WO2022121423A1 - 位置调节机构及具有其的清洁机器人 - Google Patents

位置调节机构及具有其的清洁机器人 Download PDF

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Publication number
WO2022121423A1
WO2022121423A1 PCT/CN2021/118551 CN2021118551W WO2022121423A1 WO 2022121423 A1 WO2022121423 A1 WO 2022121423A1 CN 2021118551 W CN2021118551 W CN 2021118551W WO 2022121423 A1 WO2022121423 A1 WO 2022121423A1
Authority
WO
WIPO (PCT)
Prior art keywords
floating member
turntable
adjustment mechanism
position adjustment
floating
Prior art date
Application number
PCT/CN2021/118551
Other languages
English (en)
French (fr)
Inventor
李行
成盼
段传林
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Publication of WO2022121423A1 publication Critical patent/WO2022121423A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D13/00—Friction clutches
    • F16D13/22—Friction clutches with axially-movable clutching members

Definitions

  • the present disclosure relates to the technical field of smart homes, and in particular, to a position adjustment mechanism and a cleaning robot having the same.
  • an independent driving mechanism is often used to directly provide power to the movable part to drive the movable part to rotate relative to the fixed part. Make the moving part start to rotate. Therefore, when the drive mechanism is activated incorrectly, the movable part will rotate immediately. Since there is no buffer time during the rotation of the movable part, it may cause unnecessary problems in some cases, affect the use experience and may bring certain security issues.
  • the present disclosure provides a position adjustment mechanism and a cleaning robot having the same, so as to realize the rotation of the movable member relative to the fixed member.
  • a position adjustment mechanism for connecting a movable member and a fixed member, the position adjustment mechanism comprising:
  • the turntable, the two ends of the connecting shaft are respectively connected to the movable part and the turntable;
  • a floating piece which is movably arranged on the connecting shaft to connect or separate from the turntable;
  • the connecting rod shaft, the two ends of the connecting rod shaft are respectively connected to the fixed part and the turntable, and the center line of the connecting shaft does not coincide with the center line of the connecting rod shaft;
  • the turntable rotates relative to the fixed member with the connecting rod shaft as a fixed point, so that the movable member rotates relative to the fixed member.
  • a cleaning robot including the above-mentioned position adjustment mechanism.
  • the position adjustment mechanism of the present disclosure can make the movable member rotate relative to the fixed member through the connecting shaft, the turntable, the floating member and the connecting rod shaft, and before the movable member rotates relative to the fixed member, it is necessary to ensure that the floating member is connected to the turntable, that is, it is necessary to make the movable member rotate relative to the fixed member.
  • the floating piece moves along the connecting shaft to connect with the turntable, so that a certain rotation start buffer can be formed.
  • FIG. 1 is a schematic structural diagram of a position adjusting mechanism from a first perspective according to an exemplary embodiment
  • FIG. 2 is a schematic structural diagram of a position adjusting mechanism from a second perspective according to an exemplary embodiment
  • FIG. 3 is a schematic structural diagram of a position adjusting mechanism from a third perspective according to an exemplary embodiment
  • FIG. 4 is a schematic diagram of an exploded structure of a position adjustment mechanism according to an exemplary embodiment
  • FIG. 5 is a schematic structural diagram showing that the floating member of a position adjustment mechanism is separated from the turntable according to an exemplary embodiment
  • FIG. 6 is a schematic structural diagram showing that a floating member of a position adjustment mechanism is connected to a turntable according to an exemplary embodiment
  • FIG. 7 is a partial structural schematic diagram of a cleaning robot according to an exemplary embodiment
  • FIG. 8 is a schematic diagram of a partially exploded structure of a cleaning robot according to an exemplary embodiment
  • FIG. 9A is a schematic structural diagram of a position adjustment mechanism from a first perspective according to an exemplary embodiment
  • 9B is a schematic structural diagram of a position adjusting mechanism from a second perspective according to an exemplary embodiment
  • Fig. 9C is a schematic structural diagram of a position adjusting mechanism from a third perspective according to an exemplary embodiment.
  • an embodiment of the present disclosure provides a position adjustment mechanism, please refer to FIG. 1 to FIG. 7 , the position adjustment mechanism is used to connect a movable member 1 and a fixed member 2, and the movable member 1 is used to accommodate the first peripheral component 3 and/or or the second peripheral component 4, the fixing member 2 is used to be fixedly connected to the main body of the device, so that the position change of the first peripheral component and/or the second peripheral component can be realized by the movement of the movable member 1 relative to the fixing member 2, And then realize a variety of working modes.
  • the position adjustment mechanism includes: a connecting shaft 10; a turntable 20, two ends of the connecting shaft 10 are respectively connected to the movable part 1 and the turntable 20; Or phase separation; connecting rod shaft 40, the two ends of the connecting rod shaft 40 are respectively connected to the fixed part 2 and the turntable 20, and the center line of the connecting shaft 10 does not coincide with the center line of the connecting rod shaft 40; 20 are connected, and when the floating member 30 rotates, the turntable 20 rotates relative to the fixed member 2 with the connecting rod shaft 40 as the fixed point, so that the movable member 1 uses the connecting rod shaft 40 and the fixed shaft on the other side of the housing member 90 as the fixed shaft.
  • the fixing point is rotated relative to the fixing element 2 .
  • the position adjustment mechanism of an embodiment of the present disclosure can make the movable member 1 rotate relative to the fixed member 2 through the connecting shaft 10 , the turntable 20 , the floating member 30 and the link shaft 40 , and needs to be rotated before the movable member 1 is rotated relative to the fixed member 2 .
  • To ensure that the floating member 30 is connected to the turntable 20 it is necessary to move the floating member 30 along the connecting shaft 10 to connect with the turntable 20 , so that a certain rotation start buffer can be formed.
  • the floating member 30 and the turntable 20 have two states of connection and separation, when the floating member 30 and the turntable 20 are in the separated state, if the floating member 30 needs to drive the movable member 1 to rotate relative to the fixed member 2, Then it needs to ensure that the floating member 30 and the turntable 20 move from the separated state to the connected state. At this time, the floating member 30 rotates, so that the turntable 20 can be driven to rotate relative to the fixed member 2 with the connecting rod shaft 40 as the fixed point, while the floating member 30 and the turntable can be driven to rotate relative to the fixed member 2. 20 are connected to the connecting shaft 10, and the connecting shaft 10 is connected with the movable member 1, so that the connecting shaft 10 can drive the movable member 1 to rotate.
  • the floating member 30 when the floating member 30 rotates relative to the connecting shaft 10 , the floating member 30 will drive the turntable 20 to rotate, and the turntable 20 is connected with the fixing member 2 through the connecting rod shaft 40 , and the center line of the connecting shaft 10 and the center of the connecting rod shaft 40 are The lines do not overlap, so driven by the floating member 30, the turntable 20 rotates relative to the connecting shaft 10 and also rotates relative to the fixed member 2 using the connecting rod shaft 40 as a fixed point, that is, the turntable 20 and the floating member 30 are completed at the same time.
  • Autorotate and revolve so as to realize the rotation of the movable member 1 relative to the fixed member 2 .
  • the floating member 30 can rotate relative to the connecting shaft 10 , and of course the floating member 30 can also be circumferentially fixed with the connecting shaft 10 , that is, the floating member 30 can drive the connecting shaft 10 to rotate relative to the movable member 1 .
  • the floating member 30 can be driven by an external driving mechanism to realize the movement relative to the connecting shaft 10.
  • the external driving mechanism can include a telescopic rod, and the telescopic rod is connected with the floating member 30. The length and retraction enable movement of the floating member 30 along the connecting shaft 10 .
  • the external driving mechanism can rotate synchronously with the floating member 30 .
  • a transmission mechanism in the related art can be used to ensure that the floating member 30 can rotate, for example, a gear transmission mechanism, a chain transmission mechanism or a belt transmission mechanism can be used, here It is not limited, as long as it is ensured that the transmission mechanism can drive the floating member 30 to rotate and move axially, and can rotate relative to the connecting rod shaft 40 simultaneously with the floating member 30 .
  • the connecting rod shaft 40 can be directly connected to the turntable 20 , that is, no switching mechanism is required between the connecting rod shaft 40 and the turntable 20 , and it is only necessary to ensure that the center line of the connecting shaft 10 and the center line of the connecting rod shaft 40 are It is not necessary to overlap, so that the turntable 20 can be rotated relative to the fixing member 2 with the connecting rod shaft 40 as a fixing point.
  • the connecting rod shaft 40 is fixedly connected with the turntable 20, that is, the connecting rod shaft 40 is offset from the connecting shaft 10, and the connecting rod shaft 40 is rotatable relative to the fixed member 2, so that the floating member 30 is connected with the turntable 20, and the floating member When the 30 rotates, the turntable 20 will drive the connecting rod shaft 40 to rotate relative to the fixing member 2, and at this time the turntable 20 is similar to an eccentric disk.
  • the connecting rod shaft 40 and the turntable 20 can be rotatably connected, and the connecting rod shaft 40 is fixedly connected with the fixing member 2 .
  • the position adjustment mechanism further includes: an adapter 50 , two ends of the adapter 50 are respectively connected to the turntable 20 and the link shaft 40 , so that the link shaft 40 passes through
  • the adapter 50 is connected with the turntable 20, so that the positional relationship between the connecting rod shaft 40 and the turntable 20 is not particularly limited, so as to ensure a reasonable layout of the components.
  • the adapter 50 may be a connecting plate, and the connection point between the adapter 50 and the turntable 20 is deviated from the centerline of the turntable 20 , that is, deviated from the centerline of the connecting shaft 10 .
  • the link shaft 40 is fixedly connected to the fixing member 2 , and the two ends of the adapter 50 are respectively hinged to the turntable 20 and the link shaft 40 , so that when the turntable 20 rotates, the adapter 50 can be relative to the turntable 20 . and the connecting rod shaft 40 to rotate to prevent jamming.
  • the side of the turntable 20 facing the floating member 30 is provided with a first protruding portion 21
  • the side of the floating member 30 facing the turntable 20 is provided with a second protruding portion 31 .
  • the first protruding portion 21 is in limited contact with the second protruding portion 31 , thereby ensuring that the floating member 30 can drive the turntable 20 to rotate.
  • first protruding portions 21 there may be multiple first protruding portions 21 , the multiple first protruding portions 21 are arranged at intervals along the circumferential direction of the floating member 30 , and there are also multiple second protruding portions 31 .
  • the raised portions 31 are arranged at intervals along the circumferential direction of the turntable 20 .
  • the first raised portions 21 and the second raised portions 31 may be staggered to form a relative fixed relationship.
  • one of the first protruding portion 21 and the second protruding portion 31 is formed with a groove, and the other is inserted into the groove to form a relative fixed relationship.
  • the limiting connection relationship between the first protruding portion 21 and the second protruding portion 31 is not limited, as long as it is ensured that the limiting and separation can be achieved.
  • the plurality of first protrusions 21 may form a helical external gear with the turntable 20
  • the plurality of second protrusions 31 may form a helical internal gear with the floating member 30
  • a plurality of first protrusions The portion 21 may form a helical internal gear with the turntable 20
  • the plurality of second protruding portions 31 may form a helical external gear with the floating member 30, and the helical external gear meshes with the helical internal gear.
  • the position adjustment mechanism further includes: a first drive assembly 60, the first drive assembly 60 is connected with the floating member 30, so as to drive the floating member 30 to rotate and move along the connecting shaft 10;
  • the first drive assembly 60 rotates relative to the fixed member 2 synchronously with the turntable 20 , that is, the first drive assembly 60 can maintain the connection relationship with the floating member 30 , thereby ensuring power transmission.
  • the floating member 30 can move relative to the connecting shaft 10 while rotating, that is, the first driving assembly 60 needs to provide the floating member 30 with both an axial direction force and a circumferential direction force. It is not excluded here that the first driving assembly 60 includes two sets of relatively independent driving mechanisms, which respectively provide forces in two directions to the floating member 30 .
  • the floating member 30 includes a first helical gear segment 32
  • the first drive assembly 60 includes: a first transmission gear 61
  • the first transmission gear 61 includes a second helical gear segment 611
  • the first transmission gear 61 includes a second helical gear segment 611 .
  • the two helical gear segments 611 mesh with the first helical gear segment 32 to drive the floating member 30 to rotate; wherein, the floating member 30 is movably arranged along the second helical gear segment 611 , that is, the floating member 30 can be relative to the second helical gear The axial direction of the segment 611 is shifted.
  • the second helical gear segment 611 can provide the first helical gear segment 32 .
  • Forces in two directions ensure that the first helical gear segment 32 rotates and moves synchronously, so that the floating member 30 is connected and disconnected from the turntable 20 .
  • the floating member 30 After the floating member 30 is connected to the turntable 20, due to the limitation of the turntable 20, the floating member 30 will not continue to move along the connecting shaft 10, but still rotate under the driving of the second helical gear segment 611, thereby driving the turntable 20 to rotate.
  • the first drive assembly 60 further includes: a second transmission gear 62, the second transmission gear 62 meshes with the first transmission gear 61; a first power source 63, the first transmission gear 62 A power source 63 is connected with the second transmission gear 62 to drive the second transmission gear 62 to rotate.
  • the first power source 63 may be a motor, and the first transmission gear 61 is driven to rotate by driving the second transmission gear 62 to rotate, thereby transmitting the power to the floating member 30 through the first transmission gear 61 .
  • the first power source 63 can be a motor, and the motor can realize forward rotation and reverse rotation.
  • the first power source 63 can also be directly connected with the first transmission gear 61 to drive the first transmission gear 61 to rotate.
  • other transmission gears may be provided between the first power source 63 and the second transmission gear 62 to meet the requirements of the transmission ratio.
  • the floating member 30 further includes an output gear segment 33
  • the first drive assembly 60 further includes: a first output gear 64 for connecting the first external gear 64 Assuming part 3, the output gear segment 33 meshes with the first output gear 64 to drive the first output gear 64 to rotate; wherein, the floating member 30 is movably arranged along the first output gear 64, that is, the floating member 30 can be relative to the first output gear 64.
  • the output gear 64 is arranged to move in the axial direction.
  • the floating member 30 can be used to drive the turntable 20 to rotate, that is, to realize the rotation of the movable member 1 relative to the fixed member 2, and when the floating member 30 rotates, it can also be used to drive the first peripheral component 3 to work, that is, a power member
  • the realization of two functions can reduce the settings of power components to a certain extent.
  • the rotation of the floating member 30 will cause the movable member 1 to rotate relative to the fixed member 2. Therefore, after the floating member 30 is connected to the turntable 20, the rotation of the floating member 30 can also drive the rotation of the floating member 30.
  • the first peripheral component 3 works. After the floating member 30 is separated from the turntable 20 , the rotation of the floating member 30 can also drive the first peripheral component 3 to work, that is, the floating member 30 can rotate in two directions.
  • the floating member 30 can move relative to the connecting shaft 10, the floating member 30 can move relative to the first transmission gear 61 and the first output gear 64 meshing with it, but the moving distance has a fixed value, Therefore, it is ensured that the floating member 30 and the first transmission gear 61 are in a state of constant meshing, and the floating member 30 and the first output gear 64 are also in a state of constant meshing.
  • the floating member 30 is rotatably arranged in both the first direction and the second direction; wherein, when the floating member 30 rotates in the first direction, the floating member 30 moves to connect with the turntable 20 and makes the movable member 30 move.
  • the member 1 is rotated relative to the fixed member 2 by a predetermined angle; when the floating member 30 is rotated in the second direction, the floating member 30 is moved to be separated from the turntable 20 .
  • the floating member 30 rotates in the first direction
  • the floating member 30 moves in a direction close to the turntable 20, and moves to connect with the turntable 20, as shown in FIG. Therefore, the turntable 20 is driven to rotate, so that the movable member 1 rotates relative to the fixed member 2 from the first position to the second position.
  • the floating member 30 rotates in the second direction
  • the floating member 30 will drive the turntable 20 to rotate, and make the movable member 1 rotate relative to the fixed member 2 from the second position to the first position, and the floating member 30 will be in contact with the turntable 20 . separation, as shown in Figure 5.
  • the position adjustment mechanism further includes: a blocking rod 70 , the blocking rod 70 is used to be arranged on the fixing member 2 , and a gap 71 is provided on the blocking rod 70 ;
  • the connecting shaft 10 is clamped in the notch 71;
  • the connecting shaft 10 After being separated from the notch 71 , the floating member 30 moves along the connecting shaft 10 to separate from the turntable 20 .
  • the floating member 30 drives the turntable 20 to rotate, the connecting shaft 10 rotates along with it, so the end of the notch 71 enters the notch 71 until it contacts the bottom surface of the notch 71 in a limited position, at which time the connecting shaft 10 cannot continue. Therefore, the relative relationship between the movable member 1 and the fixed member 2 is determined, that is, the movable member 1 rotates from the first position to the second position, and the floating member 30 stops rotating in the first direction.
  • the connecting shaft 10 may gradually separate from the notch 71, and during this process, the floating member 30 can move along the connecting shaft 10, and the movable member 1 rotates from the second position to the first position After the position, the floating member 30 still rotates in the second direction, and the floating member 30 is separated from the turntable 20 until the floating member 30 contacts the end face of the blocking rod 70 in a limited manner, then the floating member 30 stops moving along the connecting shaft 10, but Can still be turned.
  • the position can be determined by the sensor 72, thereby effectively controlling the floating member 30 to stop rotating.
  • the sensor 72 may be a position switch assembly, for example, an optocoupler switch, or a distance measuring sensor.
  • the floating member 30 when the floating member 30 rotates in the second direction, the floating member 30 is used to drive the first peripheral component 3 to work.
  • the position adjustment mechanism further includes: a second driving component 80, the second drive assembly 80 is used to drive the second peripheral component 4 to work; the housing part 90, the housing part 90 is used to connect with the movable part 1, and the connecting shaft 10 is connected with the housing part 90 to make the connection
  • the shaft 10 is connected with the movable part 1 through the housing part 90, and the second driving assembly 80 is arranged on the housing part 90; wherein, the first peripheral part 3 and the second peripheral part 4 are both arranged on the movable part 1,
  • the connecting shaft 10 is rotated from the outside of the notch 71 to be clamped in the notch 71, and after the second peripheral component 4 is located at the working position, the floating member 30 stops rotating, and the second driving component 80 drives the second peripheral component 4 to work, floating After the floating member 30 is in limited contact with the blocking rod 70, the floating member 30 can continue
  • the floating member 30 when the floating member 30 rotates in the first direction, the floating member 30 is used to drive the movable member 1 to rotate relative to the fixed member 2 , that is, the movable member 1 moves from the first position to the second position.
  • the floating member 30 rotates in the second direction, after the floating member 30 drives the movable member 1 to move from the second position to the first position, it is mainly used to drive the first peripheral component 3 to work.
  • the floating member 30 starts the first peripheral member 3 in the working position, that is, the floating member 30 rotates in the second direction to realize the operation of the first peripheral member 3 .
  • the second peripheral component 4 is in the working position, and the second peripheral component 4 is driven to work by the second driving assembly 80 .
  • the position adjustment mechanism includes a first drive assembly 60 and a second drive assembly 80 .
  • the first drive assembly 60 realizes the rotation of the movable member 1 relative to the fixed member 2 and can be used to drive the first peripheral component 3 Work.
  • the second driving assembly 80 is used for driving the second peripheral component 4 to work.
  • the first drive assembly 60 and the second drive assembly 80 are both arranged on the housing part 90 .
  • the first transmission gear 61 is composed of a second helical gear segment 611 and a transmission gear segment 612
  • the floating member 30 is composed of a first helical gear segment 32 and an output gear segment 33
  • the second transmission gear 62 meshes with the transmission gear segment 612 to realize the rotation of the first transmission gear 61
  • the second helical gear segment 611 meshes with the first helical gear segment 32 for driving the movement and rotation of the floating member 30
  • the output gear segment 33 is meshed with the first output gear 64 , thereby driving the first peripheral component 3 to work through the first output gear 64 .
  • a plurality of output gears may be included between the first output gear 64 and the first peripheral component 3, that is, the transmission ratio requirement is satisfied.
  • the first output gear 64 is meshed with the second output gear 65
  • the second output gear 65 is meshed with the third output gear 66
  • the third output gear 66 is meshed with the fourth output gear 67.
  • the four output gears 67 are connected with the first peripheral component 3 to drive the first peripheral component 3 to rotate.
  • the second driving assembly 80 includes a second power source 85, and the second power source 85 is drivingly connected with the first gear 81, so as to drive the first gear 81 to rotate, and the first gear 81 can be used to drive the second outer gear 81.
  • the setting part 4 works, and a plurality of gears may be arranged between the first gear 81 and the second peripheral part 4 to satisfy the transmission ratio.
  • the first gear 81 meshes with the second gear 82
  • the second gear 82 meshes with the third gear 83
  • the third gear 83 meshes with the fourth gear 84
  • the fourth gear 84 meshes with the second gear 83.
  • the peripheral components 4 are connected to drive the second peripheral component 4 to rotate.
  • the second power source 85 may be a motor.
  • the second power source 85 may be a motor, and the motor realizes forward rotation and reverse rotation.
  • An embodiment of the present disclosure also provides a cleaning robot, including the above-mentioned position adjustment mechanism.
  • the cleaning robot further includes a movable part 1 , a fixed part 2 , a first peripheral part 3 and a second peripheral part 4 , wherein the movable part 1 is rotatably arranged On the fixed part 2 , the first peripheral part 3 and the second peripheral part 4 are arranged on the movable part 1 , so that when the movable part 1 rotates relative to the fixed part 2 , the first peripheral part 3 and the second peripheral part 4 to achieve location switching.
  • the first peripheral component 3 and the second peripheral component 4 may be a first cleaning component and a second cleaning component, respectively, and the first cleaning component and the second cleaning component may be a sweeping component and a mopping component, respectively. , or both the first cleaning element and the second cleaning element are sweeping elements, or both the first cleaning element and the second cleaning element are mopping elements.
  • the position adjustment mechanism drives the movable member 1 to rotate relative to the fixed member 2, so that the first cleaning member and the second cleaning member can be respectively located at the workstation positions, that is, after the first cleaning member or the second cleaning member is in the working position, it can be used for Clean the surface to be cleaned, such as cleaning floors.
  • the movable member 1 may be driven by the first motor to realize rotation relative to the fixed member 2, so that the first peripheral component 3 and the second peripheral component 4 can be switched between working positions.
  • the first peripheral component 3 can be driven by the second motor to realize rotation and thus work.
  • the second peripheral component 4 can be driven by the third motor to realize rotation and thus work.
  • the second drive assembly 80 drives the second external device 80 to drive the rotation of the movable part 1 relative to the fixed part 2 and the rotation of the first peripheral part 3 by the first drive assembly 60 .
  • the rotation of the component 4 is assumed.
  • the rotation of the second peripheral component 4 can still be driven by the second driving component 80 , and the specific process is the same as that in the above-mentioned embodiment, and will not be repeated here.
  • the drive gear 23 is meshed with the turntable 20, so that the third power source 22 drives the turntable 20 to realize forward rotation and reverse rotation through the drive gear 23, thereby realizing the first peripheral device.
  • the floating member 30 in this embodiment does not move axially, but is directly driven to rotate by the first driving component 60, so that the fourth output gear is finally driven by the corresponding gear transmission. 67 rotates, so that the fourth output gear 67 drives the first peripheral component 3 to rotate, and the final realization of the rotation distance of the fourth output gear 67 is also consistent with the above-mentioned embodiment, which will not be repeated here.
  • the axial movement of the floating member 30 can be omitted, and the blocking rod 70 can be eliminated.
  • a single driving mechanism and a more complex transmission assembly can also be used to realize the unified driving of the first peripheral component 3 and the second peripheral component 4 and the switching of sweeping and mopping.
  • the driving mechanism can drive the rotation of the first peripheral part 3 and the second peripheral part 4 and the switching of the sweeping and mopping state respectively according to the state of the sweeping and mopping module during the forward rotation: when the first peripheral part 3 touches the ground, the driving The mechanism drives the first peripheral component 3 to rotate and sweep the floor through the gear box; when the sweeping and dragging state needs to be switched, the meshing teeth of the gear box are switched, so that the driving mechanism can drive the sweeping and dragging state switching through the gear box; when the switching is completed, the gear box The meshing teeth are switched again, so that the driving mechanism can drive the second peripheral component 4 to rotate through the gear box.
  • the meshing teeth of the gear box are switched again, and at the same time, the motor is reversed to complete the switching of the driving of the driving mechanism

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Abstract

一种位置调节机构及具有其的清洁机器人，涉及智能家居技术领域。位置调节机构用于连接活动件（1）和固定件（2），位置调节机构包括连接轴（10）、转盘（20）、浮动件（30）以及连杆轴（40），连接轴（10）的两端分别连接活动件（1）和转盘（20）；浮动件（30）可移动地设置在连接轴（10）上，以与转盘（20）相连接或相分离；连杆轴（40）的两端分别连接固定件（2）和转盘（20），连接轴（10）的中心线与连杆轴（40）的中心线不重合；其中，当浮动件（30）与转盘（20）相连接，且浮动件（30）转动时，转盘（20）以连杆轴（40）为固定点相对于固定件（2）转动，以使活动件（1）相对于固定件（2）转动。在活动件（2）相对于固定件（2）转动前需要保证浮动件（30）与转盘（20）相连接，即需要使得浮动件（30）沿连接轴（10）移动至与转盘（20）相连接，从而能够形成一定的转动启动缓冲。

Description

位置调节机构及具有其的清洁机器人
交叉引用
本公开要求于2020年12月11日提交的申请号为202011458380.5、名称为“位置调节机构及具有其的清洁机器人”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种位置调节机构及具有其的清洁机器人。
背景技术
相关技术中，为了能够实现活动件相对于固定件的转动，多采用独立的驱动机构直接向活动件提供动力，以驱动活动件相对于固定件转动，在此过程中，驱动机构启动后就会使得活动件开始转动。因此，在驱动机构出现误启动时，活动件就会马上转动，由于活动件的转动过程不存在任何缓冲时间，在某些情况下可能会引发不必要的问题，影响使用体验且可能会带来某些安全问题。
发明内容
本公开提供一种位置调节机构及具有其的清洁机器人，以实现活动件相对于固定件的转动。
根据本公开的第一个方面，提供了一种位置调节机构，用于连接活动件和固定件，位置调节机构包括：
连接轴；
转盘，连接轴的两端分别连接活动件和转盘；
浮动件，浮动件可移动地设置在连接轴上，以与转盘相连接或相分离；
连杆轴，连杆轴的两端分别连接固定件和转盘，连接轴的中心线与连杆轴的中心线不重合；
其中，当浮动件与转盘相连接，且浮动件转动时，转盘以连杆轴为固定点相对于固定件转动，以使活动件相对于固定件转动。
根据本公开的第二个方面，提供了一种清洁机器人，包括上述的位置调节机构。
本公开的位置调节机构通过连接轴、转盘、浮动件以及连杆轴能够使得活动件相对于固定件转动，且在活动件相对于固定件转动前需要保证浮动件与转盘相连接，即需要使得浮动件沿连接轴移动至与转盘相连接，从而能够形成一定的转动启动缓冲。
附图说明
通过结合附图考虑以下对本公开的优选实施方式的详细说明，本公开的各种目标，特征和优点将变得更加显而易见。附图仅为本公开的示范性图解，并非一定是按比例绘制。在附图中，同样的附图标记始终表示相同或类似的部件。其中：
图1是根据一示例性实施方式示出的一种位置调节机构的第一个视角的结构示意图；
图2是根据一示例性实施方式示出的一种位置调节机构的第二个视角的结构示意图；
图3是根据一示例性实施方式示出的一种位置调节机构的第三个视角的结构示意图；
图4是根据一示例性实施方式示出的一种位置调节机构的分解结构示意图；
图5是根据一示例性实施方式示出的一种位置调节机构的浮动件与转盘相分离的结构示意图；
图6是根据一示例性实施方式示出的一种位置调节机构的浮动件与转盘相连接的结构示意图；
图7是根据一示例性实施方式示出的一种清洁机器人的部分结构示意图；
图8是根据一示例性实施方式示出的一种清洁机器人的部分分解结构示意图；
图9A是根据一示例性实施方式示出的一种位置调节机构的第一个视角的结构示意图；
图9B是根据一示例性实施方式示出的一种位置调节机构的第二个视角的结构示意图；
图9C是根据一示例性实施方式示出的一种位置调节机构的第三个视角的结构示意图。
附图标记说明如下：
1、活动件；2、固定件；3、第一外设部件；4、第二外设部件；
10、连接轴；20、转盘；21、第一凸起部；22、第三动力源；23、驱动齿轮；30、浮动件；31、第二凸起部；32、第一斜齿轮段；33、输出齿轮段；40、连杆轴；50、转接件；60、第一驱动组件；61、第一传动齿轮；611、第二斜齿轮段；612、传动齿轮段；62、第二传动齿轮；63、第一动力源；64、第一输出齿轮；65、第二输出齿轮；66、第三输出齿 轮；67、第四输出齿轮；70、挡杆；71、缺口；72、感应器；80、第二驱动组件；81、第一齿轮；82、第二齿轮；83、第三齿轮；84、第四齿轮；85、第二动力源；90、壳体件。
具体实施方式
体现本公开特征与优点的典型实施例将在以下的说明中详细叙述。应理解的是本公开能够在不同的实施例上具有各种的变化，其皆不脱离本公开的范围，且其中的说明及附图在本质上是作说明之用，而非用以限制本公开。
在对本公开的不同示例性实施方式的下面描述中，参照附图进行，附图形成本公开的一部分，并且其中以示例方式显示了可实现本公开的多个方面的不同示例性结构，系统和步骤。应理解的是，可以使用部件，结构，示例性装置，系统和步骤的其他特定方案，并且可在不偏离本公开范围的情况下进行结构和功能性修改。而且，虽然本说明书中可使用术语“之上”，“之间”，“之内”等来描述本公开的不同示例性特征和元件，但是这些术语用于本文中仅出于方便，例如根据附图中的示例的方向。本说明书中的任何内容都不应理解为需要结构的特定三维方向才落入本公开的范围内。
本公开的一个实施例提供了一种位置调节机构，请参考图1至图7，位置调节机构用于连接活动件1和固定件2，活动件1用于容纳第一外设部件3和/或第二外设部件4，固定件2用于固连至设备主体，从而可以通过活动件1相对固定件2的运动来实现第一外设部件和/或第二外设部件的位置变换，进而实现多种工作模式。
位置调节机构包括：连接轴10；转盘20，连接轴10的两端分别连接活动件1和转盘20；浮动件30，浮动件30可移动地设置在连接轴10上，以与转盘20相连接或相分离；连杆轴40，连杆轴40的两端分别连接固定件2和转盘20，连接轴10的中心线与连杆轴40的中心线不重合；其中，当浮动件30与转盘20相连接，且浮动件30转动时，转盘20以连杆轴40为固定点相对于固定件2转动，以使活动件1以连杆轴40和壳体件90另一侧的固定轴为固定点相对于固定件2转动。
本公开一个实施例的位置调节机构通过连接轴10、转盘20、浮动件30以及连杆轴40能够使得活动件1相对于固定件2转动，且在活动件1相对于固定件2转动前需要保证浮动件30与转盘20相连接，即需要使得浮动件30沿连接轴10移动至与转盘20相连接，从而能够形成一定的转动启动缓冲。
需要说明的是，由于浮动件30与转盘20具有连接和分离两个状态，因此在浮动件30与转盘20处于分离状态时，如果需要通过浮动件30驱动活动件1相对于固定件2转动， 则需要保证浮动件30与转盘20由分离状态移动至连接状态，此时浮动件30转动，从而可以驱动转盘20以连杆轴40为固定点相对于固定件2转动，而浮动件30和转盘20均连接于连接轴10上，且连接轴10与活动件1相连接，因此可以使得连接轴10带动活动件1转动。
考虑到浮动件30相对于连接轴10转动时，浮动件30会驱动转盘20转动，而转盘20通过连杆轴40与固定件2连接，且连接轴10的中心线与连杆轴40的中心线不重合，因此在浮动件30的带动下，转盘20在相对于连接轴10转动的同时也会以连杆轴40为固定点相对于固定件2转动，即转盘20和浮动件30同时完成自转与公转，以此实现活动件1相对于固定件2转动。
需要注意的是，浮动件30可以相对于连接轴10转动，当然浮动件30也可以与连接轴10周向固定，即浮动件30可以带动连接轴10相对于活动件1转动。
在一个实施例中，浮动件30可以通过外部驱动机构驱动以实现相对于连接轴10的移动，例如，外部驱动机构可以包括一个伸缩杆，伸缩杆与浮动件30相连接，通过伸缩杆的伸长与缩回能够实现浮动件30沿连接轴10的移动。而在浮动件30转动时，外部驱动机构可以与浮动件30同步转动。
对于浮动件30的转动和相对于连接轴10的轴向移动，可以采用相关技术中的传动机构保证浮动件30能够实现转动，例如可以采用齿轮传动机构、链传动机构或者带传动机构，此处不作限定，只要保证传动机构能够驱动浮动件30实现转动和轴向移动，且可以随浮动件30同时相对于连杆轴40转动即可。
在一个实施例中，连杆轴40可以直接与转盘20相连接，即连杆轴40与转盘20之间无需转接机构，只需要保证连接轴10的中心线与连杆轴40的中心线不重合即可，由此可以使得转盘20以连杆轴40为固定点相对于固定件2转动。例如，连杆轴40与转盘20固定连接，即连杆轴40偏离连接轴10设置，而连杆轴40相对于固定件2可转动，从而在浮动件30与转盘20相连接，且浮动件30转动时，转盘20则会带动连杆轴40相对于固定件2转动，此时转盘20类似偏心盘。当然，连杆轴40与转盘20可以转动连接，而连杆轴40与固定件2固定连接。
在一个实施例中，如图1至图3所示，位置调节机构还包括：转接件50，转接件50的两端分别连接转盘20和连杆轴40，以使连杆轴40通过转接件50与转盘20相连接，从而能够使得连杆轴40与转盘20之间的位置关系不会受到特别的限定，保证部件之间的合理布局。
具体的，结合图1，转接件50可以是一个连接板，且转接件50与转盘20的连接点偏离转盘20的中心线设置，即偏离连接轴10的中心线设置。
在一个实施例中，连杆轴40与固定件2固定连接，转接件50的两端分别铰接转盘20和连杆轴40，从而在转盘20转动时，转接件50能够相对于转盘20和连杆轴40转动，防止出现卡死现象。
具体的，由于浮动件30和转盘20同时进行自转与公转，因此需要保证转接件50不会出现卡死状态，故需要使得转接件50的两端均为铰接端。
在一个实施例中，如图1所示，转盘20朝向浮动件30的一侧设置有第一凸起部21，浮动件30朝向转盘20的一侧设置有第二凸起部31，以在浮动件30与转盘20相连接时，第一凸起部21与第二凸起部31限位接触，从而保证浮动件30能够带动转盘20实现转动。
具体的，第一凸起部21可以为多个，多个第一凸起部21沿浮动件30的周向方向间隔设置，而第二凸起部31也为多个，多个第二凸起部31沿转盘20的周向方向间隔设置，在浮动件30与转盘20相连接时，第一凸起部21和第二凸起部31可以是交错设置的，从而形成相对固定关系。或者第一凸起部21和第二凸起部31中的一个上形成有凹槽，而另一个插设在凹槽内从而形成相对固定关系。对于第一凸起部21和第二凸起部31的限位连接关系不作限定，只要保证能够实现限位，且能够分离即可。在本实施例中，多个第一凸起部21可以与转盘20形成螺旋外齿轮，而多个第二凸起部31可以与浮动件30形成螺旋内齿轮，或者，多个第一凸起部21可以与转盘20形成螺旋内齿轮，而多个第二凸起部31可以与浮动件30形成螺旋外齿轮，螺旋外齿轮与螺旋内齿轮相啮合。
在一个实施例中，如图1所示，位置调节机构还包括：第一驱动组件60，第一驱动组件60与浮动件30相连接，以驱动浮动件30转动的同时沿连接轴10移动；其中，第一驱动组件60与转盘20同步相对于固定件2转动，即第一驱动组件60能够保持与浮动件30的连接关系，从而保证动力传递。
需要注意的是，浮动件30在转动的同时可以相对于连接轴10移动，即第一驱动组件60需要向浮动件30同时提供轴向方向的力和周向方向的力。此处不排除第一驱动组件60包括两组相对独立的驱动机构，分别向浮动件30提供两个方向的力。
在一个实施例中，如图3所示，浮动件30包括第一斜齿轮段32，第一驱动组件60包括：第一传动齿轮61，第一传动齿轮61包括第二斜齿轮段611，第二斜齿轮段611与第一斜齿轮段32相啮合，以驱动浮动件30转动；其中，浮动件30沿第二斜齿轮段611可移动地设置，即浮动件30可相对于第二斜齿轮段611的轴线方向移动设置。
具体的，通过调整第二斜齿轮段611与第一斜齿轮段32的斜齿轮配合设置，能够在第二斜齿轮段611转动时，使第二斜齿轮段611向第一斜齿轮段32提供两个方向的力，保证第一斜齿轮段32实现转动和移动同步进行，从而使得浮动件30与转盘20实现连接和脱离。浮动件30与转盘20连接后，由于转盘20的限定，则浮动件30不会继续沿连接轴10移动，但依然在第二斜齿轮段611的驱动下进行转动，从而带动转盘20实现转动。
在一个实施例中，如图2和图3所示，第一驱动组件60还包括：第二传动齿轮62，第二传动齿轮62与第一传动齿轮61相啮合；第一动力源63，第一动力源63与第二传动齿轮62相连接，以驱动第二传动齿轮62转动。
具体的，第一动力源63可以是马达，通过驱动第二传动齿轮62转动由此带动第一传动齿轮61转动，从而通过第一传动齿轮61将动力传递至浮动件30。在本实施例中，第一动力源63可以是电机，电机可以实现正转和反转。
在一个实施例中，第一动力源63也可以直接与第一传动齿轮61相连接，以驱动第一传动齿轮61转动。或者第一动力源63与第二传动齿轮62之间还可以设置有其他传动齿轮，以此满足传动比的需求。
在一个实施例中，如图2和图3所示，浮动件30还包括输出齿轮段33，第一驱动组件60还包括：第一输出齿轮64，第一输出齿轮64用于连接第一外设部件3，输出齿轮段33与第一输出齿轮64相啮合，以驱动第一输出齿轮64转动；其中，浮动件30沿第一输出齿轮64可移动地设置，即浮动件30可相对第一输出齿轮64的轴线方向移动设置。
具体的，浮动件30能够用于驱动转盘20转动，即实现活动件1相对于固定件2的转动，且浮动件30转动时还能够用于驱动第一外设部件3工作，即一个动力件实现两个功能，一定程度上能够减少动力部件的设置。
需要注意的是，由于浮动件30与转盘20连接后，浮动件30转动则会使得活动件1相对于固定件2转动，因此在浮动件30与转盘20连接后，浮动件30转动也可以带动第一外设部件3工作。而在浮动件30与转盘20分离后，浮动件30转动也可以带动第一外设部件3工作，即浮动件30可以进行两个方向的转动。
需要说明的是，由于浮动件30可以相对于连接轴10移动，因此浮动件30能够相对于与其相啮合的第一传动齿轮61和第一输出齿轮64可移动，但移动的距离具有固定值，从而保证浮动件30与第一传动齿轮61处于一直啮合状态，并且浮动件30与第一输出齿轮64也处于一直啮合状态。
在一个实施例中，浮动件30沿第一方向和第二方向均可转动地设置；其中，当浮动 件30沿第一方向转动时，浮动件30移动至与转盘20相连接，并使活动件1相对于固定件2转动预设角度；当浮动件30沿第二方向转动时，浮动件30移动至与转盘20相分离。
具体的，浮动件30沿第一方向转动时，浮动件30沿靠近转盘20的方向移动，并移动至与转盘20相连接，如图6所示，此时，浮动件30继续保持沿第一方向转动，因此会驱动转盘20转动，从而使得活动件1相对于固定件2由第一位置转动至第二位置。而在浮动件30沿第二方向转动时，浮动件30会带动转盘20转动，并使得活动件1相对于固定件2由第二位置转动至第一位置，且浮动件30会与转盘20相分离，如图5所示。
在一个实施例中，如图4至图6所示，位置调节机构还包括：挡杆70，挡杆70用于设置在固定件2上，挡杆70上设置有缺口71；其中，当浮动件30沿第一方向转动，并使得活动件1相对于固定件2转动预设角度后，连接轴10卡设于缺口71内；当浮动件30沿第二方向转动时，并使得连接轴10脱离缺口71后，浮动件30沿连接轴10移动至与转盘20相分离，在某些极限情况下浮动件30移动至与转盘20相分离并与挡杆70限位接触。
具体的，浮动件30驱动转盘20转动时，连接轴10随着转动，因此会由缺口71的端部进入到缺口71内，直至与缺口71的底面限位接触，此时连接轴10不能继续转动，因此活动件1与固定件2的相对关系确定，即活动件1由第一位置转动至第二位置，浮动件30停止沿第一方向转动。而在浮动件30沿第二方向转动时，连接轴10或逐渐脱离缺口71，并且在此过程中浮动件30可以沿着连接轴10移动，并在活动件1由第二位置转动至第一位置后，浮动件30依然沿着第二方向转动，且浮动件30脱离转盘20，直至浮动件30与挡杆70的端面限位接触后，则浮动件30停止沿着连接轴10移动，但依然可以进行转动。需要切换工作模式，即转动组件从第一位置转向第二位置，浮动件再沿第一方向转动，浮动件30再次接合转盘20，而后连接轴10逐渐进入缺口71，如此往复切换活动件1位置。
需要说明的是，当活动件1由第一位置转动至第二位置后，可以通过感应器72来确定位置，从而有效控制浮动件30停止转动。而活动件1由第二位置转动至第一位置后，由于浮动件30已经脱离转盘20，因此不会使得活动件1继续相对于固定件2发生转动。其中，感应器72可以是到位开关组件，例如，光耦开关，也可以是测距传感器。
在一个实施例中，当浮动件30沿第二方向转动时，浮动件30用于驱动第一外设部件3工作，如图2至图4所示，位置调节机构还包括：第二驱动组件80，第二驱动组件80用于驱动第二外设部件4工作；壳体件90，壳体件90用于与活动件1相连接，连接轴10与壳体件90相连接，以使连接轴10通过壳体件90与活动件1相连接，第二驱动组件80 设置在壳体件90上；其中，第一外设部件3和第二外设部件4均设置在活动件1上，连接轴10从缺口71外转动至卡设于缺口71内，且使得第二外设部件4位于工作位置后，浮动件30停止转动，第二驱动组件80驱动第二外设部件4工作，浮动件30与挡杆70限位接触后，浮动件30能够继续沿第二方向转动。
具体的，浮动件30在沿第一方向转动时，浮动件30用于驱动活动件1相对于固定件2转动，即活动件1由第一位置移动至第二位置。在浮动件30在沿第二方向转动时，浮动件30驱动活动件1由第二位置移动至第一位置后，主要用于驱动第一外设部件3进行工作。在本实施例中，活动件1位于第一位置时，浮动件30开始第一外设部件3处于工作位置，即浮动件30沿第二方向转动可以实现第一外设部件3的工作。而活动件1位于第二位置后，第二外设部件4处于工作位置，则通过第二驱动组件80驱动第二外设部件4工作。
在一个实施例中，位置调节机构包括第一驱动组件60和第二驱动组件80，第一驱动组件60实现活动件1相对于固定件2的转动，且可以用于驱动第一外设部件3工作。而第二驱动组件80用于驱动第二外设部件4工作。其中，第一驱动组件60和第二驱动组件80均设置在壳体件90上。
具体的，结合图1至图3，第一传动齿轮61由第二斜齿轮段611和传动齿轮段612组成，浮动件30由第一斜齿轮段32和输出齿轮段33组成，第二传动齿轮62与传动齿轮段612相啮合，从而实现第一传动齿轮61的转动，而第二斜齿轮段611与第一斜齿轮段32相啮合，用于驱动浮动件30的移动与转动，输出齿轮段33通过与第一输出齿轮64相啮合，从而通过第一输出齿轮64驱动第一外设部件3工作。
需要说明的是，第一输出齿轮64与第一外设部件3之间可以包括多个输出齿轮，即满足传动比要求。在本实施例中，第一输出齿轮64与第二输出齿轮65相啮合，第二输出齿轮65与第三输出齿轮66相啮合，而第三输出齿轮66与第四输出齿轮67相啮合，第四输出齿轮67与第一外设部件3相连接，从而驱动第一外设部件3转动。
在一个实施例中，第二驱动组件80包括第二动力源85，第二动力源85与第一齿轮81驱动连接，从而驱动第一齿轮81转动，第一齿轮81可以用于驱动第二外设部件4工作，而第一齿轮81与第二外设部件4之间可以设置有多个齿轮以此满足传动比。在本实施例中，第一齿轮81与第二齿轮82相啮合，第二齿轮82与第三齿轮83相啮合，第三齿轮83与第四齿轮84相啮合，而第四齿轮84与第二外设部件4相连接，从而驱动第二外设部件4转动。其中，第二动力源85可以是马达。在本实施例中，第二动力源85可以是电机， 电机实现正转和反转。
本公开的一个实施例还提供了一种清洁机器人，包括上述的位置调节机构。
在一个实施例中，如图7和图8所示，清洁机器人还包括活动件1、固定件2、第一外设部件3和第二外设部件4，其中，活动件1可转动地设置在固定件2上，第一外设部件3和第二外设部件4设置在活动件1，从而在活动件1相对于固定件2转动时，第一外设部件3和第二外设部件4实现位置切换。
在一个实施例中，第一外设部件3和第二外设部件4可以分别为第一清洁件和第二清洁件，第一清洁件和第二清洁件可以分别为扫地件和拖地件，或者第一清洁件和第二清洁件均为扫地件，或者第一清洁件和第二清洁件均为拖地件。位置调节机构驱动活动件1相对于固定件2转动，从而能够使得第一清洁件和第二清洁件分别位于工位位置，即第一清洁件或第二清洁件处于工作位置后，可以用于清洁待清洁表面，例如清洁地面。
可选的，活动件1可以通过第一电机驱动，以实现相对于固定件2的转动，从而使得第一外设部件3和第二外设部件4在工作位置进行切换。第一外设部件3可以通过第二电机驱动，以实现转动，从而进行工作。而第二外设部件4可以通过第三电机驱动，以实现转动，从而进行工作。
具体的，结合图9A至图9C所示，相对于通过第一驱动组件60驱动活动件1相对于固定件2的转动以及第一外设部件3的转动，第二驱动组件80驱动第二外设部件4的转动。本实施例中，依然可以通过第二驱动组件80驱动第二外设部件4的转动，具体过程与上述实施例相一致，此处不作赘述。通过增加第三动力源22和驱动齿轮23，使得驱动齿轮23与转盘20相啮合，从而使得第三动力源22通过驱动齿轮23驱动转盘20实现正转和反转，以此实现第一外设部件3和第二外设部件4在工作位置进行切换。而相对于上述实施例中，本实施例中的浮动件30不进行轴向移动，而是通过第一驱动组件60直接驱动其进行转动，以此通过相应的齿轮传动，最终使得第四输出齿轮67转动，从而使得第四输出齿轮67带动第一外设部件3转动，对于最终实现第四输出齿轮67转动的远离与上述实施例也相一致，此处不作赘述。本实施例中，通过增加第三动力源22和驱动齿轮23，可以省去浮动件30的轴向运动，且可以去除挡杆70。
在另一个实施例中，也可以通过采用单一的驱动机构以及更复杂的传动组件来实现第一外设部件3和第二外设部件4、以及扫拖切换的统一驱动。例如驱动机构在正转时可以按照扫拖模组的状态分别驱动第一外设部件3和第二外设部件4的转动以及扫拖状态的切 换：当第一外设部件3着地时，驱动机构通过齿轮箱驱动第一外设部件3转动扫地；当需要切换扫拖状态时，齿轮箱的啮合齿进行切换，从而驱动机构能够通过齿轮箱驱动扫拖状态切换；当切换完成后，齿轮箱的啮合齿再次切换，从而驱动机构能够通过齿轮箱驱动第二外设部件4转动。而当需要再次切换扫拖状态时，齿轮箱的啮合齿再次切换，同时马达反转，完成扫拖状态的切换。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和示例实施方式仅被视为示例性的，本公开的真正范围和精神由前面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (12)

  1. 一种位置调节机构，其特征在于，用于连接活动件(1)和固定件(2)，所述位置调节机构包括：
    连接轴(10)；
    转盘(20)，所述连接轴(10)的两端分别连接所述活动件(1)和所述转盘(20)；
    浮动件(30)，所述浮动件(30)可移动地设置在所述连接轴(10)上，以与所述转盘(20)相连接或相分离；
    连杆轴(40)，所述连杆轴(40)的两端分别连接所述固定件(2)和所述转盘(20)，所述连接轴(10)的中心线与所述连杆轴(40)的中心线不重合；
    其中，当所述浮动件(30)与所述转盘(20)相连接，且所述浮动件(30)转动时，所述转盘(20)以所述连杆轴(40)为固定点相对于所述固定件(2)转动，以使所述活动件(1)相对于所述固定件(2)转动。
  2. 根据权利要求1所述的位置调节机构，其特征在于，所述位置调节机构还包括：
    转接件(50)，所述转接件(50)的两端分别连接所述转盘(20)和所述连杆轴(40)，以使所述连杆轴(40)通过所述转接件(50)与所述转盘(20)相连接。
  3. 根据权利要求2所述的位置调节机构，其特征在于，所述连杆轴(40)与所述固定件(2)固定连接，所述转接件(50)的两端分别铰接所述转盘(20)和所述连杆轴(40)。
  4. 根据权利要求1所述的位置调节机构，其特征在于，所述转盘(20)朝向所述浮动件(30)的一侧设置有第一凸起部(21)，所述浮动件(30)朝向所述转盘(20)的一侧设置有第二凸起部(31)，以在所述浮动件(30)与所述转盘(20)相连接时，所述第一凸起部(21)与所述第二凸起部(31)限位接触。
  5. 根据权利要求1所述的位置调节机构，其特征在于，所述位置调节机构还包括：
    第一驱动组件(60)，所述第一驱动组件(60)与所述浮动件(30)相连接，以驱动所述浮动件(30)转动的同时沿所述连接轴(10)移动；
    其中，所述第一驱动组件(60)与所述转盘(20)同步相对于所述固定件(2)转动。
  6. 根据权利要求5所述的位置调节机构，其特征在于，所述浮动件(30)包括第一斜齿轮段(32)，所述第一驱动组件(60)包括：
    第一传动齿轮(61)，所述第一传动齿轮(61)包括第二斜齿轮段(611)，所述第二斜齿轮段(611)与所述第一斜齿轮段(32)相啮合，以驱动所述浮动件(30)转动；
    其中，所述浮动件(30)沿所述第二斜齿轮段(611)可移动地设置。
  7. 根据权利要求6所述的位置调节机构，其特征在于，所述第一驱动组件(60)还包括：
    第二传动齿轮(62)，所述第二传动齿轮(62)与所述第一传动齿轮(61)相啮合；
    第一动力源(63)，所述第一动力源(63)与所述第二传动齿轮(62)相连接，以驱动所述第二传动齿轮(62)转动。
  8. 根据权利要求5所述的位置调节机构，其特征在于，所述浮动件(30)还包括输出齿轮段(33)，所述第一驱动组件(60)还包括：
    第一输出齿轮(64)，所述第一输出齿轮(64)用于连接第一外设部件(3)，所述输出齿轮段(33)与所述第一输出齿轮(64)相啮合，以驱动所述第一输出齿轮(64)转动；
    其中，所述浮动件(30)沿所述第一输出齿轮(64)可移动地设置。
  9. 根据权利要求1至8中任一项所述的位置调节机构，其特征在于，所述浮动件(30)沿第一方向和第二方向均可转动地设置；
    其中，当所述浮动件(30)沿所述第一方向转动时，所述浮动件(30)移动至与所述转盘(20)相连接，并使所述活动件(1)相对于所述固定件(2)转动预设角度；当所述浮动件(30)沿所述第二方向转动时，所述浮动件(30)移动至与所述转盘(20)相分离。
  10. 根据权利要求9所述的位置调节机构，其特征在于，所述位置调节机构还包括：
    挡杆(70)，所述挡杆(70)用于设置在所述固定件(2)上，所述挡杆(70)上设置有缺口(71)；
    其中，当所述浮动件(30)沿所述第一方向转动，并使得所述活动件(1)相对于所述固定件(2)转动所述预设角度后，所述连接轴(10)卡设于所述缺口(71)内；当所述浮动件(30)沿所述第二方向转动时，并使得所述连接轴(10)脱离所述缺口(71)后，所述浮动件(30)沿所述连接轴(10)移动至与所述转盘(20)相分离。
  11. 根据权利要求10所述的位置调节机构，其特征在于，当所述浮动件(30)沿所述第二方向转动时，所述浮动件(30)用于驱动第一外设部件(3)工作，所述位置调节机构还包括：
    第二驱动组件(80)，所述第二驱动组件(80)用于驱动第二外设部件(4)工作；
    壳体件(90)，所述壳体件(90)用于与所述活动件(1)相连接，所述连接轴(10)与所述壳体件(90)相连接，以使所述连接轴(10)通过所述壳体件(90)与所述活动件 (1)相连接，所述第二驱动组件(80)设置在所述壳体件(90)上；
    其中，所述第一外设部件(3)和所述第二外设部件(4)均设置在所述活动件(1)上，所述连接轴(10)卡设于所述缺口(71)内后，所述浮动件(30)停止转动，所述第二驱动组件(80)驱动所述第二外设部件(4)工作，所述浮动件(30)与所述挡杆(70)限位接触后，所述浮动件(30)能够沿所述第二方向转动。
  12. 一种清洁机器人，其特征在于，包括权利要求1至11中任一项所述的位置调节机构。
PCT/CN2021/118551 2020-12-11 2021-09-15 位置调节机构及具有其的清洁机器人 WO2022121423A1 (zh)

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