WO2022222406A1 - 一种自移动清洁设备 - Google Patents

一种自移动清洁设备 Download PDF

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Publication number
WO2022222406A1
WO2022222406A1 PCT/CN2021/127143 CN2021127143W WO2022222406A1 WO 2022222406 A1 WO2022222406 A1 WO 2022222406A1 CN 2021127143 W CN2021127143 W CN 2021127143W WO 2022222406 A1 WO2022222406 A1 WO 2022222406A1
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WO
WIPO (PCT)
Prior art keywords
link
cleaning device
main body
self
rotate
Prior art date
Application number
PCT/CN2021/127143
Other languages
English (en)
French (fr)
Inventor
刘小禹
王兴明
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
Publication date
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
Priority to EP21937628.2A priority Critical patent/EP4327713A1/en
Publication of WO2022222406A1 publication Critical patent/WO2022222406A1/zh

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Classifications

    • 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
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • 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
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A47L11/293—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools the tools being disc brushes
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the field of cleaning equipment, in particular to a self-moving cleaning equipment.
  • the lifting device drives the cleaning device to descend, so that the cleaning device contacts the ground to clean the surface to be cleaned. After the cleaning is completed, the lifting device drives the cleaning device to rise, thereby reducing the wear of the cleaning device on the surface to be cleaned.
  • a self-moving cleaning device comprising a main body, a cleaning device, and a lifting device, wherein the cleaning device is connected to the main body through the lifting device;
  • the lifting device includes a synchronous linkage assembly, a link mechanism and a driving part, the link mechanism includes a first link and a second link, and the first link and the second link are connected to each other around the axis in the horizontal direction.
  • the main body is rotatably connected, and the first link is rotatably connected with the second link through the synchronous linkage assembly; the driving part is used to drive the first link, so that the cleaning device is relative to the main body lift.
  • the rotational connection between the first link and the main body and the rotational connection between the second link and the main body are located on the same level.
  • the first link includes a first swing arm, a bent portion, and a second swing arm, and the bent portion is respectively associated with one end of the first swing arm and an end of the second swing arm.
  • One end is connected, the bending part is rotatably connected with the main body, the other end of the first swing arm is rotatably connected with the second link through the synchronous linkage assembly, and the other end of the second swing arm is connected with The drive part is rotatably connected.
  • the first link is located on a first vertical surface
  • the second link is located on the second vertical surface
  • the first vertical surface is connected to the second vertical surface.
  • the faces are mutually parallel and distinct vertical faces.
  • the first link is at least partially disposed horizontally and parallel to the second link.
  • the number of the link mechanisms is two groups, and the two groups of the link mechanisms are symmetrically arranged on both sides of the synchronous linkage assembly, respectively.
  • the synchronous linkage assembly includes a first synchronizing shaft, a second synchronizing shaft, a third synchronizing shaft and a connecting member, and the connecting member rotates with the first synchronizing shaft and the second synchronizing shaft respectively connect;
  • One end of the first links of the two sets of linkage mechanisms is rotatably connected through the first synchronizing shaft, and the other end is rotatably connected through the second synchronizing shaft, and the second links of the two sets of linkage mechanisms are rotatably connected through all the
  • the third synchronizing shaft is rotatably connected; the driving part is rotatably connected with the first synchronizing shaft.
  • the link mechanism further includes a limit portion installed on the main body, the limit mechanism is used to block the rotation of the first link and the second link, so as to limit the cleaning The drop height of the device.
  • the second link is rotatably connected to a lower portion of the blocking portion.
  • the synchronous linkage assembly further includes a mounting seat disposed at both ends of the second synchronizing shaft and the third synchronizing shaft, and the mounting seat is connected to the cleaning device.
  • an ascending method for the self-moving cleaning device comprising: controlling the driving part to drive the first link and the second link The rod rotates in the first direction to drive the cleaning device to rise.
  • a descending method for the self-moving cleaning device comprising: controlling the driving part to drive the first link and the second link The rod rotates in a second direction opposite to the first direction to drive the cleaning device to descend.
  • the first connecting rod is driven to rotate by the driving part, so that the cleaning device can be lifted and lowered relative to the main body, which can reduce the space occupied by the lifting device in the vertical direction, thereby reducing the self-driving force.
  • the size of the mobile cleaning equipment is conducive to the miniaturization of the self-moving cleaning equipment.
  • FIG. 1 is an exploded view of a lift device according to some embodiments of the present invention.
  • FIG. 2 is a rising state diagram of a lifting device according to some embodiments of the present invention.
  • Fig. 3 is the perspective view of Fig. 2;
  • FIG. 4 is a descending state diagram of the lifting device according to some embodiments of the present invention.
  • Fig. 5 is the perspective view of Fig. 4;
  • FIG. 6 is a structural diagram showing the connection of the lifting mechanism and the cleaning device as a whole;
  • Fig. 7 is the exploded view of Fig. 6;
  • Figure 8 is an exploded view of a sweeping device according to some embodiments of the present invention.
  • Fig. 9 is the top view of Fig. 8.
  • FIG. 10 is a cross-sectional view taken along the line A-A of FIG. 9
  • Figure 11 is a schematic diagram of the process of releasing the engagement between the brush disc and the transmission mechanism
  • FIG. 12 is a schematic diagram of the engagement process between the brush disc and the transmission mechanism
  • FIG. 13 is a structural diagram of a main body of a self-moving cleaning device according to some embodiments of the present invention.
  • FIG. 14 is a schematic diagram of the hooking process between the bending part and the limiting part
  • FIG. 15 is a schematic diagram of the process of unhooking the bending portion and the limiting portion.
  • FIG. 1 is an exploded view of an upgrade device according to some embodiments of the present invention.
  • FIG. 2 is a rising state diagram of a lifting device according to some embodiments of the present invention.
  • FIG. 3 is a perspective view of FIG. 2 .
  • FIG. 11 is a schematic diagram of the disengagement process of the brush disc and the transmission mechanism.
  • the self-moving cleaning device includes a main body 7, a cleaning device and a lifting device. The cleaning device is connected to the main body 7 through the lifting device.
  • the lifting device includes a synchronous linkage assembly 1, a link mechanism 2 and a driving part 3.
  • the rod 201 and the second connecting rod 202, the first connecting rod 201 and the second connecting rod 202 are rotatably connected with the main body 7 around the axis in the horizontal direction, and the first connecting rod 201 is rotatably connected with the second connecting rod 202 through the synchronous linkage assembly 1;
  • the driving part 3 is used to drive the first link 201 to move the cleaning device up and down relative to the main body 7 .
  • the self-cleaning device of the embodiment is a device that can automatically travel in the area to be cleaned and automatically perform cleaning operations.
  • Self-cleaning devices may include, but are not limited to, automatic scrubbers, automatic sweepers, automatic mopping and sweeping machines, and the like.
  • the fluid storage device 702 can be integrally formed with a material such as plastic, and can be used as the shell of the main body 7 to improve the elasticity, toughness, anti-corrosion and anti-collision performance of the main body 7, and reduce the main body 7. the weight of.
  • the peripheral wall of the fluid storage device 702 can be pre-formed with a plurality of grooves, depressions, clamping positions or similar structures for installing the spraying device, the sewage recovery device and the walking device. And when the washing machine is used for cleaning large places, the volume of the main body 7 can be increased to increase the volume of the fluid storage device 702 so that the fluid storage device has sufficient cleaning liquid to meet the cleaning needs.
  • the traveling device includes multiple groups of rollers arranged at the lower part of the main body 7 , two rollers in each group are respectively located on opposite sides of the main body 7 , and the main body 7 is driven to walk by the rollers to perform cleaning operations.
  • the spray device includes a liquid outlet in fluid communication with the fluid storage device 702 for draining the cleaning fluid.
  • the fluid storage device 702 is communicated with the liquid outlet through the cleaning liquid output pipeline, and necessary components such as pumps are also provided on the cleaning liquid output pipeline, so that the cleaning liquid can be delivered to the liquid outlet in a timely and sufficient amount .
  • the liquid outlet can also be arranged on the front side of the suction mouth, so that the liquid outlet can be used to directly wet the surface to be cleaned on the front side of the suction mouth, and the cleaning device can be used to brush the wetted surface to be cleaned. It has a brushing effect on the clean surface.
  • the fluid storage device 8 may be divided into a plurality of compartments, for example, divided into two compartments, one for storing cleaning liquid and the other for storing recovered sewage; further, for clean water and washing
  • the compartment for storing cleaning fluid can also be divided into two sub-chambers, and the volume of one sub-chamber is much larger than that of the other sub-chamber, so that the larger sub-chamber stores clean water, and the smaller sub-chamber stores clean water.
  • the compartment stores detergent.
  • the sewage recovery device includes a fan assembly and a sewage recovery pipeline connected between the sewage recovery device and the suction port. Under the action of the suction force provided by the fan assembly, the sewage recovery pipeline sucks the impurities and sewage on the surface to be cleaned into the fluid storage device 702 through the sewage recovery pipeline.
  • Figure 8 is an exploded view of a sweeping device according to some embodiments of the present invention.
  • the cleaning device includes a brush plate 8 , an engaging mechanism 9 and a transmission part 10 connected to a rotating motor 14 .
  • the rotating motor 14 drives the transmission part 10 to rotate relative to the brush plate 8 along the first direction, so that the brush plate 8 is engaged with the transmission part 10 through the engaging mechanism 9 , and the rotating motor 14 drives the transmission part 10 relative to the brush plate 8 along the direction.
  • the second direction opposite to the first direction is rotated to disengage the engaging mechanism 9 from the transmission part 10 , and the first direction is the rotation direction of the transmission part 10 in a normal working state.
  • FIG. 9 is a plan view of FIG. 8 .
  • FIG. 10 is a cross-sectional view taken along the line A-A in FIG. 9 .
  • the transmission part 10 includes a connecting disc 1002 and a connecting shaft 1001 located in the middle of the connecting disc 1002 .
  • the brush disc 8 includes a brush disc body 801 and bristles 802 provided at the lower part of the brush disc body 801.
  • the rotation of the rotating motor 14 drives the connection shaft 1001 of the transmission part 10 to rotate , thereby driving the bristles 802 of the brush disc 8 to rotate, cleaning the ground to be cleaned, and using the centrifugal force generated by the rotation to throw out the dirty water and dirt, which are recovered by the sewage recycling device.
  • the bristles 802 can be made of nylon material, which can greatly enhance the corrosion resistance and aging resistance of the bristles 802 , reduce the degree of wear of the bristles 802 , and prolong the service life of the bristles 802 .
  • the bristles 802 can also be formed by injection molding using ABS material, which has good corrosion resistance, impact resistance and strong stability.
  • the bristles 802 can also be arranged in waves along its own length, and are only arranged at the outer edge of the brush plate 8, and the adjacent two bristles 802 are distributed in a staggered manner, thereby increasing the density of the bristles 802, which can improve the performance of the brushes 802.
  • the usage amount of the bristles 802 can be reduced, and only a single layer of the bristles 802 can achieve good water blocking performance, thereby reducing the production cost of the brush disc 8 .
  • the first direction is the rotation direction of the transmission part 10 in the normal working state, that is to say, the transmission part 10 rotates clockwise under normal operation, then the first direction is the clockwise direction, and the second direction is the counterclockwise direction; If the part 10 rotates counterclockwise under normal operation, the first direction is counterclockwise and the second direction is clockwise.
  • FIG. 6 is a structural diagram showing the connection of the lifting mechanism and the cleaning device as a whole.
  • FIG. 7 is an exploded view of FIG. 6 .
  • the lifting device is used to drive the transmission part 10 to ascend or descend;
  • the automatic disassembly and assembly of the brush plate 8 can be realized, which not only reduces the operator's workload, facilitates the operation, but also improves the assembly and disassembly efficiency.
  • the rotating motor 14 can be connected with the lifting device through the encapsulation housing 15 .
  • the lifting device and the rotating motor 14 may adopt the following two mutual cooperation manners to realize the engagement or release of the brush plate 8 and the transmission portion 10 .
  • the first matching method is: during the process of the lifting device driving the transmission part 10 to descend, the rotating motor 14 drives the transmission part 10 in the first direction, and after the lifting device drives the transmission part 10 to descend in place, the rotating motor 14 drives the transmission part 10 to the first maximum.
  • the stroke drive transmission part 10 rotates in the first direction relative to the brush plate 8 , so that the engaging structure 9 is engaged with the transmission part 10 .
  • the first maximum stroke is the rotation stroke of the rotating motor 14 rotating in the first direction to make the engaging mechanism 9 engage with the transmission part 10 , that is, if it is less than the first maximum stroke, the transmission part 10 cannot be connected with the engaging mechanism 9 .
  • Descending into place means that the lifting device lowers the transmission part to a position where the bristles 802 of the brush disc 8 are in contact with the ground and exert a certain pressure on the brush disc 8 .
  • FIG. 12 is a schematic diagram of the engagement process of the brush disc and the transmission mechanism.
  • the brush plate 8 when the brush plate 8 needs to be installed, the brush plate 8 is placed on the ground, and then the transmission part 10 is lowered by the lifting device, and during the descending process, the rotating motor 14 drives the transmission part 10 to rotate in the first direction .
  • the transmission part 10 engages with the brush plate 8 and exerts pressure on the brush plate 8, and the bristles 802 are also subjected to a large downward pressure exerted by the lifting device, so that the bristles 802 are connected to the ground.
  • a large friction force is generated between the two, so that when the rotating motor 14 drives the transmission part 10 to rotate in the first direction, the brush plate 8 will not rotate along with it, so that the transmission part 10 can rotate relative to the brush plate 8 and rotate the motor 14
  • the transmission part 10 is driven to rotate the first maximum stroke, so that the engaging mechanism 9 is engaged with the transmission part 10 , thus completing the installation of the brush plate 8 .
  • the rotating motor 14 drives the transmission part 10 to rotate in the second direction, and after the lifting device drives the transmission part to descend in place, the rotating motor 14 drives the transmission part 10 relative to the second maximum stroke.
  • the brush plate 8 rotates in the second direction, so that the engaging structure 9 and the transmission part 10 are disengaged.
  • the second maximum stroke is the rotation stroke during which the rotating motor 14 rotates in the second direction to disengage the engaging mechanism 9 from the transmission part 10 , that is, if it is less than the second maximum stroke, the transmission part 10 cannot be released from the engaging mechanism 9 snap.
  • FIG. 11 is a schematic diagram of the disengagement process of the brush disc and the transmission mechanism.
  • the transmission part 10 is lowered by the lifting device, and during the lowering process, the rotating motor 14 drives the transmission part 10 to rotate in the second direction.
  • the lifting device drives the transmission part 10 to descend in place, the transmission part 10 engages with the brush plate 8 and exerts pressure on the brush plate 8, and the bristles 802 are also subjected to a large downward pressure exerted by the lifting device, so that the bristles 802 are connected to the ground.
  • a large friction force is generated between the two, so that when the rotating motor 14 drives the transmission part 10 to rotate in the second direction, the brush plate 8 will not rotate along with it, so that the transmission part 10 can rotate relative to the brush plate 8 and rotate the motor 14 Drive the transmission part 10 to rotate the second maximum stroke, so that the engaging mechanism 9 and the transmission part 10 are disengaged, and thus the installation of the brush plate 8 is completed.
  • the second matching method is: after the lifting device drives the transmission part 10 to drop in place, the rotating motor 14 drives the transmission part 10 to rotate relative to the brush plate 8 in the first direction with the first maximum stroke, so that the engaging structure 9 and the transmission part are rotated in the first direction. 10 snaps.
  • FIG. 12 is a schematic diagram of the engagement process of the brush disc and the transmission mechanism.
  • the brush plate 8 when the brush plate 8 needs to be installed, the brush plate 8 is placed on the ground. After the lifting device drives the transmission part 10 to drop in place, the transmission part 10 engages with the brush plate 8 and applies pressure to the brush plate 8.
  • the bristles 802 are also subjected to a relatively large downward pressure exerted by the lifting device, so that a relatively large frictional force is generated between the bristles 802 and the ground. Therefore, the transmission part 10 can rotate relative to the brush plate 8, and the rotating motor 14 drives the transmission part 10 to rotate the first maximum stroke, so that the engaging mechanism 9 is engaged with the transmission part 10, and the brushing is completed. Installation of disk 8.
  • the rotary motor 14 drives the transmission part 3 to rotate relative to the brush plate 8 in the second direction with the second maximum stroke, so as to release the engagement structure 9 from the transmission part 10 .
  • FIG. 11 is a schematic diagram of the disengagement process of the brush disc and the transmission mechanism.
  • the rotating motor 14 drives the transmission part 10 to rotate in the second direction, the brush plate 8 will not rotate along with it, so that the transmission The part 10 can rotate relative to the brush plate 8, and the rotating motor 14 drives the transmission part 10 to rotate the second maximum stroke, so that the engaging mechanism 9 and the transmission part 10 are disengaged, thus completing the installation of the brush plate 8.
  • the rotating motor 14 can work again after it is lowered in place, thereby reducing the power consumption of the rotating motor 14 and saving energy.
  • the engaging mechanism 9 includes at least two engaging portions 901 provided on the transmission portion 10 , and at least two engaging portions 901 provided on the brush plate 8 and connected to each engaging portion 901 The corresponding limiting portion 902; after the brush plate 8 is engaged with the transmission portion 10, when the transmission portion 10 drives the engaging portion 901 to rotate to the engaging position, each engaging portion 901 is engaged with the corresponding limiting portion 902 ; When the transmission portion 10 drives the engaging portion 901 to rotate to the unlocking position, each engaging portion 901 and the corresponding limiting portion 902 are released from engaging.
  • the number of the engaging parts 901 can be set by the staff according to actual needs, which is not strictly limited in this embodiment. In some possible implementations, the number of engaging parts 901 is three, which can not only ensure a small number of engaging parts 901 , reduce the complexity of the overall structure, but also ensure the stability of the engaging. Since the limiting portions 902 and the engaging portions 901 are in a one-to-one correspondence, the number of the limiting portions 902 is the same as the number of the engaging portions 901 .
  • the engaging portion 901 has the ability to engage with the limiting portion 902, but whether the engaging portion 901 can engage with the limiting portion 902 depends on whether the engaging portion 901 reaches the engaging position.
  • the unlocking position is specifically any position on the interval between two adjacent limiting portions 902 , when the transmission portion 10 drives the engaging portion 901 to rotate to any position on the interval between the two adjacent limiting portions 902 .
  • the engaging portion 901 is disengaged from the limiting portion 902, that is, the engaging portion is released.
  • At least two engaging parts 901 are connected to the outer edge of the connecting disk 1002 of the transmission part 10 , and the at least two engaging parts 901 are evenly distributed on the same circumference.
  • At least two limit parts 902 are arranged on the upper surface of the brush plate 8 and are evenly distributed on the same circumference, so as to ensure that after the engaging part 901 and the limit part 902 are engaged, the brush plate 8 is subjected to a uniform connection force, preventing The brush plate 8 is inclined, which affects the cleaning effect.
  • the first direction is the same as the rotation direction of the transmission part 10 in a normal working state.
  • the lifting device drives the brush plate 8 to descend through the transmission part 10, so that the brush plate 8 is in contact with the surface to be cleaned, and then the cleaning liquid is transported to the liquid outlet to provide the brush plate 8 with cleaning liquid.
  • the rotating motor 14 drives the brush plate 8 to rotate through the transmission part 10, so as to realize the cleaning operation.
  • the lifting device is driven up by the transmission part 10 to form a certain distance between the cleaning device and the surface to be cleaned, thereby reducing the wear of the ground on the cleaning device and improving the service life of the cleaning device.
  • the number of cleaning devices is two, and the rotation directions of the transmission parts of the two cleaning devices are opposite in a normal working state.
  • the rotation directions of the transmission parts 10 of the two cleaning devices are opposite under normal working conditions, that is to say, the first and second directions of the two cleaning devices are opposite, so that dust and other sundries can be removed. Sweep to the suction port in the middle of the self-moving cleaning device to absorb.
  • the rotation direction of the transmission part 10 of one of the cleaning devices is clockwise under normal working conditions, that is, the first direction is clockwise and the second direction is counterclockwise, then the transmission part of the other cleaning device rotates clockwise. 10.
  • the rotation direction in the normal working state is counterclockwise, that is, the first direction is counterclockwise, and the second direction is clockwise.
  • all the engaging portions 901 and all the limiting portions 902 are located on the same circumference, so that it can be ensured that one engaging portion 901 and the corresponding limiting portion 902 are locked.
  • other engaging portions 901 are also engaged with the corresponding limiting portions 902, which improves the accuracy of engagement.
  • each engaging portion 901 includes an engaging body 9011, and the engaging body 9011 is connected to the outer edge of the transmission portion 10 and extends away from the transmission portion 10;
  • the engaging body 9011 has a card slot 9012 at least on the side opposite to the corresponding limiting portion 902 , and each limiting portion 902 includes a limiting pin 9021 connected to the brush plate 8 ; when the transmission portion 10 drives the engaging body 9011 to rotate
  • the engaging slot 9012 of each engaging body 9011 is engaged with the corresponding limiting pin 9021; when the transmission part 10 drives the engaging body 9011 to rotate to the unlocking position, the engaging position of each engaging body 9011 is locked.
  • the slot 9012 is released from the engagement with the corresponding limit pin 9021 .
  • the limiting pin 9021 includes a column and a limiting protrusion disposed above the column.
  • the limiting column is at least partially located in the engaging slot 9012, and the limit is The protrusions play an axial limit on the edge of the slot 9012 to prevent the engaging body 9011 from falling off due to gravity in the axial direction, thereby realizing the engagement between the slot 9012 and the limiting pin 9021 .
  • the engaging body 9011 is rotated to the unlocking position, the limiting post is separated from the engaging slot 9012, and the limiting protrusion will not play an axial limiting role, so that the engagement between the engaging portion 901 and the limiting portion 902 can be realized. break away.
  • the locking and unlocking are realized through the cooperation of the locking groove 9012 and the limiting pin 9021, and the structure is simple and the operation is convenient.
  • the limiting pin 9021 and the brush plate body 801 are detachably connected, and the main body is provided with a passage for fasteners 9022 such as bolts 13, through which fasteners 9022 such as bolts 13 pass.
  • the channel is threadedly connected to the brush plate 8, so as to realize the detachable connection between the limit pin 9021 and the brush plate 8.
  • the slots can be arranged on the engaging body 9011 in different ways, and the different arrangement ways will be described in detail below.
  • the first implementation is that the engaging body 9011 only defines the engaging slot 9012 on the side opposite to the corresponding limiting portion 902 .
  • the card slot 9012 is only provided on the side opposite to the corresponding limiting portion 902 , which can simplify the manufacturing process and flow of the engaging portion 901 and improve the production efficiency.
  • the rotation direction of the clamping groove 9012 of the clamping body 9011 toward the corresponding limiting pin 9021 should be the same as the rotation direction of the transmission part 10 in a normal working state.
  • each engaging body 9011 has a first slot 9013 and a slot 9012 on the first side, and a second slot 9014 and a second slot 9012 on the second side.
  • the second side is the side opposite to the first side on the engaging body 9011;
  • the engaging position includes the first engaging position and the second engaging position; when the transmission part 10 drives the engaging body 9011 to rotate to the first engaging position
  • the first engaging slot 9013 of each engaging body 9011 engages with the adjacent limiting pin 9021;
  • each engaging The second slot 9014 of the main body 9011 is engaged with the slot 9012 of the corresponding limit pin 9021; when the transmission part 10 drives the engagement body 9011 to rotate to the unlocking position, the first slot 9013 of each engagement body 9011 is locked.
  • the grooves 9012 are in contact with and engaged with the adjacent limiting pins 9021 , and the second engaging grooves
  • the first card slot 9013 and the second card slot 9014 and the second card slot 9012 are respectively provided on opposite sides of the engaging body 9011, so that the engaging body 9011 can limit the two adjacent positions of the engaging body 9011.
  • All the pins 9021 can realize the engagement, that is to say, the engagement body 9011 can be rotated clockwise to realize engagement, and can also be rotated counterclockwise to realize engagement.
  • One of the two adjacent limiting pins 9021 is selected as the limiting portion 902 corresponding to the engaging portion 901. If the rotation direction of the transmission portion 10 in the normal working state is clockwise, the engaging body 9011 rotates to the first position.
  • the direction of the unlocking position is clockwise, and the limit pin 9021 adjacent to the first card slot 9013 and the card slot 9012 is determined as the limit portion 902 corresponding to the engaging portion 901; similarly, if the transmission portion 10
  • the rotation direction of the normal working state is the counterclockwise direction
  • the rotation direction of the engaging body 9011 to the second unlocking position is the counterclockwise direction.
  • the unlocking position is still any position between the two adjacent limiting portions 902, so when the engaging body 9011 rotates to the unlocking position, the first card slot 9013 and the second card slot 9012 and 9014 are locked.
  • the slots 9012 are all released from the adjacent limit limit, so as to facilitate the unlocking operation.
  • At least one engaging portion 901 is configured with a corresponding stop portion 11 , and the stop portion 11 is used to block the first card slot 9013 , the card slot 9012 or the The second slot 9014 is engaged with the slot 9012 adjacent to the limiting portion 902 .
  • the blocking portion 11 can prevent the other side of the first engaging slot 9013 from engaging in the engaging slot 9012 or the second engaging slot 9014 engaging in the engaging slot 9012 and the adjacent limiter.
  • the position part 902 is engaged, so that the brush plate 8 cannot be separated from the transmission part 10 .
  • the rotation direction of the first card slot 9013 and the card slot 9012 to the adjacent limiting portion 902 is the same as the rotation direction of the transmission portion 10 in the normal working state
  • at least one second card The retaining portion 11 is configured on the retaining portion 9012 of the slot 9014, so as to prevent the retaining portion 9012 of the second retaining slot 9014 from engaging with the adjacent limiting portion 902 during the unlocking process.
  • the at least one first card slot 9013 is locked in the same direction.
  • the stopper portion 11 of the slot 9012 is configured to prevent the first engagement slot 9013 from engaging with the adjacent limiting portion 902 during the unlocking process.
  • each engaging portion 901 may also be provided with a stopper portion 11 , which can improve the resistance of the stopper portion 11 and improve the stopper effect.
  • the stopper portion 11 is installed on the edge of the transmission portion 10 at a position corresponding to the first card slot 9013 card slot 9012 or the second card slot 9014 card slot 9012 , and the first card slot 2013 or the second card slot 2014 At least part of it is blocked by the stopper 4 .
  • the stopper portion 4 shields the first card slot 2013 or the second card slot 2014, which can reduce the space occupied by the stopper portion 11, thereby making the structure more compact.
  • the stopper portion 11 is detachably connected to the edge of the transmission portion 10 .
  • the stopper portion 11 and the transmission portion 10 are detachably connected, and the specific detachable connection method can be realized by using existing connection methods such as bolts 136, which are not strictly limited in this embodiment.
  • the detachable connection shell facilitates the installation and removal of the stopper portion 114 , so as to facilitate the adjustment of the position of the stopper portion 11 .
  • the first stopper 11 is disposed at the first slot 9013 at the slot 9012, and the first slot 9013 and the slot 9012 rotate toward the adjacent limiting portion 902 in the same direction as the transmission portion 10 in the normal working state. In the case where the rotation directions of the two are opposite, the first stopper 11 can be removed and installed at the second slot 9014 at the slot 9012, which is convenient for the user to operate.
  • At least one engaging portion 901 is provided with a corresponding locking portion 12 , and the locking portion 12 is used for locking the locking portion 12 with the corresponding limiting portion 902 when each engaging portion 901 is engaged with the corresponding limiting portion 902 .
  • the corresponding limiting portion 902 is locked to limit the rotation of the engaging portion 901 in the direction of the unlocking position.
  • each engaging portion 901 may also be provided with a locking portion 125, which can increase the locking force and improve the locking effect.
  • the locking portion 12 is installed on the edge of the transmission portion 10 at a position corresponding to the engaging portion 901 ; the locking portion 12 includes an elastic arm 1201 , which is close to the elastic arm 1201 .
  • One end of the corresponding limiting portion 902 is provided with a curved portion 1202 ; when each engaging portion 901 is engaged with the corresponding limiting portion 902 , the limiting portion 902 is at least partially located in the curved portion 1202 to limit the engaging portion 901 Rotate in the direction of the unlocked position.
  • the resilient force generated by the deformation moves the curved portion 1202 away from the transmission portion 10 , so that the limiting portion 1202 is at least partially located in the curved portion 902 , thereby realizing automatic hooking between the curved portion 902 and the limiting portion 1202 .
  • the curved portion 1202 is at least partially located above the engaging slot 9012, and the other end of the elastic engaging portion can be It is fixed on the connecting part of the transmission part 103.
  • the end of the elastic arm 1201 with the curved part 902 is gradually approached to the corresponding limit
  • the bending part 902 is forced to move the elastic arm 1201 to the direction close to the transmission part 10, so that the bending part 902 avoids the transmission part 10 and makes the transmission part 902.
  • the bending part 902 is forced to make the elastic arm 1201 move closer to the transmission
  • the bending part 902 moves in the direction of the bending part 10 , so that the bending part 902 avoids the limiting part 1202 , the limiting part 1202 comes out of the bending part 902 , and then as the transmission part 10 rotates in the second direction relative to the brush plate 8 , the elastic arm 1201 deforms due to the deformation
  • the resulting resilient force moves the curved portion 902 away from the transmission portion, completing the separation of the limiting portion 1202 from the curved portion 902 , thereby releasing the curved portion 902 and the limiting portion 1202 from hooking.
  • each engaging body 9011 has a first card slot 9013 and a card slot 9012 on the first side and a second card slot 9014 and a card slot 9012 on the second side
  • the curved portion 1202 is at least partially located above the first card slot 9013 card slot 9012. If it is necessary to rotate the second card slot 9014 card slot 9012 to When the adjacent limiting pins are engaged, the curved portion 1202 is at least partially located above the second engaging slot 9014.
  • the remaining hooking and releasing principles can be referred to the above description, and will not be repeated here.
  • the lower part of the transmission part 10 is provided with a guide part 1003
  • the brush plate 8 is further provided with a guide part 803 adapted to the guide part 1003
  • the transmission part 10 is guided through the guide part 803 .
  • the engagement of the portion 1003 with the guide portion 803 engages with the brush plate 8 .
  • the brush plate 8 and the transmission part 10 can be quickly and accurately joined, so as to avoid the adjustment of the relative position between the conduction part and the brush plate 8, thereby improving the disassembly and assembly efficiency.
  • the guide portion 1003 is a protrusion extending downward from the transmission portion 10
  • the guide portion 803 is a recess for accommodating the protrusion.
  • the brush plate 8 and the transmission part 10 can be joined by extending the protrusion into the depression, and the brush plate 8 and the transmission part 10 can be separated by removing the protrusion from the depression, which is not only convenient for the joint operation, but also structurally Simple and easy to make.
  • the specific connection methods of the driving part 3 can be different, one is that the driving end of the driving part 3 is rotatably connected with the first connecting rod 201 , and the other is the driving end of the driving part 3 It is rotatably connected with the second connecting rod 202 , and the other is that the driving end of the driving part 3 is rotatably connected with the synchronous linkage assembly 1 .
  • the driving end of the driving part 3 can drive the first connecting rod 201 and the second connecting rod 202 to rotate at the same time.
  • the bottom of the driving part 3 is rotatably connected to the main body 7 .
  • the main body 7 is provided with a first bracket 4 , and the bottom of the driving part 3 is rotatably connected to the first bracket 4 , which can reduce the complexity of manufacturing the main body 7 degree, to facilitate the production of the main body 7.
  • the driving end of the driving part 3 drives the first connecting rod 201 and the second connecting rod 202 to rotate at the same time, so that the first connecting rod 201 and the second connecting rod 202 are in the horizontal direction and the vertical direction. Displacement is generated, and the displacement in the vertical direction drives the lifting and lowering movement of the cleaning device.
  • the horizontal direction is the direction parallel to the chassis 701 of the main body 7
  • the vertical direction is the direction perpendicular to the chassis 701 of the main body 7; the driving part 3 can use devices such as linear motors or electric push rods, which are not strictly limited in this embodiment. .
  • the driving part 3 drives the first connecting rod 201 to rotate, so that the cleaning device can be lifted and lowered relative to the main body 7, thus reducing the space occupied by the lifting device in the vertical direction, thereby reducing the size of the self-moving cleaning device, which is beneficial to The development of miniaturization of self-moving cleaning equipment.
  • the rotational connection between the first link 201 and the main body 7 and the rotational connection between the second link 202 and the main body 7 are located on the same horizontal plane.
  • the space occupied by the rod 202 in the vertical direction is reduced to reduce the space occupied by the lifting device in the vertical direction.
  • the horizontal plane refers to a surface parallel to the chassis 701 of the main body 7 .
  • the first link 201 includes a first swing arm 2011 , a bending portion 2013 and a second swing arm 2012 , and the bending portion 2013 is respectively connected with the first swing arm 2011 .
  • One end of the first swing arm 2011 is connected to one end of the second swing arm 2012, the bending portion 2013 is rotatably connected to the main body 7, the other end of the first swing arm 2011 is connected to the second link 202 through the synchronous linkage assembly 1, and the second swing arm 2012 The other end is rotatably connected with the driving part 3 .
  • a second bracket 5 may also be provided on the main body 7 , and the bent portion 2013 is rotatably connected with the second bracket 5 , which can reduce the complexity of the production of the main body 7 and facilitate the production of the main body 7 .
  • the driving end of the driving part 3 drives the second swing arm 2012 to rotate, and the second swing arm 2012 drives the first swing arm 2011 to rotate through the bending part 2013 , and then drives the synchronous linkage assembly 1 to rotate
  • the rotation of the second link 202 drives the cleaning device to move up and down through the vertical displacement of the first swing arm 2011 and the second link 202 .
  • the first swing arm 2011 and the second swing arm 2012 form an included angle, so that the rotation of the first swing arm 2011 can be driven by a smaller angle of rotation of the second swing arm 2012 , thereby reducing the driving stroke of the driving part 3 .
  • the length of the first swing arm 2011 is greater than the length of the second swing arm 2012, which can increase the movement height of the first swing arm 2011 in the vertical direction, thereby enabling the cleaning device to have a larger lifting height to meet the needs of different lifting heights .
  • the first connecting rod 201 is at least partially disposed horizontally and parallel to the second connecting rod 202 .
  • the second connecting rod 202 is parallel to the second connecting rod 202 .
  • a swing arm 2011 is arranged horizontally and parallel.
  • horizontally parallel means that the rotationally connected positions of the two connecting rods and the main body 7 are at the same level, and it is ensured that the first connecting rod 201 is at least partially parallel to the second connecting rod 202 .
  • the first connecting rod 201 is at least partially arranged horizontally and parallel to the second connecting rod 202, which can reduce the space occupied by the lifting device in the vertical direction, thereby reducing the size of the self-moving cleaning equipment, which is conducive to the miniaturization development of the self-moving cleaning equipment, and can also reduce the size of the self-moving cleaning equipment.
  • the linkage of the link mechanism is ensured smoothly, and the mutual interference between the first link 201 and the second link 202 is avoided.
  • the first connecting rod 201 is located on the first vertical plane
  • the second connecting rod 202 is located on the second vertical plane
  • the first vertical plane and the second vertical plane are Vertical planes that are parallel and distinct from each other.
  • first vertical plane and the second vertical plane are planes perpendicular to the horizontal plane.
  • the first connecting rod 201 and the second connecting rod 202 are located on mutually parallel and different vertical planes, which can avoid the situation of mutual interference during the rotation of the first connecting rod 201 and the second connecting rod 202, thereby ensuring the first connecting rod 201 and the second connecting rod 202.
  • the connecting rod 201 and the second connecting rod 202 rotate smoothly.
  • the projection of the second link 202 on the first vertical plane is at least partially located in the area between the first swing arm 2011 and the second swing arm 2012, so that the first link 201 and the second link 202 occupy
  • the space of the first connecting rod 201 and the second connecting rod 202 in the horizontal direction is reduced, and the space occupied by the first connecting rod 201 and the second connecting rod 202 in the horizontal direction can also be reduced; meanwhile, the total displacement generated by the first connecting rod 201 and the second connecting rod 202 in the horizontal direction can also be reduced Therefore, the space occupied by the lifting device in the horizontal direction is further increased.
  • the included angle is 90°.
  • the included angle between the first swing arm 2011 and the second swing arm 2012 is set to 90°, which can facilitate the fabrication of the first link 201 .
  • the synchronous linkage assembly 1 includes a first synchronization shaft 101 , a second synchronization shaft 102 , a third synchronization shaft 103 and a connecting member 104 , and the connecting member 104 is respectively connected to the first synchronization shaft 101 , the second synchronization shaft 102 , the third synchronization shaft 103 and the connecting member 104
  • the synchronizing shaft 101 is rotatably connected with the second synchronizing shaft 102; one end of the first connecting rod 201 of the two sets of link mechanisms 2 is rotatably connected by the first synchronizing shaft 101, and the other end is rotatably connected by the second synchronizing shaft 102.
  • the second link 202 of the mechanism 2 is rotatably connected through the third synchronizing shaft 103 ; the driving part 3 is rotatably connected with the first synchronizing shaft 101 .
  • the connecting member 104 is a connecting plate with a first thickness
  • the middle portion of the connecting plate can be set as a hollow structure, thereby reducing the weight of the connecting member 104 .
  • Opposite sides of the connecting plate may be respectively provided with first through holes for the first synchronizing shaft 101 to pass through, and second through holes for the second synchronizing shaft 102 to pass through, so that the The connection between the first synchronizing shaft 101 and the second synchronizing shaft 102 can be completed by passing through the through hole and the second synchronizing shaft 102 passing through the second through hole, which is not only stable in connection, but also easy to assemble.
  • the driving end of the driving part 3 is rotatably connected to the middle of the first synchronizing shaft 101 , so that the two sets of link mechanisms 2 receive the same driving force, thereby ensuring the synchronization of rotation and making the lifting device run more smoothly.
  • the driving end of the driving part 3 is used to extend and move, and then the first connecting rod 201 is driven to rotate counterclockwise through the first synchronizing shaft 101 , while the first connecting rod 201 passes through
  • the linkage of the second synchronizing shaft 102 , the third synchronizing shaft 103 and the connecting member 104 drives the second connecting rod 202 to also rotate counterclockwise, thereby driving the cleaning device to rise.
  • the driving end of the driving part 3 is used to shorten the movement, and then the first connecting rod 201 is driven to rotate clockwise through the first synchronizing shaft 101 , while the first connecting rod 201 passes through the second synchronizing shaft. 102.
  • the linkage of the third synchronizing shaft 103 and the connecting piece 104 drives the second connecting rod 202 to also rotate clockwise, thereby driving the cleaning device to descend.
  • the link mechanism 2 further includes a limit portion 6 installed on the main body 7 , and the limit mechanism is used for blocking The rotation of the first link 201 and the second link 202 limits the descending height of the cleaning device.
  • the limiting portion 6 is located on the side of the first synchronizing shaft 101 close to the driving portion 3 , and the limiting portion 6 can use a baffle plate with a certain height to limit the first synchronizing shaft 101 .
  • the limiting part 6 may be arranged at a position close to the end of the first synchronizing shaft 101 .
  • the rotation of the first synchronizing shaft 101 is blocked by the limiting portion 6 , thereby restricting the rotation of the first link 201 and the second link 202 , so that the cleaning device can be lowered to a preset level. After the position is reached, it cannot continue to descend, and the precise control of the descending height of the cleaning device is realized.
  • the descending height of the cleaning device can be adjusted, that is, the closer the limiting portion 6 is to the first synchronizing shaft 101, the more The smaller the rotation angle of the rod 202 is, that is, the lower the descending height of the cleaning device; That is, the higher the descending height of the cleaning device is, the staff can determine the distance between the limiting portion 6 and the first coaxial line according to actual needs.
  • the second link 202 is rotatably connected to the lower part of the blocking portion, so that there is no need to separately configure a hinge bracket for the second link 202 , thereby simplifying the structure and making the structure more compact.
  • the synchronous linkage assembly 1 further includes mounting bases 105 disposed at both ends of the second synchronizing shaft 102 and the third synchronizing shaft 103 , and the mounting bases 105 are connected to the cleaning device.
  • Mounting seats 105 are provided at both ends of the second synchronizing shaft 102 and the third synchronizing shaft 103, which can not only ensure the stability of the connection between the lifting device and the cleaning device, but also make the cleaning device uniformly stressed, so as to avoid the cleaning device during the lifting process. A tilt occurs.
  • an embodiment of the present invention provides a method for raising the self-moving cleaning device, including:
  • Step S101 controlling the driving part to drive the first connecting rod and the second connecting rod to rotate in a first direction, so as to drive the cleaning device to rise.
  • the above step S101 includes:
  • Step S1011 control the driving part 3 to drive the first connecting rod 201 to rotate in the first direction around the first rotational connection point, and drive the second connecting rod 202 to rotate in the first direction around the second rotational connection point through the synchronous linkage assembly 1 , so as to Drive the cleaning device to rise.
  • step S1011 specifically further includes:
  • Step S10111 Control the driving part 3 to drive the second swing arm 2012 of the first link 201 to rotate in the first direction around the first rotation connection point, and the second swing arm 2012 drives the first swing arm 2011 of the first link 201 to rotate around The first rotational connection point rotates along the first direction, and drives the second connecting rod 202 to rotate along the first direction around the second rotational connection point through the synchronous linkage assembly 1, so as to drive the cleaning device to rise.
  • the embodiment of the present invention provides a descending method of the self-moving cleaning device, including:
  • Step S201 controlling the driving part to drive the first connecting rod and the second connecting rod to rotate in a second direction opposite to the first direction, so as to drive the cleaning device to descend.
  • the above step S101 includes:
  • Step S2011 Control the driving part 3 to drive the first connecting rod 201 to rotate around the first rotational connection point in a second direction opposite to the first direction, and drive the second connecting rod 202 to rotate around the second rotational connection point along the synchronous linkage assembly 1 . Rotate in a second direction opposite to the first direction to drive the cleaning device to descend.
  • step S1011 specifically further includes:
  • Step S20111 Control the driving part 3 to drive the second swing 2012 arm of the first link 201 to rotate around the first rotation connection point in a second direction opposite to the first direction, and the second swing arm 2012 drives the first link 201 to rotate.
  • the first swing arm 2011 rotates around the first rotation connection point in a second direction opposite to the first direction, and drives the second link 202 around the second rotation connection point in a second direction opposite to the first direction through the synchronous linkage assembly 1 . Turn in the direction to drive the cleaning device down.

Landscapes

  • Cleaning In General (AREA)

Abstract

一种自移动清洁设备，包括主体（7）、清扫装置及升降装置，清扫装置通过升降装置与主体（7）连接；升降装置包括同步联动组件（1）、连杆机构（2）及驱动部（3），连杆机构（2）包括第一连杆（201）和第二连杆（202），第一连杆（201）及第二连杆（202）围绕水平方向的轴线与主体（7）转动连接，第一连杆（201）通过同步联动组件（1）与第二连杆（202）转动连接；驱动部（3）用于驱动第一连杆（201），以使得清扫装置相对于主体（7）升降。由此通过驱动部（3）带动第一连杆（201）转动，使得清扫装置能够相对于主体（7）升降，这样可降低升降装置在竖直方向的占用空间，从而降低自移动清洁设备的尺寸，利于自移动清洁设备小型化。

Description

一种自移动清洁设备
相关申请的交叉引用
本申请要求于2021年4月19日递交的中国专利申请第202110417448.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及清洁设备领域，具体而言涉及一种自移动清洁设备。
背景技术
随着社会生产力的发展，机械化和自动化逐渐替代了人类繁重的手工劳动，传统的洗地、拖地通常是采用拖把等工具，工作效率低下，且地面不容易干燥，为解决上述问题，自移动清洁设备应用而生。
在自移动清洁设备进行清洁作业的过程中，升降装置带动清洁装置下降，使清洁装置与地面接触来对待清洁面进行清洁。在清洁完毕后，升降装置带动清洁装置上升，从而降低待清洁面对清洁装置的磨损。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本发明的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
在本公开的第一方面，提供了一种自移动清洁设备，包括主体、清扫装置及升降装置，所述清扫装置通过所述升降装置与所述主体连接；
所述升降装置包括同步联动组件、连杆机构及驱动部，所述连杆机构包括第一连杆和第二连杆，所述第一连杆及第二连杆围绕水平方向的轴线与所述主体转动连接，所述第一连杆通过所述同步联动组件与所述第二连杆转动连接；所述驱动部用于驱动所述第一连杆，以使得所述清扫装置相对于主体升降。
在一些实施例中，所述第一连杆与所述主体转动连接处与所述第二连杆与所述主体转动连接处位于同一水平面上。
在一些实施例中，所述第一连杆包括第一摆臂、弯折部及第二摆臂，所述弯折部分别与所述第一摆臂的一端及所述第二摆臂的一端连接，所述弯折部与所述主体转动连接，所述第一摆臂的另一端通过所述同步联动组件与所述第二连杆转动连接，所述第二摆臂的另一端与所述驱动部转动连接。
在一些实施例中，所述第一连杆位于第一竖直面上，所述第二连杆位于所述第二竖直面上，所述第一竖直面与所述第二竖直面为相互平行且不同的竖直面。
在一些实施例中，所述第一连杆至少部分与所述第二连杆水平平行设置。
在一些实施例中，所述连杆机构的数量为两组，两组所述连杆机构分别对称设置在所述同步联动组件的两侧。
在一些实施例中，所述同步联动组件包括第一同步轴、第二同步轴、第三同步轴及连接件，所述连接件分别与所述第一同步轴及所述第二同步轴转动连接；
两组所述连杆机构的第一连杆的一端通过所述第一同步轴转动连接，另一端通过所述第二同步轴转动连接，两组所述连杆机构的第二连杆通过所述第三同步轴转动连接；所述驱动部与所述第一同步轴转动连接。
在一些实施例中，所述连杆机构还包括安装在所述主体的限位部，所述限位机构用于阻挡所述第一连杆和第二连杆的转动，以限制所述清扫装置的下降高度。
在一些实施例中，所述第二连杆与所述阻挡部的下部转动连接。
在一些实施例中，所述同步联动组件还包括设置在第二同步轴与第三同步轴两端的安装座，所述安装座与所述清洁装置连接。
在本公开的第二方面中，提供了一种用于根据本公开的第一方面所述的自移动清洁设备的上升方法，该上升方法包括：控制驱动部驱动第一连杆及第二连杆沿第一方向转动，以带动清扫装置上升。
在本公开的第三方面中，提供了一种用于根据本公开的第一方面所述的自移动清洁设备的下降方法，该下降方法包括：控制驱动部驱动第一连杆及第二连杆沿与第一方向相反的第二方向转动，以带动清扫装置下降。
根据本发明实施例所提供的一种自移动清洁设备，通过驱动部带动第一连杆转动，使得清扫装置能够相对于主体升降，这样可以降低升降装置在竖直方向的占用空间，从而降低自移动清洁设备的尺寸，利于自移动清洁设备小型化发展。
附图说明
本发明的下列附图在此作为本发明实施例的一部分用于理解本发明。附图中示出了本发明的实施例及其描述，用来解释本发明的原理。
附图中：
图1为根据本发明的一些实施例的升降装置的爆炸图；
图2为根据本发明的一些实施例的升降装置的上升状态图；
图3为图2的立体图；
图4为根据本发明的一些实施例的升降装置的下降状态图；
图5为图4的立体图；
图6为升降机构及清洁装置连接为整体的结构图；
图7为图6的爆炸图；
图8根据本发明的一些实施例的清扫装置的爆炸图；
图9为图8的俯视图；
图10为图9的A-A向的剖面图
图11为刷盘与传动机构解除卡合过程示意图；
图12为刷盘与传动机构卡合过程示意图；
图13为根据本发明的一些实施例的自移动清洁设备的主体的结构图；
图14为弯曲部与限位部钩合过程示意图；
图15为弯曲部与限位部解除钩合过程示意图。
附图标记说明
1-同步联动组件，101-第一同步轴，102-第二同步轴，103-第三同步轴，104-连接件，105-安装座，2-连杆机构，201-第一连杆，2011-第一摆臂，2012-第二摆臂，2013-弯折部，202-第二连杆，3-驱动部，4-第一支架，5-第二支架，6-限位部，7-主体，701-底盘，702-流体储存装置，8-刷盘，801-刷盘本体，802-刷毛，803-导向部，9-卡合机构，901-卡合部，9011-卡合本体，9012-卡槽，9013-第一卡槽，9014-第二卡槽，902-限位部，9021-限位销钉，9022-紧固件，10-传动部，1001-连接轴，1002-连接圆盘，1003-引导部，11-止挡部，12-锁止部，1201-弹性臂，1202-弯曲部，13-螺栓，14-转动电机，15-封装壳体。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本发明的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本发明的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本发明的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
如图1、图3和图11所示，本发明实施例提供了一种自移动清洁设备。图1为根据本发明的一些实施例的升级装置的爆炸图。图2为根据本发明的一些实施例的升降装置的上升状态图。图3为图2的立体图。图11为刷盘与传动机构解除卡合过程示意图。该自移动清洁设备包括主体7、清扫装置及升降装置，清扫装置通过升降装置与主体7连接；升降装置包括同步联动组件1、连杆机构2及驱动部3，连杆机构2包括第一连杆201和 第二连杆202，第一连杆201及第二连杆202围绕水平方向的轴线与主体7转动连接，第一连杆201通过同步联动组件1与第二连杆202转动连接；驱动部3用于驱动所述第一连杆201，以使得所述清扫装置相对于主体7升降。
实施例的自清洁设备为可自动在待清洁区域行进并自动进行清洁作业的设备。自清洁设备可以包括但不限于自动洗地机、自动扫地机、自动拖扫一体机等。
图13为根据本发明的一些实施例的自移动清洁设备的主体的结构图。，如图13所示，流体储存装置702可以采用诸如塑料的材料整体成型，并可以作为主体7的壳体，以提高主体7的弹性、韧性、防腐蚀及防撞性能，并且减小主体7的重量。流体储存装置702周壁可以预先形成多个槽、凹陷、卡位或类似结构，用于安装喷洒装置、污水回收装置及行走装置。并且在洗地机用于清洁大型场所的情况下，可以增加主体7的体积，以提高流体储存装置702的容积，使流体储存装置具有充足的清洁液，以满足清洗需求。
行走装置包括设置在主体7下部的多组滚轮，每组的两个滚轮分别位于主体7的相对两侧，通过滚轮带动主体7行走进行清洁作业。
喷洒装置包括出液口，出液口与流体存储装置702流体连通，用于排出清洁液。在一些实施例中，流体储存装置702通过清洁液输出管路与出液口连通，在清洁液输出管路上还设有必要的泵等部件，以便清洁液及时足量的输送至出液口处。在一些实施例中，出液口也可设在吸口的前侧，这样利用出液口直接将吸口前侧的待清洁面湿润，利用清洁装置来刷洗润湿过的待清洁面，也同样能起到对待清洁面的刷洗效果。在某些实施例中，流体储存装置8可以分为多个舱室，例如，划分为两个舱室，一个用来储存清洁液，另一个用来储存回收后的污水；进一步地，针对清水和洗涤剂混合的情形下，储存清洁液的舱室也可以划分为两个子舱室，一个子舱室的容积要远远大于另一个子舱室的容积，这样，较大的子舱室内储存清水，较小的子舱室存储洗涤剂。
污水回收装置包括风机组件及连接于污水回收装置与吸口之间的污水回收管路。污水回收管路在风机组件提供的抽吸力作用下，将待清洁面上的杂质及污液通过污水回收管路吸入至流体储存装置702内。
图8根据本发明的一些实施例的清扫装置的爆炸图。如图8所示，清扫装置包括刷盘8、卡合机构9及与转动电机14连接的传动部10。转动电机14驱动传动部10相对于刷盘8沿着第一方向旋转，以使刷盘8通过卡合机构9与传动部10卡合，转动电机14驱动传动部10相对于刷盘8沿着与第一方向相反的第二方向旋转，以使卡合机构9与传动部10解除卡合，第一方向为传动部10在正常工作状态下的旋转方向。
图9为图8的俯视图。图10为图9的A-A向的剖面图。如图8和10所示，传动部10包括连接圆盘1002及位于连接圆盘1002中部的连接轴1001。刷盘8包括刷盘本体801以及设置刷盘本体801下部的刷毛802，刷盘本体801与传动部10的连接圆盘1002连接后，通过转动电机14的转动带动传动部10的连接轴1001旋转，从而带动刷盘8的刷毛802旋转，对待清洁地面进行清洗，并利用旋转而产生的离心力将脏水及脏污甩出，由污 水回收装置回收。其中，刷毛802可采用尼龙材料制成，能够大大增强刷毛802的耐腐蚀性及抗老化性，降低刷毛802的磨损程度，延长刷毛802的使用寿命。刷毛802还可以采用ABS材料通过注塑工艺注塑形成，其耐腐蚀性、抗冲击性能好，稳定性强。进一步地，刷毛802还可以沿自身长度方向呈波浪状设置，且仅设置在刷盘8外部的边缘处，相邻的两根刷毛802间相互交错分布，从而增加刷毛802的密集度，能够起到良好的挡水作用，同时能够减少刷毛802的使用量，只需单层刷毛802即可起到良好的挡水性能，从而减少了刷盘8的生产成本。
其中，第一方向为传动部10在正常工作状态下的旋转方向，也就是说传动部10在正常工作下顺时针旋转，则第一方向是顺时针方向，第二方向是逆时针方向；传动部10在正常工作下逆时针旋转，则第一方向是逆时针，第二方向是顺时针方向。
在需要拆卸刷盘8时，对刷盘8施加一定外力，之后通过转动电机14带动传动部10沿第二方向相对于刷盘8旋转，以使刷盘8通过卡合机构9与传动部10解卡，从而使刷盘8与传动部10分离，完成拆卸。在需要安装刷盘8时，对刷盘8施加一定外力，之后通过转动电机14带动传动部10沿第一方向相对于刷盘8旋转，以使刷盘8通过卡合机构9与传动部10卡合，从而将刷盘8与传动部10连接，完成安装。由此就可以实现刷盘8的自动拆装，不仅降低操作员的工作量，操作方便，而且提高装卸效率。
图6为升降机构及清洁装置连接为整体的结构图。图7为图6的爆炸图。如图6和图7所示，升降装置用于驱动传动部10上升或者下降；升降装置与转动电机14相互配合以实现卡合机构9与传动部10的卡合或者解除卡合。通过升降装置与转动电机14对传动部10升降及旋转的驱动，就可以实现刷盘8的自动拆装，不仅降低操作员的工作量，操作方便，而且提高装卸效率。其中，转动电机14可以通过封装壳体15与升降装置连接。
在一些实施例中，升降装置与转动电机14可以采用下面两种相互配合的方式来实现刷盘8与传动部10的卡合或者解除卡合。
第一种配合方式为：在升降装置驱动传动部10下降的过程中，转动电机14驱动传动部10沿第一方向，并在升降装置驱动传动部10下降到位后，转动电机14以第一最大行程驱动传动部10相对于刷盘8沿第一方向旋转，以使卡合结构9与传动部10卡合。
其中，第一最大行程是转动电机14沿所述第一方向旋转使卡合机构9与传动部10卡合的转动行程，也就是如果小于第一最大行程，传动部10无法与卡合机构9卡合。下降到位是指升降装置将传动部下降至使刷盘8的刷毛802与地面接合，并对刷盘8施加一定压力的位置。
图12为刷盘与传动机构卡合过程示意图。如图12所示，在需要安装刷盘8时，将刷盘8放置在地上，然后通过升降装置使传动部10下降，并在下降过程中，转动电机14驱动传动部10沿第一方向旋转。在升降装置驱动传动部10下降到位后，传动部10与刷盘8接合并对刷盘8施加压力，同样刷毛802也受到由升降装置施加的较大的向下压力，由此刷毛802与地面之间产生较大的摩擦力，这样在转动电机14沿第一方向带动传动部10 旋转时，刷盘8不会随之旋转，从而传动部10能够相对于刷盘8旋转，并且转动电机14带动传动部10旋转第一最大行程，从而使卡合机构9与传动部10卡合，这样就完成了刷盘8的安装。
在升降装置驱动传动部10下降的过程中，转动电机14驱动传动部10沿第二方向旋转，并在升降装置驱动传动部下降到位后，转动电机14以第二最大行程驱动传动部10相对于刷盘8沿第二方向旋转，以使卡合结构9与传动部10解除卡合。
其中，第二最大行程是转动电机14沿第二方向旋转使卡合机构9与传动部10解除卡合的转动行程，也就是如果小于第二最大行程，传动部10无法与卡合机构9解除卡合。
图11为刷盘与传动机构解除卡合过程示意图。如图11所示，在需要拆卸刷盘8时，通过升降装置使传动部10下降，并在下降过程中，转动电机14驱动传动部10沿第二方向旋转。在升降装置驱动传动部10下降到位后，传动部10与刷盘8接合并对刷盘8施加压力，同样刷毛802也受到由升降装置施加的较大的向下压力，由此刷毛802与地面之间产生较大的摩擦力，这样在转动电机14沿第二方向带动传动部10旋转时，刷盘8不会随之旋转，从而传动部10能够相对于刷盘8旋转，并且转动电机14带动传动部10旋转第二最大行程，从而使卡合机构9与传动部10解除卡合，这样就完成了刷盘8的安装。
第二种配合方式为：在升降装置驱动传动部10下降到位后，转动电机14以第一最大行程驱动传动部10相对于刷盘8沿第一方向旋转，以使卡合结构9与传动部10卡合。
图12为刷盘与传动机构卡合过程示意图。如图12所示，在需要安装刷盘8时，将刷盘8放置在地上，在升降装置驱动传动部10下降到位后，传动部10与刷盘8接合并对刷盘8施加压力，同样刷毛802也受到由升降装置施加的较大的向下压力，由此刷毛802与地面之间产生较大的摩擦力，这样在转动电机14沿第一方向带动传动部10旋转时，刷盘8不会随之旋转，从而传动部10能够相对于刷盘8旋转，并且转动电机14带动传动部10旋转第一最大行程，从而使卡合机构9与传动部10卡合，这样就完成了刷盘8的安装。
在升降装置驱动传动部10下降到位后，转动电机14以第二最大行程驱动传动部3相对于刷盘8沿第二方向旋转，以使卡合结构9与传动部10解除卡合。
图11为刷盘与传动机构解除卡合过程示意图。如图11所示，在需要拆卸刷盘8时，在升降装置驱动传动部10下降到位后，传动部10与刷盘8接合并对刷盘8施加压力，同样刷毛802也受到由升降装置施加的较大的向下压力，由此刷毛802与地面之间产生较大的摩擦力，这样在转动电机14沿第二方向带动传动部10旋转时，刷盘8不会随之旋转，从而传动部10能够相对于刷盘8旋转，并且转动电机14带动传动部10旋转第二最大行程，从而使卡合机构9与传动部10解除卡合，这样就完成了刷盘8的安装。相对于第一种配合方式，该种方式在下降到位后，转动电机14再进行工作，从而能够降低转动电机14的功耗，节约能源。
在上述实施例中，如图8和图9所示，卡合机构9包括设置在传动部10上的至少两个卡合部901，以及设置在刷盘8上且与每个卡合部901相对应的限位部902；在刷盘8 与传动部10接合后，当传动部10带动卡合部901旋转至卡合位置时，每个卡合部901与对应的限位部902卡合；当传动部10带动卡合部901旋转至解卡位置时，每个卡合部901与对应的限位部902解除卡合。
卡合部901的数量可以由工作人员根据实际需求进行设置，本实施例不做严格限定。在一些可能的实现方式，卡合部901的数量为三个，这样既能够保证卡合部901的数量较少，降低整体结构的复杂度，又能够保证卡合的稳固性。由于限位部902与卡合部901是一一对应的关系，因此限位部902的数量与卡合部901的数量相同。
需要说明的是，卡合部901具有与限位部902卡合的能力，但是卡合部901是否能与限位部902卡合，还要看卡合部901是否到达卡合位置。
解卡位置具体为相邻两个限位部902之间的间隔上的任一位置，当传动部10带动卡合部901旋转到相邻两个限位部902之间的间隔上的任一位置时，卡合部901与限位部902脱离，也就是解除卡合。
在具体应用中，如图8和图9所示，至少两个卡合部901与传动部10的连接圆盘1002的外缘连接，且至少两个卡合部901均匀分布在同一圆周上。至少两个限位部902设置在刷盘8的上表面，且均匀分布在同一圆周上，这样保证在卡合部901与限位部902卡合之后，刷盘8受到均匀的连接力，防止刷盘8发生倾斜，影响清洁效果。
进一步地，第一方向与传动部10在正常工作状态下的旋转方向相同。
在洗地机清洁作业时，升降装置通过传动部10带动刷盘8下降，以使刷盘8与待清洁表面接触，之后将清洁液输送至出液口处来向刷盘8提供清洁液，同时转动电机14通过传动部10带动刷盘8旋转，从而实现清洁作业。在清洁作业完毕后，升降装置通过传动部10带动上升，以使清洁装置与待清洁表面形成一定距离，从而降低地面对清洁装置的磨损，提高清洁装置的使用寿命。
在具体使用中，如图6和图7所示，清洁装置的数量为两个，且两个清洁装置的传动部在正常工作状态下的旋转方向相反。
两个清洁装置在工作时，两个清洁装置的传动部10在正常工作状态下的旋转方向相反，也就是说两个清洁装置的第一方向及第二方向相反，从而可以将灰尘等杂物清扫至自移动清洁设备的中部的吸口处吸收。示例性的，如果其中一个清洁装置的传动部10在正常工作状态下的旋转方向为顺时针旋转，也就是第一方向为顺时针，第二方向为逆时针，则另一个清洁装置的传动部10在正常工作状态下的旋转方向为逆时针，也就是第一方向为逆时针，第二方向为顺时针。在本实施例中，在刷盘8与传动部10接合后，所有卡合部901及所有限位部902位于同一圆周上，从而可以保证在一个卡合部901与对应的限位部902卡合时，其他卡合部901与对应的限位部902也卡合，提高卡合的准确性。
在上述实施例中，如图9至图12所示，每个卡合部901均包括卡合本体9011，卡合本体9011与传动部10的外缘连接且向远离传动部10的方向延伸；卡合本体9011至少在与相应限位部902相对的一侧开设卡槽9012，每个限位部902均包括与刷盘8连接的限 位销钉9021；当传动部10带动卡合本体9011旋转至卡合位置时，每个卡合本体9011的卡槽9012与对应的限位销钉9021卡合；当传动部10带动卡合本体9011旋转至解卡位置时，每个卡合本体9011的卡槽9012与对应的限位销钉9021解除卡合。
在一些实施例中，限位销钉9021包括柱体以及设置在柱体上方限位凸起，在卡合本体9011旋转至卡合位置时，限位柱至少部分位于卡槽9012内，且限位凸起起到对卡槽9012边缘的轴向限位的作用，防止卡合本体9011在轴向由于重力而脱落，从而实现卡槽9012与限位销钉9021的卡合。在卡合本体9011旋转至解卡位置时，限位柱脱离卡槽9012，同时限位凸起也不会起轴向限位的作用，从而就能够实现卡合部901与限位部902的脱离。通过卡槽9012与限位销钉9021的配合来实现卡合与解卡，结构简单，操作方便。
进一步地，如图8所示，限位销钉9021与刷盘本体801之间为可拆卸连接，及主体内设有螺栓13等紧固件9022的通道，螺栓13等紧固件9022穿过该通道与刷盘8螺纹连接，从而实现限位销钉9021与刷盘8之间的可拆连接，在限位销钉9021磨损严重的情况下，仅更换限位销钉9021即可，不用将整个刷盘8报废，提高刷盘8的使用寿命，节约成本。
可以采用不同的方式在卡合本体9011上设置开槽，下面对不同的设置方式进行详细阐述。
第一种实现方式是卡合本体9011仅在与相应限位部902相对的一侧开设卡槽9012。
该种实现方式中，仅在与相应限位部902相对的一侧开设卡槽9012，能够简化卡合部901的制作工艺及流程，提高生产效率。为了提高卡合的稳定性，卡合本体9011的卡槽9012向相应的限位销钉9021旋转方向应与传动部10在正常工作状态下的旋转方向相同。
如图8和图9所示，第二种实现方式是每个卡合本体9011在第一侧开有第一卡槽9013卡槽9012，且在第二侧开设第二卡槽9014卡槽9012，第二侧为卡合本体9011上与第一侧相对的一侧；卡合位置包括第一卡合位置及第二卡合位置；当传动部10带动卡合本体9011旋转至第一卡合位置时，每个卡合本体9011的第一卡槽9013卡槽9012与邻近的限位销钉9021卡合；当传动部10带动卡合本体9011旋转至第二卡合位置时，每个卡合本体9011的第二卡槽9014卡槽9012与对应的限位销钉9021卡合；当传动部10带动卡合本体9011旋转至解卡位置时，每个卡合本体9011的第一卡槽9013卡槽9012与邻近的限位销钉9021接触卡合，且每个卡合本体9011的第二卡槽9014卡槽9012与邻近的限位销钉9021接触卡合。
在该种实现方式中，在卡合本体9011相对的两侧各设置第一卡槽9013卡槽9012和第二卡槽9014卡槽9012，这样卡合本体9011可以与其相邻的两个限位销钉9021均能实现卡合，也就是说卡合本体9011可顺时针旋转实现卡合，也可逆时针旋转实现卡合，即根据传动部10正常工作状态的旋转方向，从与该卡合本体9011相邻的两个限位销钉9021中选择一个来作为与该卡合部901对应的限位部902，假如传动部10正常工作状态的旋 转方向为顺时针方向，卡合本体9011旋转至第一解卡位置的方向为顺时针方向，则将与第一卡槽9013卡槽9012邻近的限位销钉9021确定为与该卡合部901相对应的限位部902；同样地，假如传动部10正常工作状态的旋转方向为逆时针方向，卡合本体9011旋转至第二解卡位置的方向为逆时针方向，则将与第二卡槽9014卡槽9012邻近的限销钉部确定为与该卡合部901相对应的限位部902，从而无论传动部10正常工作状态的旋转方向是顺时针还是逆时针，该卡合部901均能实现与相应的限位部902卡合，从而提高适用性和使用的灵活性。而解卡位置仍然是两个相邻限位部902之间间隔的任一位置，从而在卡合本体9011旋转至解卡位置时，第一卡槽9013卡槽9012与第二卡槽9014卡槽9012均与相邻的限位限定解除卡合，从而便于解卡操作。
进一步地，针对第二种实现方式，如图8和图9所示，至少一个卡合部901配置有相应的止挡部11，止挡部11用于阻挡第一卡槽9013卡槽9012或第二卡槽9014卡槽9012与相邻的限位部902卡合。
在卡合部901向解卡位置旋转的角度过大时，通过止挡部11可避免导致另外一侧的第一卡槽9013卡槽9012或第二卡槽9014卡槽9012与相邻的限位部902卡合，从而使刷盘8无法与传动部10分离的情况。在一些实施例中，在第一卡槽9013卡槽9012向相邻的限位部902旋转的方向与传动部10在正常工作状态下的旋转方向相同的情况下，则在至少一个第二卡槽9014卡槽9012配置止挡部11，从而在解卡过程中，避免第二卡槽9014卡槽9012与相邻的限位部902卡合。同样地，在第二卡槽9014卡槽9012向相邻的限位部902旋转的方向与传动部10在正常工作状态下的旋转方向相同的情况下，则在至少一个第一卡槽9013卡槽9012的配置止挡部11，从而在解卡过程中，避免第一卡槽9013卡槽9012与相邻的限位部902卡合。
在具体应用过程中，所有卡合部901与所有限位部902同时卡合和同时解卡，由此在其中一个或几个卡合部901设置相应的止挡部11即可实现对所有第一卡槽9013卡槽9012或第二卡槽9014卡槽9012的止挡，从而可以简化结构，便于装配和制作。当然，也可以每个卡合部901均配置有止挡部11，这样能够提高止挡部11的阻力，提高止挡效果。
进一步地，止挡部11安装在传动部10的边缘上与第一卡槽9013卡槽9012或第二卡槽9014卡槽9012相对应的位置，且第一卡槽2013或第二卡槽2014至少部分被止挡部4遮挡。
止挡部4遮挡第一卡槽2013或第二卡槽2014，可以降低止挡部11的占用空间，从而使结构更加紧凑。
在一些实施例中，止挡部11与传动部10边缘可拆卸连接。
止挡部11与传动部10为可拆卸连接，具体可拆卸连接方式可以采用螺栓136等现有的连接方式实现，本实施例不做严格限定。可拆卸连接壳方便止挡部114的安装和拆卸，以方便调整止挡部11的位置。例如，在第一止挡部11配置在第一卡槽9013卡槽9012处，而第一卡槽9013卡槽9012向相邻的限位部902旋转的方向与传动部10在正常工作状态 下的旋转方向相反的情况下，可以将第一止挡部11卸下安装在第二卡槽9014卡槽9012处即可，方便用户操作。
在上述实施例中，至少一个卡合部901配置有相应的锁止部12，锁止部12用于当每个卡合部901与对应的限位部902卡合时，锁止部12与对应的限位部902锁固，以限制卡合部901向解卡位置的方向旋转。
通过锁止部12的锁固，可以防止由于清洁设备在行进的过程中产生晃动，而使卡和部向解卡位置的方向旋转，从而使卡合松动，甚至解卡的现象发生，进一步提高了卡合的稳定性和可靠性。
在具体应用过程中，所有卡合部901与所有限位部902同时卡合和同时解卡，由此在其中一个或几个卡合部901设置相应的锁止部12即可实现对所有卡合的锁止，从而能够简化结构，便于装配和制作。当然，也可以每个卡合部901均配置有锁止部125，这样能够提高锁止力，提高锁止效果。
在一些实施例中，如图8和图9所示，锁止部12安装在传动部10边缘上与卡合部901相对应的位置；锁止部12包括弹性臂1201，弹性臂1201上靠近相应的限位部902的一端设有弯曲部1202；当每个卡合部901与对应的限位部902卡合时，限位部902至少部分位于弯曲部1202内，以限制卡合部901向解卡位置的方向旋转。
在拆装刷盘8的过程中，由于升降装置施加较大的向下压力，由此刷毛802与地面之间产生较大的摩擦力，该摩擦力大于弯曲部1202与限位部902之间的相互作用力，在传动部10相对于刷盘8沿第一方向旋转的过程中，使弹性臂1201设有弯曲部1202的一端逐渐靠近相应的限位部902，在弯曲部1202与限位部902相抵接后，弯曲部902受力后使弹性臂1201向靠近传动部10的方向移动，使弯曲部902对传动部10进行避让而使传动部10继续旋转，之后再利用弹性臂1201因形变而产生的回弹力使弯曲部1202向远离传动部10的方向移动，从而使限位部1202至少部分位于弯曲部902内，进而实现弯曲部902与限位部1202的自动钩合。
在具体应用中，针对卡合本体9011仅在与相应限位部902相对的一侧开设卡槽9012的情况，弯曲部1202至少部分位于该卡槽9012的上方，弹性卡接部的另一端可固定在传动部103的连接部上，如图14所示，传动部10相对于刷盘1沿第一方向旋转的过程中，使弹性臂1201设有弯曲部902的一端逐渐靠近相应的限位部902，在弯曲部902与限位部1202相抵接后，弯曲部902受力后使弹性臂1201向靠近传动部10的方向移动，从而使弯曲部902对传动部10进行避让而使传动部10继续旋转，之后再利用弹性臂1201因形变而产生的回弹力使弯曲部902向远离传动部10的方向移动，从而使限位部1202至少部分位于弯曲部902内，进而实现弯曲部902与限位部1202的自动钩合。同样地，如图15所示，传动部10相对于刷盘8沿第一方向旋转的过程中，弯曲部902与限位部1202相抵之后，弯曲部902受力后使弹性臂1201向靠近传动部10的方向移动，使弯曲部902对限位部1202进行避让，限位部1202从弯曲部902脱出，之后随着传动部10相对于刷 盘8沿第二方向旋转，弹性臂1201因形变而产生的回弹力使弯曲部902向远离传动部的方向移动，完成了限位部1202与弯曲部902的分离，从而使弯曲部902与限位部1202解除钩合。
如图8和图9所示，针对每个卡合本体9011在第一侧开有第一卡槽9013卡槽9012，且在第二侧开设第二卡槽9014卡槽9012的情况，如果需要使第一卡槽9013卡槽9012旋转与相邻的限定销钉卡合，则弯曲部1202至少部分位于第一卡槽9013卡槽9012的上方，如果需要使第二卡槽9014卡槽9012旋转与相邻的限定销钉卡合，则弯曲部1202至少部分位于第二卡槽9014卡槽9012的上方，其余的钩合及解除钩合的原理可参考上述描述，在此不再赘述。
在一些实现方式中，如图8和图10所示，传动部10的下部设有引导部1003，刷盘8上还设有与引导部1003相适配的导向部803，传动部10通过引导部1003与导向部803的配合与刷盘8接合。
通过传导部与引导部1003的配合，能够快速及准确地实现刷盘8与传动部10的接合，以避免传导部与刷盘8之间相对位置的调整，从而提高拆装效率。
在一些实施例中，如图6和图8所示，引导部1003为传动部10向下延伸的凸起，导向部803为用于容置凸起的凹陷。
将凸起伸入至凹陷内，即可实现刷盘8与传动部10的接合，将凸起从凹陷内取出，即可实现刷盘8与传动部10的分离，不仅方便接合操作，而且结构简单，便于制作。
在本实施例中的升降装置中，驱动部3的具体可以采用不同的连接方式，一种为驱动部3的驱动端与第一连杆201转动连接，另一种为驱动部3的驱动端与第二连杆202转动连接，再一种为驱动部3的驱动端与同步联动组件1转动连接。无论采用上述任何一种连接方式，驱动部3的驱动端均可以带动第一连杆201与第二连杆202同时转动。进一步地，驱动部3的底部与主体7转动连接，在一些实施例中，主体7设置有第一支架4，驱动部3的底部与第一支架4转动连接，这样能够降低主体7制作的复杂度，便于主体7的生产。
在需要将清洁装置进行升降时，驱动部3的驱动端带动第一连杆201与第二连杆202同时转动，从而使第一连杆201与第二连杆202在水平方向及竖直方向均产生位移，通过在竖直方向所产生的位移带动清洁装置升降运动。其中，水平方向为与主体7的底盘701平行的方向，竖直方向位于主体7的底盘701相垂直的方向；驱动部3可以采用直线电机或电动推杆等器件，本实施例不做严格限定。在本实施例中，通过驱动部3带动第一连杆201转动，使得清扫装置能够相对于主体7升降，这样降低升降装置在竖直方向的占用空间，从而降低自移动清洁设备的尺寸，利于自移动清洁设备小型化发展。
如图2至图5所示，第一连杆201与主体7转动连接处与第二连杆202与主体7转动连接处位于同一水平面上，从减小将第一连杆201与第二连杆202在竖直方向所占用的空间降，以降低升降装置在竖直方向的占用空间。
进一步，水平面是指与主体7的底盘701相平行的表面。在第一连杆201与第二连杆 202转动的过程中，第一连杆201与第二连杆202上通过同步联动组件1连接的一端始终位于同一水平面上，这样能够避免清洁装置在升降过程中发生清洁后翻转，导致仅部分与待清洁面相接触，从而降低清洁效果或无法进行清洁作业的情况发生。
在一些实施例中，如图2至图4所示，第一连杆201包括第一摆臂2011、弯折部2013及第二摆臂2012，弯折部2013分别与第一摆臂2011的一端及第二摆臂2012的一端连接，所述弯折部2013与主体7转动连接，第一摆臂2011的另一端通过同步联动组件1与第二连杆202转动连接，第二摆臂2012的另一端与驱动部3转动连接。
在主体7上还可以设置第二支架5，弯折部2013与第二支架5转动连接，这样能够降低主体7制作的复杂度，便于主体7的生产。
在需将清洁装置进行升降时，驱动部3的驱动端驱动第二摆臂2012转动，并使第二摆臂2012通过弯折部2013带动第一摆臂2011转动，之后通过同步联动组件1带动第二连杆202的转动，从而通过第一摆臂2011与第二连杆202在竖直方向所产生的位移带动清洁装置升降运动。
其中，第一摆臂2011与第二摆臂2012形成夹角，这样可以通过第二摆臂2012较小角度的转动带动第一摆臂2011的转动，从而降低驱动部3的驱动行程。并且第一摆臂2011的长度大于第二摆臂2012的长度，能够增加第一摆臂2011在竖直方向的运动高度，从而能够使清洁装置具有较大的升降高度，满足不同升降高度的需求。
进一步地，如图3至图5所示，第一连杆201至少部分与第二连杆202水平平行设置，以上述实施例中的第一连杆201为例，第二连杆202与第一摆臂2011水平平行设置。其中，水平平行是指两个连杆与主体7转动连接的位置在同一水平上，并且保证第一连杆201至少部分与第二连杆202平行设置。
第一连杆201至少部分与第二连杆202水平平行设置，既可降低升降装置在竖直方向的占用空间，从而降低自移动清洁设备的尺寸，利于自移动清洁设备小型化发展，又能保证连杆机构的联动顺畅，避免第一连杆201与第二连杆202的相互干涉。
进一步地，如图2至图4所示，第一连杆201位于第一竖直面上，第二连杆202位于第二竖直面上，第一竖直面与第二竖直面为相互平行且不同的竖直面。
其中，第一竖直面与第二竖直面为与水平面相垂直的面。第一连杆201与第二连杆202位于相互平行且不同的竖直面上，能够避免在第一连杆201及第二连杆202转动的过程中发生相互干涉的情况，从而保证第一连杆201与第二连杆202转动的顺畅。并且第第二连杆202在第一竖直面上的投影至少部分位于第一摆臂2011与第二摆臂2012之间的区域，这样使第一连杆201与第二连杆202所占用的空间相重合，从而降低第一连杆201与第二连杆202在水平方向上的占用空间；同时也能够降低第一连杆201与第二连杆202在水平方向上所产生的总位移量，从而进一步了升降装置在水平方向的占用空间。
进一步地，夹角为90°。将第一摆臂2011与第二摆臂2012之间的夹角设置为90°，可以便于第一连杆201的制作。
在上述实施例中，如图1、图3和图5所示，连杆机构2的数量为两组，两组连杆机构2分别对称设置在同步联动组件1的两侧。
连杆机构2为两组且对称设置，能够避免第一连杆201与第二连杆202不共面产生的受力不平衡的问题，同时提高了升降装置的整体强度。
具体而言，如图1、图3和图5所示，同步联动组件1包括第一同步轴101、第二同步轴102、第三同步轴103及连接件104，连接件104分别与第一同步轴101与第二同步轴102转动连接；两组连杆机构2的第一连杆201的一端通过第一同步轴101转动连接，另一端通过第二同步轴102转动连接，两组连杆机构2的第二连杆202通过第三同步轴103转动连接；驱动部3与第一同步轴101转动连接。
其中，连接件104为具有第一厚度的连接板，连接板的中部可以设置为中空结构，从而减小连接件104的重量。连接板的相对两侧可以分别设有用于第一同步轴101穿过的第一通孔，以及用于第二同步轴102穿过的第二通孔，这样将第一同步轴101从第一通孔穿过，第二同步轴102从第二通孔穿过就可以完成第一同步轴101与第二同步轴102的连接，不仅连接稳固，并且组装方便。
驱动部3的驱动端与第一同步轴101的中部转动连接，这样使两组连杆机构2所受的驱动力相同，从而可以保证转动的同步性，使升降装置运转的更加顺畅。
在本实施例中，如图2和图3所示，利用驱动部3的驱动端伸长运动，然后通过第一同步轴101带动第一连杆201逆时针转动，同时第一连杆201通过第二同步轴102、第三同步轴103及连接件104的联动带动第二连杆202也进行逆时针转动，从而带动清扫装置上升。同样地，如图4和图5所示，利用驱动部3的驱动端缩短运动，然后通过第一同步轴101带动第一连杆201顺时针转动，同时第一连杆201通过第二同步轴102、第三同步轴103及连接件104的联动带动第二连杆202也进行顺时针转动，从而带动清扫装置下降。
为了保证清扫装置下降的高度与实际需求相适应，在一些实现方式中，如图2至图5所示，连杆机构2还包括安装在主体7的限位部6，限位机构用于阻挡第一连杆201和第二连杆202的转动，以限制清扫装置的下降高度。
其中，限位部6位于第一同步轴101的靠近驱动部3的一侧，限位部6可以采用具有一定高度的挡板来起到对第一同步轴101进行限位的作用。为了避免对驱动部驱动运动的干涉，限位部6可以设置在靠近第一同步轴101端部的位置。
如图4和图5所示，通过设置限位部6来阻挡第一同步轴101的转动，从而限制第一连杆201和第二连杆202的转动，这样清扫装置就可以下降至预设位置后就不能继续下降，实现了清扫装置下降高度的精确控制。通过调整限位部6与第一同步轴101之间的距离，就可以调整清扫装置的下降高度，即限位部6距离第一同步轴101越近，则第一连杆201和第二连杆202转动的角度越小，也就是清扫装置下降的高度越小；限位部6距离第一同步轴101越远，则第一连杆201和第二连杆202转动的角度越大，也就是清扫装置下降的高度越大，工作人员可以根据实际需求，确定限位部6与第一同轴之间的距离。
进一步地，如图2至图5所示，第二连杆202与阻挡部的下部转动连接，这样无需为第二连杆202单独配置铰接支架，从而简化结构，使结构更加紧凑。
在上述实施例中，如图1至图5所示，同步联动组件1还包括设置在第二同步轴102与第三同步轴103两端的安装座105，安装座105与清洁装置连接。
在第二同步轴102与第三同步轴103两端设置安装座105，既可以保证升降装置与清洁装置连接的稳固性，又可以使清洁装置受力均匀，以避免在升降过程中，清洁装置产生倾斜的情况发生。
针对上述实施例中的自移动清洁设备，本发明实施例提供了一种自移动清洁设备的上升方法，包括：
步骤S101：控制驱动部驱动第一连杆及第二连杆沿第一方向转动，以带动清扫装置上升。
在一些实施例中，上述步骤S101包括：
步骤S1011：控制驱动部3驱动第一连杆201绕第一转动连接点沿第一方向转动，并通过同步联动组件1带动第二连杆202绕第二转动连接点沿第一方向转动，以带动清扫装置上升。
在一些实施例中，上述步骤S1011具体还包括：
步骤S10111：控制驱动部3驱动第一连杆201的第二摆动2012臂绕第一转动连接点沿第一方向转动，由第二摆动臂2012带动第一连杆201的第一摆动臂2011绕第一转动连接点沿第一方向转动，并通过同步联动组件1带动第二连杆202绕第二转动连接点沿第一方向转动，以带动清扫装置上升。
针对上述实施例中的自移动清洁设备，本发明实施例提供了一种自移动清洁设备的下降方法，包括：
步骤S201：控制驱动部驱动第一连杆及第二连杆沿与第一方向相反的第二方向转动，以带动清扫装置下降。
在一些实施例中，上述步骤S101包括：
步骤S2011：控制驱动部3驱动第一连杆201绕第一转动连接点沿与第一方向相反的第二方向转动，并通过同步联动组件1带动第二连杆202绕第二转动连接点沿与第一方向相反的第二方向转动，以带动清扫装置下降。
在一些实施例中，上述步骤S1011具体还包括：
步骤S20111：控制驱动部3驱动第一连杆201的第二摆动2012臂绕第一转动连接点沿与第一方向相反的第二方向转动，由第二摆动臂2012带动第一连杆201的第一摆动臂2011绕第一转动连接点沿与第一方向相反的第二方向转动，并通过同步联动组件1带动第二连杆202绕第二转动连接点沿与第一方向相反的第二方向转动，以带动清扫装置下降。
本公开所有实施例均可以单独被执行，也可以于其他实施例相结合被执行，均视为本 公开要求的保护范围。
本发明已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本发明限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本发明并不局限于上述实施例，根据本发明的教导还可以做出更多种的变型和修改，这些变型和修改均落在本发明所要求保护的范围以内。本发明的保护范围由附属的权利要求书及其等效范围所界定。

Claims (16)

  1. 一种自移动清洁设备，包括主体、清扫装置及升降装置，所述清扫装置通过所述升降装置与所述主体连接；
    所述升降装置包括同步联动组件、连杆机构及驱动部，所述连杆机构包括第一连杆和第二连杆，所述第一连杆及第二连杆围绕水平方向的轴线与所述主体转动连接，所述第一连杆通过所述同步联动组件与所述第二连杆转动连接；所述驱动部用于驱动所述第一连杆，以使得所述清扫装置相对于主体升降。
  2. 根据权利要求1所述的自移动清洁设备，其中，所述第一连杆与所述主体转动连接处与所述第二连杆与所述主体转动连接处位于同一水平面上。
  3. 根据权利要求2所述的自移动清洁设备，其中，所述第一连杆包括第一摆臂、弯折部及第二摆臂，所述弯折部分别与所述第一摆臂的一端及所述第二摆臂的一端连接，所述弯折部与所述主体转动连接，所述第一摆臂的另一端通过所述同步联动组件与所述第二连杆转动连接，所述第二摆臂的另一端与所述驱动部转动连接。
  4. 根据权利要求3所述的自移动清洁设备，其中，所述第一连杆位于第一竖直面上，所述第二连杆位于所述第二竖直面上，所述第一竖直面与所述第二竖直面为相互平行且不同的竖直面。
  5. 根据权利要求3所述的自移动清洁设备，其中，所述第一连杆至少部分与所述第二连杆水平平行设置。
  6. 根据权利要求2所述的自移动清洁设备，其中，所述连杆机构的数量为两组，两组所述连杆机构分别对称设置在所述同步联动组件的两侧。
  7. 根据权利要求6所述的自移动清洁设备，其中，所述同步联动组件包括第一同步轴、第二同步轴、第三同步轴及连接件，所述连接件分别与所述第一同步轴和所述第二同步轴转动连接；
    两组所述连杆机构的第一连杆的一端通过所述第一同步轴转动连接，另一端通过所述第二同步轴转动连接，两组所述连杆机构的第二连杆通过所述第三同步轴转动连接；所述驱动部与所述第一同步轴转动连接。
  8. 根据权利要求7所述的自移动清洁设备，其中，所述连杆机构还包括安装在所述主体的限位部，所述限位机构用于阻挡所述第一连杆和第二连杆的转动，以限制所述清扫装置的下降高度。
  9. 根据权利要求8所述的自移动清洁设备，其中，所述第二连杆与所述阻挡部的下部转动连接。
  10. 根据权利要求7所述的自移动清洁设备，其中，所述同步联动组件还包括设置在第二同步轴与第三同步轴两端的安装座，所述安装座与所述清洁装置连接。
  11. 一种自移动清洁设备的上升方法，包括：
    控制驱动部驱动第一连杆及第二连杆沿第一方向转动，以带动清扫装置上升，
    其中，所述自移动清洁设备包括主体、清扫装置及升降装置，所述清扫装置通过所述升降装置与所述主体连接；
    所述升降装置包括同步联动组件、连杆机构及驱动部，所述连杆机构包括所述第一连杆和所述第二连杆，所述第一连杆及第二连杆围绕水平方向的轴线与所述主体转动连接，所述第一连杆通过所述同步联动组件与所述第二连杆转动连接。
  12. 根据权利要求11所述的上升方法，其中，控制驱动部驱动第一连杆及第二连杆沿第一方向转动以带动清扫装置上升包括：
    控制驱动部驱动第一连杆绕第一转动连接点沿第一方向转动，并通过同步联动组件带动第二连杆绕第二转动连接点沿第一方向转动，以带动清扫装置上升。
  13. 根据权利要求11所述的上升方法，其中，控制驱动部驱动第一连杆及第二连杆沿第一方向转动以带动清扫装置上升包括：
    控制驱动部驱动第一连杆的第二摆动臂绕第一转动连接点沿第一方向转动，由第二摆动臂带动第一连杆的第一摆动臂绕第一转动连接点沿第一方向转动，并通过同步联动组件带动第二连杆绕第二转动连接点沿第一方向转动，以带动清扫装置上升。
  14. 一种自移动清洁设备的下降方法，包括：
    控制驱动部驱动第一连杆及第二连杆沿与第一方向相反的第二方向转动，以带动清扫装置下降，
    其中，所述自移动清洁设备包括主体、清扫装置及升降装置，所述清扫装置通过所述升降装置与所述主体连接；
    所述升降装置包括同步联动组件、连杆机构及驱动部，所述连杆机构包括所述第一连杆和所述第二连杆，所述第一连杆及第二连杆围绕水平方向的轴线与所述主体转动连接，所述第一连杆通过所述同步联动组件与所述第二连杆转动连接。
  15. 根据权利要求14所述的下降方法，其中，控制驱动部驱动第一连杆及第二连杆沿与第一方向相反的第二方向转动以带动清扫装置下降包括：
    控制驱动部驱动第一连杆绕第一转动连接点沿与第一方向相反的第二方向转动，并通过同步联动组件带动第二连杆绕第二转动连接点沿与第一方向相反的第二方向转动，以带动清扫装置下降。
  16. 根据权利要求14所述的下降方法，其中，控制驱动部驱动第一连杆及第二连杆沿与第一方向相反的第二方向转动以带动清扫装置下降包括：
    控制驱动部驱动第一连杆的第二摆动臂绕第一转动连接点沿与第一方向相反的第二方向转动，由第二摆动臂带动第一连杆的第一摆动臂绕第一转动连接点沿与第一方向相反的第二方向转动，并通过同步联动组件带动第二连杆绕第二转动连接点沿与第一方向相反的第二方向转动，以带动清扫装置下降。
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CN114601398A (zh) * 2021-08-16 2022-06-10 北京石头世纪科技股份有限公司 一种自移动设备
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