WO2018086090A1 - Smart floor-sweeping robot for uneven floor - Google Patents

Smart floor-sweeping robot for uneven floor Download PDF

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Publication number
WO2018086090A1
WO2018086090A1 PCT/CN2016/105600 CN2016105600W WO2018086090A1 WO 2018086090 A1 WO2018086090 A1 WO 2018086090A1 CN 2016105600 W CN2016105600 W CN 2016105600W WO 2018086090 A1 WO2018086090 A1 WO 2018086090A1
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Prior art keywords
brush
outer sleeve
gear
rotating shaft
outer casing
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PCT/CN2016/105600
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French (fr)
Chinese (zh)
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钟玲珑
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钟玲珑
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Priority to PCT/CN2016/105600 priority Critical patent/WO2018086090A1/en
Publication of WO2018086090A1 publication Critical patent/WO2018086090A1/en

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02Floor surfacing or polishing machines
    • A47L11/10Floor surfacing or polishing machines motor-driven
    • A47L11/14Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/16Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes

Definitions

  • the invention relates to the field of intelligent robots, in particular to a smart sweeping robot for sweeping uneven ground.
  • Sweeping robot also known as automatic sweeping machine, intelligent vacuuming, robot vacuum cleaner, etc.
  • intelligent vacuuming robot vacuum cleaner, etc.
  • the brush and vacuum method is adopted, and the ground debris is first absorbed into its own garbage storage box, thereby completing the function of ground cleaning.
  • the robot that completes cleaning, vacuuming, and wiping the ground is also classified as a sweeping robot.
  • the existing intelligent sweeping robot is mainly used for indoor flat ground, and can not be applied to the outdoor or indoor uneven bottom surface, such as the bottom surface of pebbles or other similar concave and convex stone laying, and now with the increase of the variety of flooring, the hand appears.
  • Non-planar flooring such as scratches and imitation wood, the existing sweepers cannot be thoroughly cleaned.
  • the present invention provides a smart sweeping robot suitable for non-flat floor cleaning.
  • a smart sweeping robot for sweeping uneven ground comprising a casing, a control system, a vacuuming system, a battery, the dust collecting system comprising a fan, a duct and a ash storage box; the lower end of the casing has a dust suction port and a broom opening; the dust suction port is connected to the air passage of the vacuum system; in the outer casing, a vertical rotating shaft is mounted on the shaft center line, and the rotating shaft is connected to the motor through a transmission system; the motor is fixed a deformation brush is connected to the lower end of the rotating shaft; a plurality of vertical telescopic shafts are symmetrically mounted around the rotating shaft, and the lower end of the telescopic shaft is fixedly connected to the brush; the telescopic shaft passes through The transmission gear system is coupled to the rotating shaft; the deforming brush and the brush are located outside the broom opening at the lower end of the outer casing; The lower end of the outer casing also has wheels; the control panel of the control system is mounted on the
  • the telescopic shaft comprises an inner core rod, an outer sleeve and a spring;
  • the outer sleeve has a hollow cavity, the upper end of the inner core rod is fixed on the inner wall of the outer casing, and the lower end of the inner core rod is installed outside
  • the outer sleeve vertically moves up and down relative to the inner core rod
  • the lower end of the inner core rod is connected to the upper end of the spring
  • the lower end of the spring is fixed on the cylindrical slider, and the slider is limited
  • the slider rotates relative to the outer sleeve
  • the lower end of the outer sleeve is fixedly connected to the brush
  • the outer wall of the outer sleeve is a wide gear
  • the outer sleeve is The wide gear teeth are vertically distributed, the wide gear of the outer sleeve and the transmission gear system slide and mesh with each other, the outer sleeve moves up and down
  • an auxiliary gear is further fixed in the outer casing, and the auxiliary gear is in sliding engagement with the gear of the outer sleeve, and the auxiliary gear and the transmission gear system are symmetrically distributed around the outer sleeve.
  • the deforming brush includes an intermediate circular piece, and an upper surface of the circular piece is fixed to a lower end of the rotating shaft; the outer side wall of the circular piece is respectively connected with a plurality of elastic curved brushes.
  • the inner curved surface of the elastic curved brush faces downward, and the lower surface of the circular piece and the inner curved surface of the elastic curved brush are distributed with bristles.
  • the optimized design is that the other end of the elastic curved brush is respectively connected with a roller.
  • a wheel drive system is also included, the wheel drive system being coupled to a battery, the wheels being coupled to the wheel drive system.
  • the intelligent sweeping robot for sweeping the uneven ground is suitable for cleaning the uneven ground such as pebbles and concave and convex floors. According to the unevenness of the ground, the brush and the deformation brush are closely attached to the uneven ground, and the method is more thorough. Cleaning, cleaning debris and dust are absorbed and cleaned by the vacuum system.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 2 is a schematic view of the working state of the present invention.
  • a smart sweeping robot for sweeping uneven ground includes a casing 1, a control system, a vacuum system, a battery, and the dust collecting system includes a fan, a duct and a ash box;
  • the lower end of the first part has a dust suction port and a broom opening; the dust suction port is connected to the air passage of the vacuum system;
  • a vertical rotating shaft 2 is mounted on the shaft center line, and the rotating shaft 2 passes through
  • the transmission system is connected to the motor 3; the motor 3 is fixed on the inner wall of the outer casing 1; the lower end of the rotating shaft 2 is connected with a deforming brush; and a plurality of vertical telescopic shafts are symmetrically mounted around the rotating shaft 2,
  • the lower end of the telescopic shaft is fixedly connected to the brush 10; the telescopic shaft is connected to the rotating shaft 2 through the transmission gear system 11; the deforming brush and the brush 10 are located outside the broom opening of the lower end of the outer casing
  • the deforming brush is driven by the rotating shaft 2, and the deforming brush can be deformed according to the unevenness of the ground, and is closely attached to the ground to clean the ground.
  • the telescopic shaft comprises an inner core rod 7, an outer sleeve 9 and a spring 8; the outer sleeve 9 has a hollow cavity, and the upper end of the inner core rod 7 is fixed on the inner wall of the outer casing 1, the inner core The lower end of the rod 7 is mounted in the cavity of the outer sleeve 9, the outer sleeve 9 is vertically moved up and down with respect to the inner core rod 7, the lower end of the inner core rod 7 is connected to the upper end of the spring 8, and the lower end of the spring 8 is fixed in a cylindrical shape.
  • the slider On the slider, the slider is limited to the bottom of the cavity of the outer sleeve 9, the slider is opposite to the outer sleeve 9; the lower end of the outer sleeve 9 is fixedly connected to the brush 10;
  • the outer wall of the outer sleeve 9 is a wide gear, the wide gear teeth of the outer sleeve 9 are vertically distributed, the wide gear of the outer sleeve 9 and the transmission gear system 11 are slidingly engaged with each other, and the outer sleeve 9 is moved up and down, the wide gear Always in mesh with the transmission gear system 11; the transmission gear system 11 meshes with a pinion on the shaft 2, and the shaft 2 drives the transmission gear system 11.
  • the telescopic shaft is a telescopic shaft, and the rotating shaft 2 is driven by the transmission gear system 11, and the outer sleeve 9 of the telescopic shaft is rotated together.
  • the rotation of the outer sleeve 9 drives the brush 10 to rotate together, and the pair of brushes 10 are relatively The surface of the flat place is cleaned, and when the ground is not flat, the telescopic shaft is stretched and the brush 10 is always attached to the ground.
  • the auxiliary gear 12 is further fixed in the outer casing 1.
  • the auxiliary gear 12 is in sliding engagement with the gear of the outer sleeve 9.
  • the auxiliary gear 12 and the transmission gear system 11 are symmetrically distributed in the outer casing.
  • This design can ensure that the outer sleeve 9 is kept stable during the rotation process, and no side sill occurs.
  • the deforming brush comprises an intermediate circular plate 4, the upper surface of the circular plate 4 is fixed to the lower end of the rotating shaft 2; the outer circular side of the circular piece 4 The wall is respectively connected with a plurality of elastic curved brushes 5, the inner curved surface of the elastic curved brush 5 faces downward, and the lower surface of the circular piece 4 and the inner curved surface of the elastic curved brush 5 are distributed with bristles.
  • the deforming brush can be deformed according to different grounds, mainly the elastic curved brush 5 is adaptively deformed along the ground, and is suitable for uneven ground.
  • the other end of the elastic curved brush 5 is connected with a roller 6 respectively.
  • the bristles protecting the elastic curved brush 5 are not excessively pressed against the ground to cause deformation and wear.
  • a wheel drive system is also included, the wheel drive system being coupled to a battery, the wheel 13 being coupled to the wheel drive system.

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  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Cleaning In General (AREA)

Abstract

A smart floor-sweeping robot suitable for an uneven floor comprises a housing (1), a control system, a dust collection system, and a battery. The dust collection system comprises a fan, an air channel, and a dust storage box. A dust collection opening and a besom opening are formed in the lower end of the housing. The dust collection opening is connected to the air channel of the dust collection system. In the housing (1), a vertical rotary shaft (2) is mounted on the axis and is connected to a motor by means of a drive system. The lower end of the rotary shaft (2) is connected to a deformable brush. Multiple vertical telescopic shafts are symmetrically mounted around the rotary shaft (2), and the lower ends of the telescopic shafts are fixedly connected to bristle brushes (10). The telescopic shafts are connected to the rotary shaft (2) by means of a transmission gear system. Wheels are further disposed at the lower end of the housing (1). A control panel of the control system is mounted on the upper end surface of the housing (1). The dust collection system, the battery and the control system are respectively mounted in the housing (1), and the motor and the control system are separately connected to the battery. The smart floor-sweeping robot is suitable for cleaning an uneven floor, the bristle brush and the deformable brush are tightly attached to the uneven floor, and then swept dirt and dust are collected and cleared by the dust collection system, the cleaning is complete and effective.

Description

用于扫不平整地面的智能扫地机器人Intelligent sweeping robot for sweeping uneven ground 技术领域Technical field
本发明涉及智能机器人领域,具体为用于扫不平整地面的智能扫地机器人。The invention relates to the field of intelligent robots, in particular to a smart sweeping robot for sweeping uneven ground.
背景技术Background technique
扫地机器人,又称自动打扫机、智能吸尘、机器人吸尘器等,是智能家用电器的一种,能凭借一定的人工智能,自动在房间内完成地板清理工作。一般采用刷扫和真空方式,将地面杂物先吸纳进入自身的垃圾收纳盒,从而完成地面清理的功能。一般来说,将完成清扫、吸尘、擦地工作的机器人,也统一归为扫地机器人。Sweeping robot, also known as automatic sweeping machine, intelligent vacuuming, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room with certain artificial intelligence. Generally, the brush and vacuum method is adopted, and the ground debris is first absorbed into its own garbage storage box, thereby completing the function of ground cleaning. Generally speaking, the robot that completes cleaning, vacuuming, and wiping the ground is also classified as a sweeping robot.
技术问题technical problem
现有的智能扫地机器人,主要是用于室内平整地面,无法适用于户外或者室内不平整的底面,例如鹅卵石或者其他类似凹凸石材铺设的底面,还有现在随着地板种类的增多,出现了手抓纹、仿木纹等非平面的地板,现有的扫地机都无法彻底清洁。The existing intelligent sweeping robot is mainly used for indoor flat ground, and can not be applied to the outdoor or indoor uneven bottom surface, such as the bottom surface of pebbles or other similar concave and convex stone laying, and now with the increase of the variety of flooring, the hand appears. Non-planar flooring such as scratches and imitation wood, the existing sweepers cannot be thoroughly cleaned.
问题的解决方案Problem solution
技术解决方案Technical solution
针对上述技术问题,本发明提供一种适用于非平整地面清洁的智能扫地机器人。In view of the above technical problems, the present invention provides a smart sweeping robot suitable for non-flat floor cleaning.
具体的技术方案为:The specific technical solution is:
用于扫不平整地面的智能扫地机器人,包括外壳、控制系统、吸尘系统、电池,所述的吸尘系统包括风机、风道和储灰盒;所述的外壳的下端有吸尘口和扫把开口;所述的吸尘口与吸尘系统的风道连接;所述的外壳内,轴心线上安装有垂直的转轴,所述的转轴通过传动系统与电机连接;所述的电机固定在外壳内壁上;所述的转轴的下端连接有变形刷;所述的转轴周围还对称的安装有多个垂直的伸缩轴,所述的伸缩轴下端固定连接毛刷;所述的伸缩轴通过传动齿轮系统与转轴连接;所述的变形刷和毛刷位于外壳的下端的扫把开口外;所述 的外壳的下端还有轮子;所述的控制系统的控制面板安装在外壳的上端面;所述的吸尘系统、电池和控制系统分别安装在外壳内,所述的电机和控制系统分别与电池连接。A smart sweeping robot for sweeping uneven ground, comprising a casing, a control system, a vacuuming system, a battery, the dust collecting system comprising a fan, a duct and a ash storage box; the lower end of the casing has a dust suction port and a broom opening; the dust suction port is connected to the air passage of the vacuum system; in the outer casing, a vertical rotating shaft is mounted on the shaft center line, and the rotating shaft is connected to the motor through a transmission system; the motor is fixed a deformation brush is connected to the lower end of the rotating shaft; a plurality of vertical telescopic shafts are symmetrically mounted around the rotating shaft, and the lower end of the telescopic shaft is fixedly connected to the brush; the telescopic shaft passes through The transmission gear system is coupled to the rotating shaft; the deforming brush and the brush are located outside the broom opening at the lower end of the outer casing; The lower end of the outer casing also has wheels; the control panel of the control system is mounted on the upper end surface of the outer casing; the dust collection system, the battery and the control system are respectively installed in the outer casing, and the motor and the control system are respectively connected with the battery connection.
其中,所述的伸缩轴包括内芯杆、外套筒和弹簧;所述的外套筒有中空的空腔,所述的内芯杆上端固定在外壳的内壁上,内芯杆下端安装在外套筒的空腔内,外套筒相对于内芯杆垂直上下运动,内芯杆的下端连接弹簧的上端,所述的弹簧下端固定在圆柱形的滑块上,所述的滑块限位在外套筒空腔的底部,所述的滑块与外套筒相对转动;所述的外套筒下端固定连接毛刷;所述的外套筒外壁为宽齿轮,所述的外套筒的宽齿轮齿垂直分布,外套筒的宽齿轮与传动齿轮系统之间相互滑动啮合,外套筒上下运动,宽齿轮始终与传动齿轮系统保持啮合;所述的传动齿轮系统与转轴上的小齿轮啮合,转轴驱动传动齿轮系统。Wherein, the telescopic shaft comprises an inner core rod, an outer sleeve and a spring; the outer sleeve has a hollow cavity, the upper end of the inner core rod is fixed on the inner wall of the outer casing, and the lower end of the inner core rod is installed outside In the cavity of the sleeve, the outer sleeve vertically moves up and down relative to the inner core rod, the lower end of the inner core rod is connected to the upper end of the spring, and the lower end of the spring is fixed on the cylindrical slider, and the slider is limited At the bottom of the outer sleeve cavity, the slider rotates relative to the outer sleeve; the lower end of the outer sleeve is fixedly connected to the brush; the outer wall of the outer sleeve is a wide gear, and the outer sleeve is The wide gear teeth are vertically distributed, the wide gear of the outer sleeve and the transmission gear system slide and mesh with each other, the outer sleeve moves up and down, and the wide gear always keeps meshing with the transmission gear system; the transmission gear system and the pinion gear on the rotating shaft Engaged, the shaft drives the transmission gear system.
优选的设计,所述的外壳内还固定有辅助齿轮,所述的辅助齿轮与外套筒的齿轮滑动啮合,辅助齿轮与传动齿轮系统对称的分布在外套筒周围。In a preferred design, an auxiliary gear is further fixed in the outer casing, and the auxiliary gear is in sliding engagement with the gear of the outer sleeve, and the auxiliary gear and the transmission gear system are symmetrically distributed around the outer sleeve.
进一步的,其中所述的变形刷包括中间圆形片,所述的圆形片的上表面固定在转轴的下端;所述的圆形片外圆侧壁分别连接多个弹性弧形刷,所述的弹性弧形刷的内弧面朝下,所述的圆形片的下表面和弹性弧形刷的内弧面分布有刷毛。Further, the deforming brush includes an intermediate circular piece, and an upper surface of the circular piece is fixed to a lower end of the rotating shaft; the outer side wall of the circular piece is respectively connected with a plurality of elastic curved brushes. The inner curved surface of the elastic curved brush faces downward, and the lower surface of the circular piece and the inner curved surface of the elastic curved brush are distributed with bristles.
优化的设计为,所述的弹性弧形刷的另一端分别连接有滚轮。The optimized design is that the other end of the elastic curved brush is respectively connected with a roller.
另外,还包括轮子驱动系统,所述的轮子驱动系统与电池连接,所述的轮子与所述的轮子驱动系统连接。In addition, a wheel drive system is also included, the wheel drive system being coupled to a battery, the wheels being coupled to the wheel drive system.
发明的有益效果Advantageous effects of the invention
有益效果Beneficial effect
本发明提供的用于扫不平整地面的智能扫地机器人,适用于鹅卵石、凹凸地板等不平整地面清洁,根据地面凹凸情况,将毛刷和变形刷紧贴在不平整地面上,进行较为彻底的清扫,清扫出来的杂物和灰尘再由吸尘系统吸收清理。The intelligent sweeping robot for sweeping the uneven ground is suitable for cleaning the uneven ground such as pebbles and concave and convex floors. According to the unevenness of the ground, the brush and the deformation brush are closely attached to the uneven ground, and the method is more thorough. Cleaning, cleaning debris and dust are absorbed and cleaned by the vacuum system.
对附图的简要说明Brief description of the drawing
附图说明DRAWINGS
图1是本发明的结构示意图; Figure 1 is a schematic view of the structure of the present invention;
图2是本发明的工作状态示意图。Figure 2 is a schematic view of the working state of the present invention.
发明实施例Invention embodiment
本发明的实施方式Embodiments of the invention
结合附图说明本发明的具体实施方式。Specific embodiments of the present invention will be described with reference to the drawings.
实施例1Example 1
如图1所示,用于扫不平整地面的智能扫地机器人,包括外壳1、控制系统、吸尘系统、电池,所述的吸尘系统包括风机、风道和储灰盒;所述的外壳1的下端有吸尘口和扫把开口;所述的吸尘口与吸尘系统的风道连接;所述的外壳1内,轴心线上安装有垂直的转轴2,所述的转轴2通过传动系统与电机3连接;所述的电机3固定在外壳1内壁上;所述的转轴2的下端连接有变形刷;所述的转轴2周围还对称的安装有多个垂直的伸缩轴,所述的伸缩轴下端固定连接毛刷10;所述的伸缩轴通过传动齿轮系统11与转轴2连接;所述的变形刷和毛刷10位于外壳1的下端的扫把开口外;所述的外壳1的下端还有轮子13;所述的控制系统的控制面板安装在外壳1的上端面;所述的吸尘系统、电池和控制系统分别安装在外壳1内,所述的电机3和控制系统分别与电池连接。As shown in FIG. 1 , a smart sweeping robot for sweeping uneven ground includes a casing 1, a control system, a vacuum system, a battery, and the dust collecting system includes a fan, a duct and a ash box; The lower end of the first part has a dust suction port and a broom opening; the dust suction port is connected to the air passage of the vacuum system; in the outer casing 1, a vertical rotating shaft 2 is mounted on the shaft center line, and the rotating shaft 2 passes through The transmission system is connected to the motor 3; the motor 3 is fixed on the inner wall of the outer casing 1; the lower end of the rotating shaft 2 is connected with a deforming brush; and a plurality of vertical telescopic shafts are symmetrically mounted around the rotating shaft 2, The lower end of the telescopic shaft is fixedly connected to the brush 10; the telescopic shaft is connected to the rotating shaft 2 through the transmission gear system 11; the deforming brush and the brush 10 are located outside the broom opening of the lower end of the outer casing 1; The lower end also has a wheel 13; the control panel of the control system is mounted on the upper end surface of the outer casing 1; the dust collection system, the battery and the control system are respectively installed in the outer casing 1, and the motor 3 and the control system are respectively Connect to the battery.
如图2所示,变形刷在转轴2驱动下转动,变形刷可以根据地面凹凸情况变形,紧贴在地面上,对地面进行清扫。As shown in Fig. 2, the deforming brush is driven by the rotating shaft 2, and the deforming brush can be deformed according to the unevenness of the ground, and is closely attached to the ground to clean the ground.
所述的伸缩轴包括内芯杆7、外套筒9和弹簧8;所述的外套筒9有中空的空腔,所述的内芯杆7上端固定在外壳1的内壁上,内芯杆7下端安装在外套筒9的空腔内,外套筒9相对于内芯杆7垂直上下运动,内芯杆7的下端连接弹簧8的上端,所述的弹簧8下端固定在圆柱形的滑块上,所述的滑块限位在外套筒9空腔的底部,所述的滑块与外套筒9相对转动;所述的外套筒9下端固定连接毛刷10;所述的外套筒9外壁为宽齿轮,所述的外套筒9的宽齿轮齿垂直分布,外套筒9的宽齿轮与传动齿轮系统11之间相互滑动啮合,外套筒9上下运动,宽齿轮始终与传动齿轮系统11保持啮合;所述的传动齿轮系统11与转轴2上的小齿轮啮合,转轴2驱动传动齿轮系统11。The telescopic shaft comprises an inner core rod 7, an outer sleeve 9 and a spring 8; the outer sleeve 9 has a hollow cavity, and the upper end of the inner core rod 7 is fixed on the inner wall of the outer casing 1, the inner core The lower end of the rod 7 is mounted in the cavity of the outer sleeve 9, the outer sleeve 9 is vertically moved up and down with respect to the inner core rod 7, the lower end of the inner core rod 7 is connected to the upper end of the spring 8, and the lower end of the spring 8 is fixed in a cylindrical shape. On the slider, the slider is limited to the bottom of the cavity of the outer sleeve 9, the slider is opposite to the outer sleeve 9; the lower end of the outer sleeve 9 is fixedly connected to the brush 10; The outer wall of the outer sleeve 9 is a wide gear, the wide gear teeth of the outer sleeve 9 are vertically distributed, the wide gear of the outer sleeve 9 and the transmission gear system 11 are slidingly engaged with each other, and the outer sleeve 9 is moved up and down, the wide gear Always in mesh with the transmission gear system 11; the transmission gear system 11 meshes with a pinion on the shaft 2, and the shaft 2 drives the transmission gear system 11.
伸缩轴为一个可以伸缩的轴,并且转轴2通过传动齿轮系统11的传动,驱动伸缩轴的外套筒9一起转动,外套筒9的转动带动毛刷10一起转动,毛刷10对较为 平整的地方的表面进行清洁,遇到地面不平整的情况,伸缩轴进行伸缩,始终保持毛刷10贴在地面上。The telescopic shaft is a telescopic shaft, and the rotating shaft 2 is driven by the transmission gear system 11, and the outer sleeve 9 of the telescopic shaft is rotated together. The rotation of the outer sleeve 9 drives the brush 10 to rotate together, and the pair of brushes 10 are relatively The surface of the flat place is cleaned, and when the ground is not flat, the telescopic shaft is stretched and the brush 10 is always attached to the ground.
实施例2Example 2
在实施例1的基础上,所述的外壳1内还固定有辅助齿轮12,所述的辅助齿轮12与外套筒9的齿轮滑动啮合,辅助齿轮12与传动齿轮系统11对称的分布在外套筒9周围。On the basis of the embodiment 1, the auxiliary gear 12 is further fixed in the outer casing 1. The auxiliary gear 12 is in sliding engagement with the gear of the outer sleeve 9. The auxiliary gear 12 and the transmission gear system 11 are symmetrically distributed in the outer casing. Around the barrel 9.
该设计可以保证外套筒9的转动过程中保持稳定,不发生侧歪。This design can ensure that the outer sleeve 9 is kept stable during the rotation process, and no side sill occurs.
实施例3Example 3
在实施例1或2的基础上,其中所述的变形刷包括中间圆形片4,所述的圆形片4的上表面固定在转轴2的下端;所述的圆形片4外圆侧壁分别连接多个弹性弧形刷5,所述的弹性弧形刷5的内弧面朝下,所述的圆形片4的下表面和弹性弧形刷5的内弧面分布有刷毛。On the basis of the embodiment 1 or 2, wherein the deforming brush comprises an intermediate circular plate 4, the upper surface of the circular plate 4 is fixed to the lower end of the rotating shaft 2; the outer circular side of the circular piece 4 The wall is respectively connected with a plurality of elastic curved brushes 5, the inner curved surface of the elastic curved brush 5 faces downward, and the lower surface of the circular piece 4 and the inner curved surface of the elastic curved brush 5 are distributed with bristles.
如图2所示,变形刷这样可以根据不同地面进行变形,主要是弹性弧形刷5随着地面进行自适应变形,适用于不平整地面。As shown in Fig. 2, the deforming brush can be deformed according to different grounds, mainly the elastic curved brush 5 is adaptively deformed along the ground, and is suitable for uneven ground.
实施例4Example 4
在实施例3的基础上,所述的弹性弧形刷5的另一端分别连接有滚轮6。如图2所示,保护弹性弧形刷5的刷毛不会被过度挤压地面导致变形和磨损。On the basis of the third embodiment, the other end of the elastic curved brush 5 is connected with a roller 6 respectively. As shown in Fig. 2, the bristles protecting the elastic curved brush 5 are not excessively pressed against the ground to cause deformation and wear.
另外,还包括轮子驱动系统,所述的轮子驱动系统与电池连接,所述的轮子13与所述的轮子驱动系统连接。 In addition, a wheel drive system is also included, the wheel drive system being coupled to a battery, the wheel 13 being coupled to the wheel drive system.

Claims (4)

  1. 用于扫不平整地面的智能扫地机器人,其特征在于,包括外壳(1)、控制系统、吸尘系统、电池,所述的吸尘系统包括风机、风道和储灰盒;所述的外壳(1)的下端有吸尘口和扫把开口;所述的吸尘口与吸尘系统的风道连接;所述的外壳(1)内,轴心线上安装有垂直的转轴(2),所述的转轴(2)通过传动系统与电机(3)连接;所述的电机(3)固定在外壳(1)内壁上;所述的转轴(2)的下端连接有变形刷;所述的转轴(2)周围还对称的安装有多个垂直的伸缩轴,所述的伸缩轴下端固定连接毛刷(10);所述的伸缩轴通过传动齿轮系统(11)与转轴(2)连接;所述的变形刷和毛刷(10)位于外壳(1)的下端的扫把开口外;所述的外壳(1)的下端还有轮子(13);所述的控制系统的控制面板安装在外壳(1)的上端面;所述的吸尘系统、电池和控制系统分别安装在外壳(1)内,所述的电机(3)和控制系统分别与电池连接;所述的伸缩轴包括内芯杆(7)、外套筒(9)和弹簧(8);所述的外套筒(9)有中空的空腔,所述的内芯杆(7)上端固定在外壳(1)的内壁上,内芯杆(7)下端安装在外套筒(9)的空腔内,外套筒(9)相对于内芯杆(7)垂直上下运动,内芯杆(7)的下端连接弹簧(8)的上端,所述的弹簧(8)下端固定在圆柱形的滑块上,所述的滑块限位在外套筒(9)空腔的底部,所述的滑块与外套筒(9)相对转动;所述的外套筒(9)下端固定连接毛刷(10);所述的外套筒(9)外壁为宽齿轮,所述的外套筒(9)的宽齿轮齿垂直分布,外套筒(9)的宽齿轮与传动齿轮系统(11)之间相互滑动啮合,外套筒(9)上下运动,宽齿轮始终与传动齿轮系统(11)保持啮合;所述的传动齿轮系统(11)与转轴(2)上的小齿轮啮合,转轴(2)驱动传动齿轮系统(11);所述的变形刷包括中间圆形片(4),所述的圆形片(4)的上表面固定在转轴(2)的下端;所述的圆形片(4)外圆侧壁分 别连接多个弹性弧形刷(5),所述的弹性弧形刷(5)的内弧面朝下,所述的圆形片(4)的下表面和弹性弧形刷(5)的内弧面分布有刷毛。A smart sweeping robot for sweeping uneven ground, comprising: a casing (1), a control system, a dust collecting system, a battery, the dust collecting system comprising a fan, a duct and a ash storage box; The lower end of (1) has a dust suction port and a broom opening; the dust suction port is connected with the air passage of the dust suction system; in the outer casing (1), a vertical rotating shaft (2) is installed on the shaft center line, The rotating shaft (2) is connected to the motor (3) through a transmission system; the motor (3) is fixed on the inner wall of the outer casing (1); the lower end of the rotating shaft (2) is connected with a deforming brush; A plurality of vertical telescopic shafts are also symmetrically mounted around the rotating shaft (2), and the lower end of the telescopic shaft is fixedly connected with the brush (10); the telescopic shaft is connected to the rotating shaft (2) through the transmission gear system (11); The deformation brush and the brush (10) are located outside the broom opening of the lower end of the outer casing (1); the lower end of the outer casing (1) further has wheels (13); the control panel of the control system is mounted on the outer casing The upper end surface of (1); the vacuum system, the battery and the control system are respectively installed in the outer casing (1), and the motor (3) and the control system are divided into Not connected to the battery; the telescopic shaft comprises an inner core rod (7), an outer sleeve (9) and a spring (8); the outer sleeve (9) has a hollow cavity, the inner core The upper end of the rod (7) is fixed on the inner wall of the outer casing (1), the lower end of the inner core rod (7) is installed in the cavity of the outer sleeve (9), and the outer sleeve (9) is vertically above and below the inner core rod (7). Movement, the lower end of the inner core rod (7) is connected to the upper end of the spring (8), the lower end of the spring (8) is fixed on the cylindrical slider, and the slider is limited to the outer sleeve (9) cavity The bottom of the sleeve is opposite to the outer sleeve (9); the lower end of the outer sleeve (9) is fixedly connected to the brush (10); the outer wall of the outer sleeve (9) is a wide gear. The wide gear teeth of the outer sleeve (9) are vertically distributed, the wide gear of the outer sleeve (9) and the transmission gear system (11) are slidingly engaged with each other, and the outer sleeve (9) is moved up and down, and the wide gear is always Maintaining meshing with the transmission gear system (11); the transmission gear system (11) meshes with a pinion gear on the rotating shaft (2), and the rotating shaft (2) drives the transmission gear system (11); the deformation brush includes an intermediate circle a sheet (4), the upper surface of the circular sheet (4) is fixed at The lower end of the shaft (2); and (4) a circular cylindrical side wall of the sub-sheet Do not connect a plurality of elastic curved brushes (5), the inner curved surface of the elastic curved brush (5) faces downward, the lower surface of the circular piece (4) and the elastic curved brush (5) The inner arc surface is distributed with bristles.
  2. 根据权利要求1所述的用于扫不平整地面的智能扫地机器人,其特征在于,所述的外壳(1)内还固定有辅助齿轮(12),所述的辅助齿轮(12)与外套筒(9)的齿轮滑动啮合,辅助齿轮(12)与传动齿轮系统(11)对称的分布在外套筒(9)周围。The intelligent sweeping robot for sweeping uneven ground according to claim 1, wherein an auxiliary gear (12) is further fixed in the outer casing (1), and the auxiliary gear (12) and the outer casing are fixed. The gear of the cylinder (9) is slidingly engaged, and the auxiliary gear (12) is symmetrically distributed around the outer sleeve (9) with the transmission gear system (11).
  3. 根据权利要求1所述的用于扫不平整地面的智能扫地机器人,其特征在于,所述的弹性弧形刷(5)的另一端分别连接有滚轮(6)。The intelligent sweeping robot for sweeping uneven ground according to claim 1, characterized in that the other end of the elastic curved brush (5) is respectively connected with a roller (6).
  4. 根据权利要求1所述的用于扫不平整地面的智能扫地机器人,其特征在于,还包括轮子驱动系统,所述的轮子驱动系统与电池连接,所述的轮子(13)与所述的轮子驱动系统连接。 A smart sweeping robot for sweeping uneven ground according to claim 1, further comprising a wheel drive system, said wheel drive system being coupled to a battery, said wheel (13) and said wheel Drive system connection.
PCT/CN2016/105600 2016-11-14 2016-11-14 Smart floor-sweeping robot for uneven floor WO2018086090A1 (en)

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CN112497238A (en) * 2020-11-09 2021-03-16 安徽中亚钢结构工程有限公司 Adjustable gripping device for thin plate
CN112842151A (en) * 2021-02-25 2021-05-28 昆山升东物资有限公司 Robot capable of walking on glass
CN112890691A (en) * 2021-02-05 2021-06-04 深圳市骏飞实业有限公司 Intelligent floor sweeping robot capable of cleaning uneven ground
CN113585687A (en) * 2021-08-10 2021-11-02 王春芳 Self-adaptive epoxy terrace ground floating device
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CN114808816A (en) * 2022-06-09 2022-07-29 东风悦享科技有限公司 Sweeper capable of automatically switching brush hair
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US11571103B2 (en) 2018-09-14 2023-02-07 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Turntable structure, mopping device and robot
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CN112497238A (en) * 2020-11-09 2021-03-16 安徽中亚钢结构工程有限公司 Adjustable gripping device for thin plate
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CN113585687A (en) * 2021-08-10 2021-11-02 王春芳 Self-adaptive epoxy terrace ground floating device
CN113693504A (en) * 2021-08-24 2021-11-26 陆陶平 Intelligent household equipment based on internet of things
CN114041728A (en) * 2021-11-05 2022-02-15 江苏南高智能装备创新中心有限公司 Home robot with sound control function
CN113974496A (en) * 2021-11-05 2022-01-28 江苏南高智能装备创新中心有限公司 Multi-functional robot of sweeping floor based on internet of things
CN115055407A (en) * 2022-05-17 2022-09-16 华能伊敏煤电有限责任公司 Automatic carriage cleaning device for rapid loading station
CN114808816A (en) * 2022-06-09 2022-07-29 东风悦享科技有限公司 Sweeper capable of automatically switching brush hair
CN116335776A (en) * 2023-01-30 2023-06-27 南通常安能源有限公司 Recycling device for cogeneration and permeation separation wastewater
CN116335776B (en) * 2023-01-30 2023-10-20 南通常安能源有限公司 Recycling device for cogeneration and permeation separation wastewater

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