CN105459131B - The cleaning brush drive device and window wiping robot of window wiping robot - Google Patents
The cleaning brush drive device and window wiping robot of window wiping robot Download PDFInfo
- Publication number
- CN105459131B CN105459131B CN201610040877.2A CN201610040877A CN105459131B CN 105459131 B CN105459131 B CN 105459131B CN 201610040877 A CN201610040877 A CN 201610040877A CN 105459131 B CN105459131 B CN 105459131B
- Authority
- CN
- China
- Prior art keywords
- cleaning brush
- driving wheel
- window wiping
- wiping robot
- drive device
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses the cleaning brush drive device and window wiping robot of a kind of window wiping robot, the drive device includes actuator, driving wheel and driving member, actuator is connected with driving wheel to drive driving wheel to rotate, driving member is connected with driving wheel, and driving member is rotatable around first axle relative to driving wheel, first axle is parallel with the Pivot axle of driving wheel, and first axle deviates the Pivot axle of driving wheel.According to the cleaning brush drive device of the window wiping robot of the present invention, multiple cleaning brush can be driven to rotate, the relative velocity between cleaning brush and clean surface be improved, so as to improve the cleaning efficiency of window wiping robot and cleaning effect.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of cleaning brush drive device of window wiping robot and wiping
Window robot.
Background technology
Window wiping robot in correlation technique, it is generally past in window wiping robot front bottom end setting rag planker, robot
During preceding motion, rag planker moves in glass surface, is cleaned using the relative motion of rag and glass surface, but this
The cleaning mode of kind rag planker can only drive rag planker to clean the windows by the movement of window wiping robot in itself, and window cleaning equipment
Device people is generally slower in the translational speed of glass surface, therefore cleaning effect is poor.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art.Therefore, the invention reside in propose one
The cleaning brush drive device of kind of window wiping robot, the cleaning brush drive device can improve window wiping robot cleaning efficiency and
Cleaning effect.
The present invention also proposes a kind of window wiping robot with above-mentioned cleaning brush drive device.
The cleaning brush drive device of window wiping robot according to a first aspect of the present invention, the drive device include driving
Part, driving wheel and driving member, the actuator are connected with the driving wheel to drive the driving wheel to rotate, the driving member with
The driving wheel is connected, and the driving member is rotatable around first axle relative to the driving wheel, the first axle and institute
State that the Pivot axle of driving wheel is parallel, and the first axle deviates the Pivot axle of the driving wheel.
According to the cleaning brush drive device of the window wiping robot of the present invention, multiple cleaning brush can be driven to rotate, improved clear
Relative velocity between clean brush and clean surface, so as to improve the cleaning efficiency of window wiping robot and cleaning effect.
In some embodiments of the invention, the actuator includes：Motor, the motor shaft of the motor are horizontally disposed with；
Output shaft, the output shaft are vertically extending；Turbine and worm screw, the turbine and the worm screw intermeshing, the worm screw with
The motor shaft is coaxially affixed, and the turbine and the output shaft are coaxially affixed, wherein, the output shaft and the driving wheel
It is coaxial to be connected.
In some embodiments of the invention, the actuator also includes housing, is accommodated in the housing formed with motor
Chamber and gear pair accommodating chamber, the motor are contained in the motor accommodating chamber, and the motor accommodating chamber and the motor
Shape adaptation, the turbine and the worm screw are contained in the gear pair accommodating chamber, and the motor shaft, which passes the motor, to be held
The chamber and stretching into the gear pair accommodating chamber received is connected with the worm screw, and the both ends of the output shaft are rotatable with the housing
Ground connects, and one end of the output shaft is stretched out the gear pair accommodating chamber and is connected with the driving wheel.
Further, the housing includes upper casing and lower casing, and the upper shell cover is on the lower casing, and the upper casing and institute
State lower casing cooperation and limit the motor accommodating chamber and gear pair accommodating chamber.
In some embodiments of the invention, the end of the output shaft is non-circular shape, and is formed on the driving wheel
There is the first non-circular hole with the end adapter of the output shaft, first non-circular hole is inserted in the end of the output shaft
It is interior.
In some embodiments of the invention, the driving wheel and output shaft interference fit or mode connects for screw.
In some embodiments of the invention, the driving wheel is provided with the of the Pivot axle that deviates the driving wheel
One driving handle, the driving member are provided with the first axis hole, and first driving handle is rotationally plugged in first axis hole.
Window wiping robot according to a second aspect of the present invention, including：Base；Cleaning brush, the cleaning brush are set including interval
Put multiple on the base, and the cleaning brush is rotationally connected with the base；Drive device, the drive device
It is located on the base, the drive device is the cleaning brush drive device according to the window wiping robot of first aspect present invention,
The driving member of the drive device is connected with multiple cleaning brush, and the driving member relative to the cleaning brush around the second axle
Line is rotatable, and the second axis is parallel with the Pivot axle of the cleaning brush, and the second axis deviates the cleaning
The Pivot axle of brush, for driving multiple cleaning brush to rotate by the driving member.
According to the window wiping robot of the present invention, by setting the cleaning brush of window wiping robot of above-mentioned first aspect to drive dress
Put, and multiple cleaning brush spin-cleanings are driven using drive device, so as to improve the overall performance of window wiping robot.
In some embodiments of the invention, in the Pivot axle and the pivot of the driving wheel of the cleaning brush
The distance between axle is equal to the distance between the first axle and the second axis, the Pivot axle of the cleaning brush with
The distance of the second axis is equal to the distance between the Pivot axle of the driving wheel and described first axle.
In some embodiments of the invention, the cleaning brush includes：Cleaning brush drive link, the cleaning brush drive link can
Rotationally it is located on the base, and the cleaning brush drive link is provided with the Pivot axle for deviateing the cleaning brush drive link
The second driving handle, second driving handle is connected with the driving member；Cleaning brush base, the cleaning brush base with it is described clear
Clean brush drive link is coaxially affixed；Cleaning cloth, the cleaning cloth are attached to the outside of the cleaning brush base, wherein, the transmission
Part is provided with the second axis hole, and second driving handle is rotationally plugged into second axis hole.
Further, the cleaning brush drive link includes the first bar portion and the second bar portion, first bar portion and described the
Two bar portions are connected, and at least a portion of the side face of first bar portion protrudes the side face of second bar portion, first bar
Portion is located at the inner side of the base, and second bar portion extends downwardly from the base and is connected with the cleaning brush base, described
Second driving handle is connected in first bar portion and extends upward the upper surface of first bar portion.
Preferably, second bar portion is in non-circular shaft-like, and the cleaning brush base is provided with and second bar portion
Second non-circular hole of adaptation, second bar portion are inserted into second non-circular hole.
In some embodiments of the invention, the cleaning brush drive link and the cleaning brush base and the cleaning cloth spiral shell
Nail connection.
In some embodiments of the invention, the drive device is connected with the base screw.
In some embodiments of the invention, the driving member is in direct rod shape, the middle part of the driving member and the driving
Wheel is connected, and the both ends of the driving member are connected with the cleaning brush.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the schematic diagram of the cleaning brush drive device of the window wiping robot of embodiment according to a first aspect of the present invention；
Fig. 2 is the explosive view of the cleaning brush drive device of the window wiping robot shown in Fig. 1；
Fig. 3 is the schematic diagram of the turbine shown in Fig. 2；
Fig. 4 is the schematic diagram of the driving wheel shown in Fig. 2；
Fig. 5 is showing for the driving member of the cleaning brush drive device of the window wiping robot of embodiment according to a first aspect of the present invention
It is intended to；
Fig. 6 is the schematic diagram of an angle of the window wiping robot of embodiment according to a second aspect of the present invention；
Fig. 7 is the schematic diagram of another angle of the window wiping robot shown in Fig. 6；
Fig. 8 is the schematic diagram of the base of the window wiping robot shown in Fig. 7；
Fig. 9 be the window wiping robot shown in Fig. 7 base and drive device an angle schematic diagram；
Figure 10 be the window wiping robot shown in Fig. 8 base and drive device another angle schematic diagram；
Figure 11 is the schematic diagram of the base of the window wiping robot shown in Fig. 8, driving member and driving wheel；
Figure 12 is the schematic diagram of the cleaning brush shown in Fig. 7；
Figure 13 is the explosive view of the cleaning brush shown in Figure 12；
Figure 14 is the schematic diagram of the cleaning brush drive link shown in Figure 13；
Figure 15 is the schematic diagram of an angle of cleaning brush shown in Fig. 7, driving member and driving wheel；
Figure 16 is the schematic diagram of another angle of cleaning brush shown in Figure 15, driving member and driving wheel.
Reference：
Window wiping robot 100,
Drive device 1, driving wheel 11, the first non-circular hole 111, the first driving handle 112,
Actuator 12, motor 121, output shaft 122, the first mounting hole 1221, turbine 123, worm screw 124,
Housing 125, upper casing 1251, lower casing 1252, perforation 1253, motor accommodating chamber 126, gear pair accommodating chamber 127,
Driving member 13, the first axis hole 131, the second axis hole 132, the first screw 14,
Cleaning brush 2, cleaning brush drive link 21, the second driving handle 211, the first bar portion 212,
Second bar portion 213, the second mounting hole 2131,
Cleaning brush base 22, the second non-circular hole 221, cleaning cloth 23, the second screw 24,
Base 3, mounting bracket 31, the 3rd mounting hole 32, rotating hole 33, the 3rd screw 4.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only example, and
Purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the invention provides various specific techniques and material examples, but those of ordinary skill in the art can be appreciated that
The applicable property of other techniques and/or the use of other materials.
The cleaning brush that the window wiping robot 100 of embodiment according to a first aspect of the present invention is described below with reference to Fig. 1-Figure 15 drives
Dynamic device 1.
As shown in Figure 2 and Figure 5, the cleaning brush driving of the window wiping robot 100 of embodiment fills according to a first aspect of the present invention
Put 1, including：Driving wheel 11, actuator 12 and driving member 13.
Specifically, actuator 12 is connected with driving wheel 11 to drive driving wheel 11 to rotate, driving member 13 and the phase of driving wheel 11
Even, and driving member 13 relative to driving wheel 11 around first axle (such as the first driving handle 112 of the driving wheel 11 shown in Fig. 2
Central axis) it is rotatable, the Pivot axle of first axle and driving wheel 11 is (such as in the output shaft 122 shown in Fig. 2
Mandrel line) it is parallel, and first axle deviates the Pivot axle of driving wheel 11.Thus, actuator 12 can pass through driving wheel 11
Driving member 13 is driven to move.
Reference picture 16, the driving member 13 of drive device 1 are connected with multiple cleaning brush 2, that is to say, that drive device 1 passes through
Driving member 13 can drive multiple cleaning brush 2 while rotate, to clean glass, it is possible thereby to improve the clear of window wiping robot 100
Clean efficiency.As shown in figure 16, the driving member 13 of drive device 1 is connected with two cleaning brush 2, during work, driving dress
Putting 1 can drive two cleaning brush 2 at both ends to rotate cleaning glass window by driving member 13.Certainly, the driving member 13 of drive device 1
It can also be connected with three, four or more cleaning brush 2, multiple cleaning brush 2 are driven by a drive device 1 to realize
Rotate simultaneously, so as to further improve the cleaning efficiency of window wiping robot 100.
And driving member 13 relative to cleaning brush 2 around second axis (such as of the cleaning brush drive link 21 shown in Figure 16
The central axis of two driving handles 211) it is rotatable, the Pivot axle of second axis and cleaning brush 2 (such as it is clear shown in Figure 16
The central axis of clean brush) it is parallel, and second axis deviates the Pivot axle of cleaning brush 2, it is more for being driven by driving member 13
Individual cleaning brush 2 rotates.Thus, it is possible to improve the cleaning effect of window wiping robot 100.
The cleaning brush drive device 1 of window wiping robot 100 according to embodiments of the present invention, multiple cleaning brush 2 can be driven
Rotation, the relative velocity between cleaning brush 2 and clean surface is improved, so as to improve the cleaning efficiency of window wiping robot 100 and cleaning
Effect.
In one embodiment of the invention, as shown in Fig. 2 actuator 12 can include：Motor 121, output shaft 122,
Turbine 123 and worm screw 124.Specifically, the motor shaft of motor 121 is horizontally disposed with；Output shaft 122 is vertically (such as shown in Fig. 2
Above-below direction) extension；Turbine 123 and worm screw 124 are intermeshed, and worm screw 124 is coaxially affixed with motor shaft, and turbine 123 with
Output shaft 122 is coaxially affixed, wherein, output shaft 122 is coaxially connected with driving wheel 11.Thus, by turbine 123 and worm screw 124,
The rotating speed of motor 121 can be slowed down and be transferred to driving wheel 11.
Specifically, as shown in Fig. 2 the kinetic energy transmission direction in actuator 12 is：Motor shaft drives worm screw 124 to rotate, by
Engaged in turbine 123 with worm screw 124, worm screw 124 drives turbine 123 to rotate, and now, worm screw 124 is by the rotating speed of motor 121 by certain
Ratio deceleration transmission to turbine 123；Because driving wheel 11 is coaxially connected with the output shaft 122 of turbine 123, therefore turbine 123
Driving wheel 11 is driven to rotate coaxially, so as to realize that actuator 12 drives driving wheel 11 to rotate.
In one embodiment of the invention, as shown in Fig. 2 actuator 12 can also include housing 125, in housing 125
Motor accommodating chamber 126 and gear pair accommodating chamber 127 are could be formed with, motor 121 can be contained in motor accommodating chamber 126, and
Motor accommodating chamber 126 and the shape adaptation of motor 121, turbine 123 and worm screw 124 can be contained in gear pair accommodating chamber 127,
Motor shaft can pass motor accommodating chamber 126 and stretch into gear pair accommodating chamber 127 to be connected with worm screw 124, and the two of output shaft 122
End is rotatably coupled with housing 125, that is to say, that output shaft 122 can rotate relative to housing 125, and the one of output shaft 122
End (such as lower end of the output shaft 122 shown in Fig. 2) is stretched out gear pair accommodating chamber 127 and is connected with driving wheel 11.So, drive
Only the stretching of output shaft 122 housing 125 is outer in part 12 is connected with driving wheel 11, and motor 121, turbine 123 and worm screw 124 are each provided at
In housing 125, it is possible thereby to the pollution such as dust, impurity motor 121, turbine 123 and worm screw 124 be avoided, so as to improve driving
The service life of part 12.
Further, as shown in Fig. 2 housing 125 can include upper casing 1251 and lower casing 1252, upper casing 1251 is covered in lower casing
On 1252, and upper casing 1251 and the cooperation of lower casing 1252 limit motor accommodating chamber 126 and gear pair accommodating chamber 127.Thus, not only
The installation and removal of motor 121, turbine 123 and worm screw 124 can be also helped in order to the machine-shaping of housing 125, improve dress
With efficiency.
Alternatively, reference picture 2, the end (such as lower end of the output shaft 122 shown in Fig. 2) of output shaft 122 can be
Non-circular shape, and the first non-circular hole 111 with the end adapter of output shaft 122, output shaft are could be formed with driving wheel 11
122 end is inserted in the first non-circular hole 111.Thus, it is possible to before output shaft 122 and the synchronous axial system of driving wheel 11 is ensured
Put, simplify the structure of output shaft 122 and driving wheel 11.
Such as in the illustrated example shown in fig. 2, the cross section of the lower end of output shaft 122 is formed as square, shape on driving wheel 11
The square opening that the lower end square-section of Cheng Youyu output shafts 122 is adapted, during installation, by the lower end of output shaft 122
In square opening on the section insertion driving wheel 11 of square-section, thus, during output shaft 122 drives driving wheel 11 to rotate,
Output shaft 122 and driving wheel 11 can be made to keep synchronous axial system.
In one embodiment of the invention, reference picture 2, driving wheel 11 can be interference fitted with output shaft 122 or screw
Connection.Thus can not only improve the reliability connected between driving wheel 11 and output shaft 122, can also be easy to driving wheel 11 with
Assembling between output shaft 122, improve efficiency of assembling.Such as in the illustrated example shown in fig. 2, with reference to Fig. 3, under output shaft 122
Formed with the first mounting hole 1221 on end face, the first screw 14 sequentially passes through driving wheel 11, lower casing 1252 and first from the bottom up
Mounting hole 1221, driving wheel 11 and output shaft 122 are fastened together.
In one embodiment of the invention, as shown in Figure 2 and Figure 5, it can be provided with driving wheel 11 and deviate driving wheel 11
Pivot axle the first driving handle 112, the first axis hole 131 can be provided with driving member 13, the first driving handle 112 is rotatable
Ground is plugged in the first axis hole 131.Thus, during driving wheel 11 rotates, driving wheel 11 can drive driving member 13
While mobile, and rotated relative to driving member 13.Specifically, during driving wheel 11 drives driving member 13 to move, driving
Wheel 11 rotates around the central axis of output shaft 122, and driving member 13 be along using the central axis of output shaft 122 as the center of circle, with the
The distance of one driving handle 112 and output shaft 122 is the circumferential translation of the circle of radius, i.e. driving member 13 is in itself non-rotary.
As shown in Fig. 6-Figure 16, the window wiping robot 100 of embodiment according to a second aspect of the present invention, including：It is base 3, clear
Clean brush 2 and drive device 1, wherein, drive device 1 is the window wiping robot 100 according to the above-mentioned first aspect embodiment of the present invention
Cleaning brush drive device 1.
Specifically, as shown in fig. 7, cleaning brush 2 includes being arranged at intervals on the base 3 multiple, that is to say, that on base 3
Two, three, four or more cleaning brush 2 can be provided with, it is so, constant in the cleaning area of single clearing brush 2
In the case of, equivalent to adding the gross area that is cleaned in the unit interval of cleaning brush 2, and the cleaning that can also be improved to glass is strong
Degree, so as to effectively improve the cleaning efficiency of window wiping robot 100 and cleaning effect.And multiple cleaning brush 2 with base 3
Rotationally it is connected, when window wiping robot 100 works, cleaning brush 2 can rotate relative to base 3, thus, it is possible to improve cleaning
Relative velocity between brush 2 and clean surface (glass), so as to improve the cleaning effect of window wiping robot 100.
As shown in Fig. 9 and Figure 16, drive device 1 is set on the base 3, the driving member 13 of drive device 1 and multiple cleaning brush 2
Be connected, and driving member 13 relative to cleaning brush 2 around second axis (such as the cleaning brush drive link 21 shown in Figure 16 second drive
The central axis of dynamic handle 211) it is rotatable, second axis is parallel with the Pivot axle of cleaning brush 2, and second axis deviates cleaning
The Pivot axle of brush 2, for driving multiple cleaning brush 2 to rotate by driving member 13.It is possible thereby to improve window wiping robot 100
Cleaning efficiency.
Window wiping robot 100 according to embodiments of the present invention, by the window cleaning equipment device for setting above-mentioned first aspect embodiment
The cleaning brush drive device 1 of people 100, and multiple spin-cleanings of cleaning brush 2 are driven using drive device 1, wiped so as to improve
The overall performance of window robot 100.
In one embodiment of the invention, reference picture 15 and Figure 16, Pivot axle and the driving wheel 11 of cleaning brush 2
The distance between Pivot axle can be equal to the distance between first axle and second axis, the Pivot axle of cleaning brush 2
The distance between Pivot axle and first axle of driving wheel 11 can be equal to the distance of second axis.So, driving
During the driving of wheel 11 driving member 13, driving member 13 drive the rotation of cleaning brush 2, cleaning brush 2 can be caused around its own just
Central axis rotation, thus, it is possible to which the structure of window wiping robot 100 is compacter, reasonable.
In one embodiment of the invention, as shown in figures 7 and 12, cleaning brush 2 can include：Cleaning brush drive link
21st, cleaning brush base 22 and cleaning cloth 23, cleaning brush drive link 21 are rotatably arranged on base 3, and cleaning brush drive link 21
It is provided with the second driving handle 211 of the Pivot axle for deviateing cleaning brush drive link 21, the second driving handle 211 and the phase of driving member 13
Even；Cleaning brush base 22 is coaxially affixed with cleaning brush drive link 21；Cleaning cloth 23 be attached to cleaning brush base 22 outside (such as
The downside of cleaning brush base 22 shown in Figure 12), wherein, as shown in Fig. 5 and Figure 16, driving member 13 is provided with the second axis hole
132, the second driving handle 211 is rotationally plugged into the second axis hole 132.Thus, driving member 13 can pass through the second driving handle
211 drive cleaning brush 2 around the center axis thereof of cleaning brush 2.
Further, reference picture 9, Figure 12 and Figure 14 is combined, cleaning brush drive link 21 can include the first bar portion 212 and the
Two bar portions 213, the first bar portion 212 are connected with the second bar portion 213, and at least a portion protrusion the of the side face of the first bar portion 212
The side face of two bar portions 213, the first bar portion 212 are located at the inner side (such as upside of the base 3 shown in Fig. 9) of base 3, and second
Bar portion 213 extends downwardly from base 3 and is connected with cleaning brush base 22, thus, when the second bar portion 213 extends downwardly from base 3, first
The lower surface of bar portion 212 can be against on the upper surface of base 3, make the structure of cleaning brush drive link 21 more reasonable.Second drives
Dynamic handle 211 is connected in the first bar portion 212 and extends upward the upper surface of the first bar portion 212, in order to through the second axis hole
132 are connected with driving member 13.
Preferably, as shown in figure 13, the second bar portion 213 can be in non-circular shaft-like, and can be set on cleaning brush base 22
There is the second non-circular hole 221 being adapted to the second bar portion 213, the second bar portion 213 is inserted into the second non-circular hole 221.Thus,
On the premise of ensureing that cleaning brush drive link 21 drives cleaning brush base 22 and the synchronous axial system of cleaning cloth 23, cleaning brush can be simplified
The structure of base 22 and cleaning brush drive link 21.
Such as in the example depicted in fig. 13, the cross section of the second bar portion 213 of cleaning brush drive link 21 is formed as square,
The square opening for being centrally formed with being adapted with the cross section of the second bar portion 213 of cleaning brush base 22, by the way that the second bar portion 213 is inserted
In the square opening for entering cleaning brush base 22, cleaning brush base 22 and cleaning cloth 23 can be made to keep synchronous with cleaning brush drive link 21
Rotate.
In one embodiment of the invention, as shown in figure 13, cleaning brush drive link 21 and cleaning brush base 22 and cleaning
Thus cloth 23 not only can improve efficiency of assembling, also with mode connects for screw in order to the installation of cleaning brush base 22 and cleaning cloth 23
Cleaning cloth 23 can be conveniently replaceable, improves the service life of window wiping robot 100.
Such as in the example depicted in fig. 13, shape on the end face of the free end of the second bar portion 213 of cleaning brush drive link 21
Into there is the second mounting hole 2131, during cleaning brush 2 is assembled, cleaning brush base 22 and cleaning cloth 23 are sequentially sleeved at
In two bar portions 213, the second screw 24 is recycled to sequentially pass through cleaning cloth 23, the mounting hole 2131 of cleaning brush base 22 and second, from
And cleaning cloth 23, cleaning brush base 22 and cleaning brush drive link 21 are fastened together.
In one embodiment of the invention, drive device 1 can with the mode connects for screw of base 3, it is possible thereby to be easy to drive
The installation and removal of device 1, improve efficiency of assembling.
Such as in the example shown in Fig. 8 and Fig. 9, base 3 is provided with multiple mounting brackets 31, each mounting bracket 31
The center of upper surface is each formed with the 3rd mounting hole 32, and the periphery wall of the housing 125 of drive device 1 is provided with and the 3rd mounting hole
32 one-to-one perforation 1253, it is during drive device 1 is installed, the 3rd mounting hole 32 is corresponding with perforation 1253, then
Sequentially pass through the mounting hole 32 of perforation 1253 and the 3rd from the top down using the 3rd screw 4 and tighten the 3rd screw 4, so as to drive
Dynamic device 1 is fixed on the base 3.
In one embodiment of the invention, as shown in Figure 15 and Figure 16, driving member 13 is in direct rod shape, in driving member 13
Portion is connected with driving wheel 11, and the both ends of driving member 13 are connected with cleaning brush 2.It is possible thereby to drive two using a motor 121
Cleaning brush 2 rotates, so as to improve the cleaning efficiency of window wiping robot 100.
Window wiping robot 100 below with reference to Fig. 1-Figure 16 descriptions according to a specific embodiment of the invention.
Reference picture 7 and Fig. 9, window wiping robot 100 include base 3, drive device 1 and two cleaning brush 2.
Specifically, as shown in figure 8, formed with multiple mounting brackets 31 protruding upward, each mounting bracket 31 on base 3
The center of upper surface be each formed with the 3rd mounting hole 32, perforation 1253 and mounting bracket of the 3rd screw 4 through drive device 1
The 3rd mounting hole 32 on 31, drive device 1 is fixed on base 3.Two are further provided with base 3 and is suitable to cleaning
The rotating hole 33 that brush drive link 21 passes through.
As shown in Fig. 2 drive device 1 includes upper casing 1251, lower casing 1252, motor 121, output shaft 122, turbine 123, snail
Bar 124, driving wheel 11 and driving member 13.The lid of upper casing 1251 is located on lower casing 1252 and formed with motor accommodating chamber 126 and gear
Secondary accommodating chamber 127, motor 121 are located in motor accommodating chamber 126, and turbine 123 is intermeshed with worm screw 124 and is located at gear pair appearance
Receive in chamber 127, motor shaft passes motor accommodating chamber 126 and stretched into gear pair accommodating chamber 127, and coaxially connected with worm screw 124.Whirlpool
Wheel is 123 coaxially affixed with output shaft 122, and the lower end stretching gear pair accommodating chamber 127 of output shaft 122 simultaneously inserts the of driving wheel 11
In one non-circular hole 111, and the lower surface of output shaft 122 is centrally formed with the first mounting hole 1221, and the first screw 14 is upward
Through the first non-circular hole 111, the mounting hole 1221 of lower casing 1252 and first, driving wheel 11 is fixedly attached to output shaft 122.
As shown in Fig. 2 the first driving handle 112 has been downwardly protrude to form on the lower surface of driving wheel 11, the first driving handle 112
Center axis deviation output shaft 122 central axis.As shown in figure 5, the center of driving member 13 is provided with the first axis hole 131, it is left
Right both ends are respectively equipped with the second axis hole 132, and the first driving handle 112 is adapted for insertion into the first axis hole 131, on cleaning brush drive link 21
The second driving handle 211 be adapted for insertion into the second axis hole 132.
As shown in figure 12, cleaning brush 2 includes cleaning brush drive link 21, cleaning brush base 22 and cleaning cloth 23.Wherein, clean
Brush drive link 21 includes the first bar portion 212 and the second bar portion 213, is driven in the first bar portion 212 formed with protruding upward second
Handle 211.Cleaning brush base 22 is centrally formed with the second non-circular hole 221, and the second bar portion 213 is passed down through the rotation of base 3
The non-circular hole 221 of hole 33 and second, and be connected with cleaning brush base 22, cleaning cloth 23 is located at the bottom of cleaning brush base 22, clearly
Formed with the second mounting hole 2131 on the end face of the free end of second bar portion 213 of clean brush drive link 21, the second screw 24 is successively
Through cleaning cloth 23, the second mounting hole 2131 of the bar portion 213 of cleaning brush base 22 and second, and by cleaning brush drive link 21, clear
Clean brush base 22 and cleaning cloth 23 link together.
During window wiping robot 100 works, the motor 121 in drive device 1 is powered after operating, passes through " motor
The drive path of axle-worm screw 124- turbine 123- output shaft 122- driving wheels 11 ", the rotating speed of motor 121 is subtracted by a certain percentage
Speed is transferred to driving wheel 11, as shown in figure 16, it is assumed that now driving wheel 11 does rotary motion counterclockwise, then driving wheel 11 passes through
Driving member 13, rotary motion will be driven to the second driving handle 211 of the cleaning brush drive link 21 of the left and right sides, the left and right sides
Second driving handle 211 shakes rotating hole 33 of the cleaning brush 2 on base 3 and does rotary motion counterclockwise again, whole by cleaning brush 2
The rotary motion of body, the cleaning cloth 23 of the end face of cleaning brush 2 ceaselessly rotates in glass surface to be wiped, to reach the mesh of cleaning glass
's.
Window wiping robot 100 according to embodiments of the present invention, by setting two cleanings in the bottom of window wiping robot 100
Brush 2, and two spin-cleanings of cleaning brush 2 are driven simultaneously using a motor 121, it is possible thereby to improve window wiping robot 100
Cleaning efficiency and cleaning effect.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect, can also be communication；Can be joined directly together, can also be indirectly connected by intermediary, can be with
It is connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (15)
1. the cleaning brush drive device of a kind of window wiping robot, it is characterised in that the drive device includes actuator, driving wheel
And driving member, the actuator are connected with the driving wheel to drive the driving wheel to rotate, the driving member and the driving
Wheel is connected, and the driving member is rotatable around first axle relative to the driving wheel,
The first axle is parallel with the Pivot axle of the driving wheel, and the first axle deviates the rotation of the driving wheel
Turn central shaft, the driving member of the drive device is connected with multiple cleaning brush, and the driving member is relative to the cleaning
Brush is rotatable around second axis, and the second axis is parallel with the Pivot axle of the cleaning brush, and the second axis is inclined
From the Pivot axle of the cleaning brush, for driving multiple cleaning brush to rotate by the driving member.
2. the cleaning brush drive device of window wiping robot according to claim 1, it is characterised in that the actuator bag
Include：
Motor, the motor shaft of the motor are horizontally disposed with；
Output shaft, the output shaft are vertically extending；
Turbine and worm screw, the turbine and worm screw intermeshing, the worm screw is coaxially affixed with the motor shaft, and described
Turbine is coaxially affixed with the output shaft,
Wherein, the output shaft is coaxially connected with the driving wheel.
3. the cleaning brush drive device of window wiping robot according to claim 2, it is characterised in that the actuator also wraps
Housing is included, the housing is interior formed with motor accommodating chamber and gear pair accommodating chamber, and the motor is contained in the motor accommodating chamber
It is interior, and the motor accommodating chamber and the shape adaptation of the motor, the turbine and the worm screw are contained in the gear pair and held
Receive intracavitary, the motor shaft passes the motor accommodating chamber and stretched into the gear pair accommodating chamber to be connected with the worm screw, institute
The both ends for stating output shaft are rotatably coupled with the housing, and the gear pair accommodating chamber is stretched out in one end of the output shaft
It is connected with the driving wheel.
4. the cleaning brush drive device of window wiping robot according to claim 3, it is characterised in that the housing includes upper
Shell and lower casing, the upper shell cover is on the lower casing, and the upper casing and lower casing cooperation limit the motor accommodating chamber
With gear pair accommodating chamber.
5. the cleaning brush drive device of window wiping robot according to claim 2, it is characterised in that the end of the output shaft
Portion is non-circular shape, and the first non-circular hole formed with the end adapter with the output shaft on the driving wheel, described defeated
The end of shaft is inserted in first non-circular hole.
6. the cleaning brush drive device of window wiping robot according to claim 2, it is characterised in that the driving wheel and institute
State output shaft interference fit or mode connects for screw.
7. the cleaning brush drive device of the window wiping robot according to any one of claim 1-6, it is characterised in that described
Driving wheel is provided with the first driving handle of the Pivot axle for deviateing the driving wheel, and the driving member is provided with the first axis hole,
First driving handle is rotationally plugged in first axis hole.
A kind of 8. window wiping robot, it is characterised in that including：
Base；
Cleaning brush, the cleaning brush is multiple on the base including being disposed on, and the cleaning brush can with the base
Rotationally it is connected；
Drive device, the drive device are located on the base, and the drive device is according to any one of claim 1-7
The cleaning brush drive device of described window wiping robot.
9. window wiping robot according to claim 8, it is characterised in that the Pivot axle of the cleaning brush and the drive
The distance between Pivot axle of driving wheel is equal to the distance between the first axle and the second axis, the cleaning brush
Pivot axle and the second axis distance be equal to the driving wheel Pivot axle and the first axle between
Distance.
10. window wiping robot according to claim 8, it is characterised in that the cleaning brush includes：
Cleaning brush drive link, the cleaning brush drive link are rotatably arranged on the base, and on the cleaning brush drive link
The second driving handle provided with the Pivot axle for deviateing the cleaning brush drive link, second driving handle and the driving member phase
Even；
Cleaning brush base, the cleaning brush base and the cleaning brush drive link are coaxially affixed；
Cleaning cloth, the cleaning cloth are attached to the outside of the cleaning brush base,
Wherein, the driving member is provided with the second axis hole, and second driving handle is rotationally plugged into second axis hole.
11. window wiping robot according to claim 10, it is characterised in that the cleaning brush drive link includes the first bar portion
With the second bar portion, first bar portion is connected with second bar portion, and at least a portion of the side face of first bar portion is convex
Go out the side face of second bar portion, first bar portion is located at the inner side of the base, and second bar portion extends downwardly from institute
State base with the cleaning brush base to be connected, second driving handle is connected in first bar portion and extended upward described
The upper surface of first bar portion.
12. window wiping robot according to claim 11, it is characterised in that second bar portion is in non-circular shaft-like, and
The cleaning brush base is provided with the second non-circular hole for being adapted to second bar portion, and second bar portion is inserted into described the
In two non-circular holes.
13. according to the window wiping robot any one of claim 10-12, it is characterised in that the cleaning brush drive link
With the cleaning brush base and the cleaning cloth mode connects for screw.
14. window wiping robot according to claim 8, it is characterised in that the drive device connects with the base screw
Connect.
15. window wiping robot according to claim 8, it is characterised in that the driving member is in direct rod shape, the driving member
Middle part be connected with the driving wheel, the both ends of the driving member are connected with the cleaning brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040877.2A CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040877.2A CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105459131A CN105459131A (en) | 2016-04-06 |
| CN105459131B true CN105459131B (en) | 2017-12-01 |
Family
ID=55597506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610040877.2A Expired - Fee Related CN105459131B (en) | 2016-01-21 | 2016-01-21 | The cleaning brush drive device and window wiping robot of window wiping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105459131B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3205649B2 (en) * | 1993-07-30 | 2001-09-04 | アマノ株式会社 | Vibrating floor cleaner |
| CN102578959A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Liquid-spraying device and glass-cleaning robot with liquid-spraying device |
| DE102012108285A1 (en) * | 2011-10-04 | 2013-04-04 | Vorwerk & Co. Interholding Gmbh | Floor mop and relative to a fixed part swinging driven body |
| CN202604727U (en) * | 2012-05-14 | 2012-12-19 | 苏州市洁宝王电器有限公司 | Electric cleaning device |
| CN204500545U (en) * | 2015-04-02 | 2015-07-29 | 兰州东方神童机器人开发有限公司 | Home intelligent reciprocating swing type floor-mopping robot |
| CN104905728B (en) * | 2015-06-17 | 2017-09-26 | 上海缘盟自动化技术有限公司 | Swing type is from window wiping robot and its control method of walking |
| CN204743990U (en) * | 2015-07-07 | 2015-11-11 | 宁波菜鸟智能科技有限公司 | Drive assembly of intelligence cleaner |
| CN105212822B (en) * | 2015-10-08 | 2017-10-31 | 广东宝乐机器人股份有限公司 | A kind of window wiping robot |
| CN205521425U (en) * | 2016-01-21 | 2016-08-31 | 江苏美的清洁电器股份有限公司 | Window -cleaning robot's cleaning brush drive arrangement and window -cleaning robot |
-
2016
- 2016-01-21 CN CN201610040877.2A patent/CN105459131B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105459131A (en) | 2016-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105749643B (en) | Filter and there is its airhandling equipment | |
| CN106984082A (en) | A kind of industrial chemicals filter for clearing up filter | |
| CN205521425U (en) | Window -cleaning robot's cleaning brush drive arrangement and window -cleaning robot | |
| RU2003134222A (en) | Robot Vacuum Cleaner | |
| US11097814B2 (en) | Water surface cleaning machine | |
| CN108246744B (en) | Mechanical cleaning device for glass reaction kettle | |
| CN105926759B (en) | A kind of dredging sewer machine people | |
| CN105459131B (en) | The cleaning brush drive device and window wiping robot of window wiping robot | |
| KR100738886B1 (en) | Cleaning Module for Cleaning Mobile Robot | |
| CN210673192U (en) | Wiping device | |
| CN103892774B (en) | Automatic cleaner | |
| CN216425005U (en) | Sweeper for code spraying on surface of packaging bag | |
| CN212489771U (en) | Floor sweeping robot | |
| CN104374062B (en) | Water spraying device and air-conditioner with same | |
| CN211582935U (en) | Floor sweeping robot | |
| CN109016851A (en) | Ink-jet printing apparatus capable of washing | |
| CN108903814A (en) | New Sweeping Floor Machine device people | |
| CN210995658U (en) | Robot for cleaning pipeline by utilizing rotational flow high-pressure airflow | |
| CN207755879U (en) | A kind of screen system | |
| CN209064163U (en) | Wheel orientation and universal switching device and the perambulator with the device | |
| CN201513100U (en) | Hidden sun-shading shutter | |
| CN220937958U (en) | Floor brush structure for cleaning machine and cleaning machine | |
| CN218128354U (en) | Rolling brush driving device and surface cleaning equipment | |
| CN220740433U (en) | Polishing device for automobile driving shaft | |
| CN212465872U (en) | Running gear and robot of sweeping floor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201209 Address after: 236400 800 meters north of Yanhe Avenue Road, Wuzhuang village, zheshuzhuang village, weizhai Town, Linquan County, Fuyang City, Anhui Province Patentee after: Anhui zhuyou Plastic Pen Co., Ltd Address before: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215100 Patentee before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20210121 |