleaning robot 100, and the wheel disc 726 rotates anticlockwise to be retracted. The wheel 726 can open itself under potential energy during rotation and can retract under gravity as it rotates. Deployment or retraction may be accomplished in other embodiments by providing a drive member to rotate the wheel 726.

Specifically, the deforming wheel 72 includes a connecting ring 721, a supporting rod 722, a connecting base 723, a first folding rod 724, a second folding rod 725 and a wheel disc 726, wherein the connecting ring 721 is sleeved on the rotating shaft 71; the support rod 722 and the connection base 723 are both disposed on the outer periphery of the connection ring 721, and the support rod 722 and the connection base 723 extend in the radial direction of the connection ring 721; the connection base 723, the first folding rod 724 and the second folding rod 725 are hinged in sequence, one end of the wheel disc 726 is hinged with one end of the supporting rod 722 far away from the connection ring 721, and the wheel disc 726 is hinged with one end of the second folding rod 725 far away from the first connecting rod 42. The connection ring 721 is fixed to the shaft 71, and the fixing may be achieved by inserting a jackscrew through the connection ring 721 to be fixed to the shaft 71. When the first folding bar 724, the second folding bar 725 and the connection base 723 are connected in a straight line, the wheel 726 is at the second position, and the opening angle of the wheel 726 is the largest.

In one embodiment, the connection of the second folding bar 725 to the wheel 726 is located at 1/2 to 2/3 of the wheel 726. Thereby ensuring that an end of the disc 726 is hooked with the step surface. The number of the wheel discs 726 is 3 to 5, so that the multifunctional intelligent cleaning robot 100 is prevented from being blocked due to the fact that the number of the wheel discs 726 is too small, and meanwhile, the fact that the length of a single wheel disc 726 is too small to hook a step surface is avoided.

In one embodiment, the rear wheel assembly 8 comprises an auxiliary rod 81 and a rotating wheel 82, wherein the auxiliary rod 81 is connected with one end of the mechanism away from the main frame 2, and the auxiliary rod 81 is inclined from top to bottom in a direction away from the front wheel assembly 7; the rotating wheel 82 is rotatably connected to the auxiliary lever 81. The second link mechanism 6 and the turning wheel 82 are connected by providing an inclined auxiliary lever 81. Specifically, the auxiliary lever 81 has a mounting groove 811 formed in one side thereof facing the bottom plate, a plurality of auxiliary wheels 83 are provided in the mounting groove 811, the plurality of auxiliary wheels 83 are provided at intervals along the extending direction of the mounting groove 811, and each auxiliary wheel 83 is rotatably connected to both side walls of the mounting groove 811. By providing the rotating wheel 82 on the ground of the auxiliary lever 81, when the multifunctional intelligent cleaning robot 100 moves forward, the step edge contacts with the auxiliary wheel 83, and sliding friction is converted into rolling contact, so that abrasion is reduced.

In an embodiment, the first link mechanism 4 includes a first connecting rod 41 and two parallel first connecting rods 42, the two first connecting rods 42 are connected between the first connecting rod 41 and the main frame 2, and the front wheel assembly 7 is connected with the lower end of the first connecting rod 41; the two first connecting rods 42 are used for determining a motion track, and the two first connecting rods 41 are arranged in parallel, so that the first connecting rods 41 are kept in a vertical state, and the first connecting rods 41 are prevented from being knocked with other parts or during working. Similarly, the second link mechanism 6 includes a second link 61 and two second links 62 disposed in parallel, both the second links 62 being connected between the second link 61 and the main frame 2, and the front wheel assembly 7 being connected with the lower end of the second link 61.

It can be understood that the number of the front wheel assemblies 7 is two, the two front wheel assemblies 7 are respectively arranged at two sides of the main frame 2, each front wheel assembly 7 is correspondingly provided with a first link mechanism 4, and the two first link mechanisms 4 are linked through a first link rod 91; the front wheel assembly 7 and the rear wheel assembly 8 are provided with two wheels, so that stability in the forward moving process of the multifunctional intelligent cleaning robot 100 can be improved. And the two ends of the first linkage rod 91 are respectively connected with the two first connecting rods 41, so that only one first driving piece 3 is needed to synchronously drive the two front wheel assemblies 7 to lift or descend. Similarly, the number of the rear wheel assemblies 8 is two, the two rear wheel assemblies 8 are respectively arranged on two sides of the main frame 2, each rear wheel assembly 8 is correspondingly provided with a second link mechanism 6, and the two second link mechanisms 6 are linked through a second linkage rod 92. Each front wheel assembly 7 is correspondingly provided with a traveling driving motor respectively and is used for driving the front wheel assembly 7 to rotate so that the multifunctional intelligent cleaning robot 100 moves, and turning of the multifunctional intelligent cleaning robot 100 can be realized when the rotating speeds of the two traveling driving motors are inconsistent.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (9)

1. The multifunctional intelligent cleaning robot is characterized by comprising a machine body and a stair climbing frame, wherein the stair climbing frame comprises a main frame, a first driving piece, a first connecting rod mechanism, a second driving piece, a second connecting rod mechanism, a front wheel assembly and a rear wheel assembly, the machine body is arranged on the main frame, the first driving piece is rotationally connected with the main frame, the output end of the first driving piece is rotationally connected with the first connecting rod mechanism, and one end of the first connecting rod mechanism far away from the first driving piece is connected with the front wheel assembly; the second driving piece is rotationally connected with the main frame, the output end of the second driving piece is rotationally connected with the second connecting rod mechanism, and one end, far away from the second driving piece, of the second connecting rod mechanism is connected with the rear wheel assembly.

2. The multifunctional intelligent cleaning robot of claim 1, wherein the front wheel assembly comprises a rotating shaft and a deformation wheel, the rotating shaft is rotatably connected with one end of the first connecting rod mechanism far away from the main frame, and the deformation wheel is sleeved on the rotating shaft; the deformation wheel comprises a plurality of wheel discs which are sequentially arranged along the circumferential direction, each wheel disc can rotate between a first position and a second position, and when each wheel disc is positioned at the first position, a plurality of wheel discs enclose a circular structure.

3. The multifunctional intelligent cleaning robot of claim 2, wherein the deformation wheel comprises a connecting ring, a supporting rod, a connecting base, a first folding rod, a second folding rod and the wheel disc, and the connecting ring is sleeved on the rotating shaft; the support rods and the connecting base are arranged on the periphery of the connecting ring, and extend along the radial direction of the connecting ring; the connecting base station the first folding rod and the second folding rod are hinged in sequence, one end of the wheel disc is hinged with one end of the supporting rod away from the connecting ring, and the wheel disc is hinged with one end of the second folding rod away from the first connecting rod mechanism.

4. A multifunctional intelligent cleaning robot according to claim 3, characterized in that the connection of the second folding bar and the wheel disc is located at 1/2 to 2/3 of the wheel disc.

5. A multifunctional intelligent cleaning robot according to claim 3, characterized in that the number of wheels is 3 to 5.

6. The multifunctional intelligent cleaning robot of any one of claims 1 to 5, wherein the rear wheel assembly comprises an auxiliary lever and a rotating wheel, the auxiliary lever is connected with one end of the mechanism away from the main frame, and the auxiliary lever is inclined from top to bottom in a direction away from the front wheel assembly; the rotating wheel is rotatably connected with the auxiliary rod.

7. The multifunctional intelligent cleaning robot of claim 6, wherein a mounting groove is formed in one side of the auxiliary rod, facing the bottom plate, a plurality of auxiliary wheels are arranged in the mounting groove, the plurality of auxiliary wheels are arranged at intervals along the extending direction of the mounting groove, and each auxiliary wheel is rotatably connected with two side walls of the mounting groove.

8. The multifunctional intelligent cleaning robot of any one of claims 1 to 5, wherein the first link mechanism comprises a first link and two parallel first links, both of the first links are connected between the first link and the main frame, and the front wheel assembly is connected with a lower end of the first link; and/or the number of the groups of groups,

the second connecting rod mechanism comprises a second connecting rod and two second connecting rods which are arranged in parallel, the two second connecting rods are connected between the second connecting rod and the main frame, and the front wheel assembly is connected with the lower end of the second connecting rod.

9. The multifunctional intelligent cleaning robot according to any one of claims 1 to 5, wherein the number of the front wheel assemblies is two, the two front wheel assemblies are respectively arranged at two sides of the main frame, the first link mechanisms are correspondingly arranged on the front wheel assemblies, and the two first link mechanisms are linked through the first link; and/or the number of the groups of groups,

the number of the rear wheel assemblies is two, the two rear wheel assemblies are respectively arranged on two sides of the main frame, the second connecting rod mechanisms are correspondingly arranged on the rear wheel assemblies, and the two second connecting rod mechanisms are in linkage through a second linkage rod.