CN110215166B - Intelligent cleaning robot brushes dish elevating system - Google Patents
Intelligent cleaning robot brushes dish elevating system Download PDFInfo
- Publication number
- CN110215166B CN110215166B CN201910613662.9A CN201910613662A CN110215166B CN 110215166 B CN110215166 B CN 110215166B CN 201910613662 A CN201910613662 A CN 201910613662A CN 110215166 B CN110215166 B CN 110215166B
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- Prior art keywords
- connecting rod
- rod
- brush
- parallelogram
- driving
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- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 230000003028 elevating effect Effects 0.000 title claims description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000003466 welding Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 238000009963 fulling Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating 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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Cleaning In General (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention relates to an intelligent cleaning robot brush disc lifting mechanism which comprises a first parallelogram four-bar mechanism and a second parallelogram four-bar mechanism, wherein the first parallelogram four-bar mechanism and the second parallelogram four-bar mechanism are combined through a large connecting rod to form an eight-bar mechanism, and a brush disc assembly is fixedly arranged on the eight-bar mechanism. Compared with the prior art, the double vertical movement of the brush disc assembly is realized by utilizing the two four-bar mechanisms, meanwhile, part of the left and right movement is offset, and the brush disc assembly is always kept in a horizontal state, so that the brush disc assembly is lifted up and down in a limited space, and meanwhile, the relative movement in the horizontal direction is reduced as much as possible, the intelligent cleaning robot is compact and good, and the development of miniaturization and light weight of the intelligent cleaning robot is facilitated.
Description
[ technical field ]
The invention relates to the technical field of intelligent cleaning robots, in particular to a brush plate lifting mechanism applied to an intelligent cleaning robot.
[ background Art ]
With the development of automation technology and artificial intelligence, the requirements of intelligent robots are becoming wider and wider; the advent of the robotics era will revolutionize the existing production and manufacturing modes and human lifestyles. The intelligent cleaning robot is suitable for various indoor environments, such as markets, office buildings, walkways, hotels and the like. The intelligent cleaning robot needs to have a brush disc to clean dirt on the ground, but when the intelligent cleaning robot does not need to clean, the brush disc needs to be lifted up again to avoid contact with the ground, so that the functions of prolonging the service life of the brush disc and protecting the ground are achieved.
The traditional structure capable of realizing the up-and-down lifting of the brush disc is realized by using a single parallelogram four-bar structure or a lifting motor and a guide post to cooperate. Among the disadvantages of the single parallelogram four-bar linkage are: not only has up-and-down displacement, but also has left-and-right displacement, the up-and-down displacement is effective, the left-and-right displacement is ineffective, the left-and-right displacement needs larger transverse space size, the machine is compact and poor, and the development of miniaturization and light weight of the intelligent cleaning robot is not facilitated; the other structure of the lifting motor and the guide post is that: the brush dish needs to have sufficient space to place directly over, and it is relatively great to occupy vertical space, also is unfavorable for intelligent cleaning robot's miniaturized lightweight development.
Therefore, it is necessary to improve the existing brush plate lifting structure to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide the brush disc lifting mechanism of the intelligent cleaning robot, which is characterized in that the eight-bar mechanism formed by the two four-bar mechanisms realizes that the brush disc connecting support drives the brush disc assembly to move in the vertical direction, and simultaneously reduces the movement in the horizontal direction as much as possible, thereby being beneficial to the development of miniaturization and light weight of the intelligent cleaning robot.
The aim of the invention is achieved by the following technical scheme: an intelligent cleaning robot brush tray lifting mechanism comprises a first parallelogram four-bar mechanism 1, a second parallelogram four-bar mechanism 2, a large connecting bar 3 and a brush tray assembly 7 which is installed and fixed on the second parallelogram four-bar mechanism 2, wherein the first parallelogram four-bar mechanism 1 comprises a connecting bar fixing frame 11, a vertical connecting bar fixing seat 12 positioned behind the connecting bar fixing frame 11, a first connecting bar 13 which is parallel to the connecting bar fixing frame 11 and the vertical connecting bar fixing seat 12 in the up-down direction and a second connecting bar 14 positioned below the first connecting bar 13, the second parallelogram four-bar mechanism 2 comprises a brush tray connecting bracket 21, a third connecting bar 22 positioned above and a force doubling bar 23 positioned below and connecting the brush tray connecting bracket 21 and the vertical connecting bar fixing seat 12 of the first parallelogram four-bar mechanism 1, the force doubling rod 23 is provided with a first port positioned at the front end, a second port positioned in the middle and a third port positioned at the rear end, the front end of the first connecting rod 13 and the front end of the second connecting rod 14 are respectively connected with the connecting rod fixing frame 11, the front end of the third connecting rod 22 and the first port of the force doubling rod 23 are connected with the brush disc connecting bracket 21, the brush disc assembly 7 is fixedly arranged on the brush disc connecting bracket 21, the rear end of the first connecting rod 13 and the rear end of the third connecting rod 22 are connected with the top end of the vertical connecting rod fixing seat 12, the rear end of the second connecting rod 14 and the second port of the force doubling rod 23 are connected with the bottom end of the vertical connecting rod fixing seat 12, the front end of the large connecting rod 3 is connected with the front end of the first connecting rod 13 of the first parallelogram four-bar mechanism 1, the rear end of the large connecting rod 3 is connected with the third port of the force doubling rod 23 of the second parallelogram four-bar mechanism 2, the first parallelogram four-bar mechanism 1 and the second parallelogram four-bar mechanism 2 are combined through the large connecting rod 3 to form an eight-bar mechanism.
Further, the front end of the first connecting rod 13 is fixed on the connecting rod fixing frame 11 through a first plugging screw 15 so that the first connecting rod 13 can rotate around the first plugging screw 15; the front end of the second connecting rod 14 is fixed on the connecting rod fixing frame 11 through a driving shaft 5 so that the second connecting rod 14 can rotate around the driving shaft 5, and the rear ends of the first connecting rod 13 and the third connecting rod 22 are fixed on the top end of the vertical connecting rod fixing seat 12 through a second plugging screw 16 so that the first connecting rod 13 and the third connecting rod 22 can both rotate around the second plugging screw 16; the second port of the force doubling rod 23 and the rear end of the second connecting rod 14 are fixed at the bottom end of the vertical connecting rod fixing seat 12 through a transmission shaft 6, so that the force doubling rod 23 and the second connecting rod 14 can rotate around the transmission shaft 6; the third port of the force doubling rod 23 and the rear end of the large connecting rod 3 are fixed through a fifth plugging screw 26, so that the force doubling rod 23 and the large connecting rod 3 can rotate around the fifth plugging screw 26; the front end of the third connecting rod 22 is fixed to the brush tray connecting bracket 21 by a third driving screw 24 so that the third connecting rod 22 can rotate around the third driving screw 24.
Further, the intelligent cleaning robot brush lifting mechanism further comprises a driving rod 4, the driving rod 4 is in an L shape, the driving rod 4 comprises a first free end 41 positioned at the top end in the vertical direction, a second free end positioned in the front-back direction and slightly close to the front end of the driving rod 4, and a third free end positioned at the back end in the front-back direction, the second free end is mounted on a connecting rod fixing frame 11 through a driving shaft 5 so that the driving rod 4 can also rotate around the driving shaft 5, and the third free end is mounted on a vertical connecting rod fixing seat 12 through a driving shaft 6 so that the driving rod 4 can also rotate around the driving shaft 6.
Further, the eight-bar linkage is fixed on the chassis mounting assembly 200 of the intelligent cleaning robot, a push rod motor 300 is fixed above the chassis mounting assembly 200, a first free end 41 of the driving rod 4 is connected with an output end of the push rod motor 300, a power source for reciprocating motion is provided by the push rod motor 300, the driving rod 4 is pushed to move right or left by the push rod motor 300, the driving rod 4 rotates around the driving shaft 5 and drives the vertical connecting rod fixing seat 12 to move downwards or upwards relative to the connecting rod fixing seat 11 through the first parallelogram four-bar linkage 1, and meanwhile, the large connecting rod 3 pulls the force doubling rod 23 to rotate around the transmission shaft 6 and drives the brush disc connecting support 21 to move downwards or upwards relative to the vertical connecting rod fixing seat 12 through the second parallelogram four-bar linkage 2.
Further, the brush plate assembly 7 comprises a brush plate 71, a brush plate motor 73 mounted on the brush plate 71 through a brush plate motor seat 72 stacked up and down, a brush plate 76 connected to an output shaft 731 of the brush plate motor 73 through a flat key 74 and a small bolt 75, the brush plate 76 is located below the brush plate 71, the small bolt 75 is used for fixing the brush plate 76 on the brush plate motor 73 in the vertical direction, the brush plate motor 73 drives the brush plate 76 to rotate in the horizontal direction through the flat key 74, the brush plate 71 is connected to a brush plate connecting support 21 through a large bolt 8, and the brush plate connecting support 21 drives the brush plate 71 to lift in the up-down direction.
Further, the brush plate 76 is provided as a pair mounted to the bottom of the brush plate 71, and the brush plate motor 73 is provided as a pair mounted to the top of the brush plate 71 and located on the left and right sides of the eight-bar linkage, respectively.
Further, the vertical link fixing base 12 includes a vertical link fixing plate 121 located at the left and right sides and a welding plate 122 located between the vertical link fixing plates 121, and the vertical link fixing plate 121 and the welding plate 122 are welded into an integral structure and are opened backwards.
Further, the force doubling rod 23 is V-shaped, the rear end of the large connecting rod 3 is connected to the third port of the force doubling rod 23 through a five 26 plugging screw and a connecting shaft, the connecting shaft is located in the rearward opening space of the vertical connecting rod fixing seat 12, and the large connecting rod 3 pulls the force doubling rod 23 to enable the transmission shaft to move in the opening space.
Further, the first connecting rod 13, the second connecting rod 14, the third connecting rod 22 and the force multiplying rod 23 are all arranged as a pair and are respectively connected to the two sides of the connecting rod fixing frame 11, the vertical connecting rod fixing seat 12 and the brush tray connecting support 21.
Further, the driving lever 4 is provided only as one, and is mounted to one side of the eight-bar linkage and covers the outer side of the second connecting lever 14 on that side.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, an eight-bar mechanism is formed by two parallelogram four-bar mechanisms, the output end of the push rod motor pushes the first free end of the driving rod to move, when the push rod motor pushes the driving rod to move rightwards, the driving rod rotates clockwise around the driving shaft and drives the vertical connecting rod fixing seat to move leftwards downwards relative to the connecting rod fixing frame through the first parallelogram four-bar mechanism, and meanwhile, the large connecting rod pulls the force doubling rod to rotate anticlockwise around the transmission shaft and drives the brush disc connecting support to move rightwards downwards relative to the vertical connecting rod fixing seat through the second parallelogram four-bar mechanism. The brush plate connecting support of the two four-bar mechanism is designed to realize double vertical movement, meanwhile, part of left and right movement is offset, and the brush plate assembly is always kept in a horizontal state, so that the brush plate assembly can be lifted up and down in a limited space, and meanwhile, the relative movement in the horizontal direction is reduced as much as possible, so that the intelligent cleaning robot is compact and good, and the intelligent cleaning robot is miniaturized and light in weight.
[ description of the drawings ]
FIG. 1 is a schematic view of the mounting structure of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a partially exploded view of the three-dimensional structure of the present invention;
FIG. 4 is a schematic view of a part of the structure of the present invention;
FIG. 5 is a schematic diagram of a portion of a second embodiment of the present invention;
FIG. 6 is a schematic view of a part of the structure of the present invention;
FIG. 7 is a schematic view of a part of the structure of the present invention;
FIG. 8 is a schematic view of a part of the structure of the present invention;
in the figure: 1. the first parallelogram four-bar linkage 11, the link fixing frame 12, the vertical link fixing seat 121, the vertical link fixing plate 122, the welding plate 13, the first connecting bar 14, the second connecting bar 15, the first plugging screw 16, the second plugging screw 2, the second parallelogram four-bar linkage 21, the brush plate connecting bracket 211, the first body 212, the second body 22, the third connecting bar 23, the force doubling rod 24, the third plugging screw 25, the fourth plugging screw 26, the fifth plugging screw 3, the large connecting bar 4, the driving bar 41, the first free end 5, the driving shaft 6, the transmission shaft 7, the brush plate assembly 71, the brush plate 72, the brush plate motor seat 73, the brush plate motor 731, the output shaft 74, the flat key 75, the small bolt 76, the brush plate 8, the large bolt 100, the brush plate lifting mechanism 200, the chassis mounting assembly 300, the push rod motor 400, the universal wheel assembly 500 and the driving wheel assembly.
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings:
referring to fig. 2 to 8, the present invention provides an intelligent cleaning robot brush lifting mechanism 100, which comprises a first parallelogram four-bar linkage 1 (as shown in fig. 5), a second parallelogram four-bar linkage 2 (as shown in fig. 7), a large link 3 combining the first parallelogram four-bar linkage 1 and the second parallelogram four-bar linkage 2, a driving rod 4 driving the two parallelogram four-bar linkages to move up and down, a driving shaft 5, a transmission shaft 6 and a brush plate assembly 7 fixed on the link mechanisms through a large bolt 8.
Referring to fig. 5, the first parallelogram four-bar linkage 1 includes a frame-shaped link fixing frame 11 penetrating from front to back and having an opening at the top, a vertical link fixing seat 12 located at the rear of the link fixing frame 11, a first connecting bar 13 connecting the link fixing frame 11 and the vertical link fixing seat 12 and disposed in parallel in the up-down direction, and a second connecting bar 14 located below the first connecting bar 13. The vertical link fixing base 12 includes a vertical link fixing plate 121 located at the left and right sides and a welding plate 122 located between the vertical link fixing plates 121, and the vertical link fixing plate 121 and the welding plate 122 are welded into an integral structure and opened backward. The first connecting rod 13 and the second connecting rod 14 are respectively arranged as a pair of two sides connected with the connecting rod fixing frame 11 and the vertical connecting rod fixing seat 12. The front end of the first connecting rod 13 is fixed on the connecting rod fixing frame 11 through a first plugging screw 15, and the rear end of the first connecting rod is connected with the top end of the vertical connecting rod fixing seat 12 through a second plugging screw 16 and a connecting shaft (not numbered); the front end of the second connecting rod 14 is connected with the connecting rod fixing frame 11 through the driving shaft 5, and the rear end of the second connecting rod is connected with the bottom end of the vertical connecting rod fixing seat 12 through the transmission shaft 6.
Referring to fig. 7, the second parallelogram four-bar linkage 2 includes a brush plate connecting bracket 21, a vertical bar fixing base 12 shared with the first parallelogram four-bar linkage 1, and a third connecting bar 22 and a force multiplying bar 23, wherein the third connecting bar 22 is positioned above and connects the brush plate connecting bracket 21 and the vertical bar fixing base 12. The brush tray connection bracket 21 includes a first body 211 opened forward and a second body 212 opened downward integrally with the first body 211. The length of the second body 212 in the front-rear direction is greater than that of the first body 211 in the front-rear direction, so that accommodating spaces are formed on the front side and the rear side of the first body 211, and the vertical link fixing seat 12 is located in the accommodating spaces behind the first body 211. The third connecting rod 22 and the force multiplying rod 23 are respectively arranged as a pair of two sides connected with the brush disc connecting bracket 21 and the vertical connecting rod fixing seat 12. The front end of the third connecting rod 22 is fixed on the brush disc connecting bracket 21 through a third plugging screw 24, and the rear end of the third connecting rod is connected with the top end of the vertical connecting rod fixing seat 12 through a second plugging screw 16 and a connecting shaft (not numbered); the force multiplying rod 23 is V-shaped, so that a first port at the front end thereof is fixed to the brush tray connecting bracket 21 through a stopper screw four 25, a second port at the middle thereof is connected to the bottom end of the vertical link fixing seat 12 through the transmission shaft 6 penetrating the vertical link fixing seat 12, and a third port at the rear end thereof is connected to the first parallelogram four-bar mechanism 1 through a stopper screw five 26, a connecting shaft (not numbered) and the large link 3.
Referring to fig. 4 and 8, the large link 3 connects the first parallelogram four-bar linkage 1 and the second parallelogram four-bar linkage 2 into an eight-bar linkage. Specifically, the front end of the large connecting rod 3 and the front end of the first connecting rod 13 of the first parallelogram four-bar mechanism 1 are fixedly connected to the connecting rod fixing frame 11 through a first plugging screw 15, the rear end of the large connecting rod 3 is connected to the third port of the force doubling rod 23 through a fifth plugging screw 26 and a connecting shaft (not numbered), and the connecting shaft (not numbered) is positioned in the backward opening space of the vertical connecting rod fixing seat 12.
Referring to fig. 4 and 6, the driving rod 4 is L-shaped and is mounted on the left side of the eight-bar linkage mechanism, and includes a first free end 41 located at the top end in the vertical direction, a second free end located slightly closer to the front end in the front-rear direction, and a third free end located at the rear end in the front-rear direction. The second free end is arranged on the connecting rod fixing frame 11 through the driving shaft 5, and the third free end is arranged on the vertical connecting rod fixing seat 12 through the transmission shaft 6. The driving rod 4 thus covers the outer side of the second connecting rod 14 mounted on the left side of the eight-bar linkage.
With continued reference to fig. 4, the connection relationships between the links of the first parallelogram four-bar linkage 1 and the second parallelogram four-bar linkage 2, which are connected as an eight-bar linkage, are as follows: the front end of the large connecting rod 3 and the front end of the first connecting rod 13 are fixed on the connecting rod fixing frame 11 through a first plugging screw 15, so that the large connecting rod 3 and the first connecting rod 13 can rotate around the first plugging screw 15; the second free end of the driving rod 4 and the front end of the second connecting rod 14 are fixed on the connecting rod fixing frame 11 through the driving shaft 5, so that the driving rod 4 and the second connecting rod 14 can rotate around the driving shaft 5; the rear ends of the first connecting rod 13 and the third connecting rod 22 are fixed at the top end of the vertical connecting rod fixing seat 12 through the second plugging screw 16, so that the first connecting rod 13 and the third connecting rod 22 can rotate around the second plugging screw 16; the second port of the force doubling rod 23, the third free end of the driving rod 4 and the rear end of the second connecting rod 14 are fixed at the bottom end of the vertical connecting rod fixing seat 12 through the transmission shaft 6, so that the force doubling rod 23, the driving rod 4 and the second connecting rod 14 can rotate around the transmission shaft 6; the third port of the force doubling rod 23 and the rear end of the large connecting rod 3 are fixed together through a fifth beating screw 26, so that the force doubling rod 23 and the large connecting rod 3 can rotate around the fifth beating screw 26; the front end of the third connecting rod 22 is fixed on the brush disc connecting bracket 21 through a third plugging screw 24 so that the third connecting rod 22 can rotate around the third plugging screw 24; the first port of the force doubling lever 23 is fixed to the brush plate attachment bracket 21 by a fourth tucking screw 25 such that the force doubling lever 23 can rotate about the fourth tucking screw 25.
Referring to fig. 2 and 3, a brush plate assembly 7 is fixedly installed at the bottom of the eight-bar linkage. The brush plate assembly 7 includes a brush plate 71, a brush plate motor 73 mounted to the brush plate 71 through a brush plate motor mount 72 stacked up and down, and a brush plate 76 connected to an output shaft 731 provided to the brush plate motor 73 through a flat key 74 and a small bolt 75. The brush plate 76 is located below the brush plate 71, and a small bolt 75 fixes the brush plate 76 to the brush plate motor 73 in the vertical direction. The brush disc motor 73 can drive the brush disc 76 to rotate in the horizontal direction through the flat key 74, and the brush disc 71 is connected to the second body 212 of the brush disc connecting bracket 21 through the big bolt 8, so that the eight-link mechanism can drive the brush disc 71 to lift up and down; the brush plate 76 is provided as a pair mounted to the bottom of the brush plate 71, and the brush plate motor 73 is provided as a pair mounted to the top of the brush plate 71 and located on the left and right sides of the eight-bar linkage, respectively.
Referring to fig. 1, the brush lifting mechanism 100 is fixed on a chassis mounting assembly 200 of the intelligent cleaning robot, a push rod motor 300 is fixed above the chassis mounting assembly 200, a first free end 41 of a driving rod 4 is connected with an output end of the push rod motor 300, and a universal wheel assembly 400 and a driving wheel assembly 500 are mounted at the bottom of the chassis mounting assembly 200.
Referring to fig. 1 to 3, the movement process of the brush lifting mechanism 100 of the intelligent cleaning robot is as follows: the output end of the push rod motor 300 is connected to the first free end 41 of the drive rod 4 of the eight-bar mechanism, and the brush plate assembly 7 is connected to the brush plate connecting bracket 21 of the eight-bar mechanism. When the push rod motor 300 receives an instruction to provide a power source for reciprocating motion, the output end of the push rod motor 300 pushes the first free end 41 of the driving rod 4 to move, when the push rod motor 300 pushes the driving rod 4 to move rightwards, the driving rod 4 rotates clockwise around the driving shaft 5 and drives the vertical link fixing seat 12 to move downwards and leftwards relative to the link fixing frame 11 through the first parallelogram four-bar linkage mechanism 1, meanwhile, the large link 3 pulls the force doubling rod 23 to rotate anticlockwise around the transmission shaft 6 and drives the brush disc connecting support 21 to move downwards and rightwards relative to the vertical link fixing seat 12 through the second parallelogram four-bar linkage mechanism 2. Thus, combining the two four bar mechanisms, the brush attachment bracket 21 achieves double vertical movement while canceling a part of the left-right movement, and the brush assembly 7 is always kept in a horizontal state.
The invention has the following beneficial effects: according to the invention, an eight-bar mechanism is formed by two parallelogram four-bar mechanisms, the output end of the push rod motor 300 pushes the first free end 41 of the driving rod 4 to move, when the push rod motor 300 pushes the driving rod 4 to move rightwards, the driving rod 4 rotates clockwise around the driving shaft 5 and drives the vertical connecting rod fixing seat 12 to move downwards and leftwards relative to the connecting rod fixing frame 11 through the first parallelogram four-bar mechanism 1, meanwhile, the large connecting rod 3 pulls the force doubling rod 23 to rotate anticlockwise around the transmission shaft 6 and drives the brush disc connecting support 21 to move downwards and rightwards relative to the vertical connecting rod fixing seat 12 through the second parallelogram four-bar mechanism 2. The two four-bar mechanism with the design realizes double vertical movement of the brush disc connecting support 21, meanwhile, the left-right movement of a part of the brush disc connecting support is offset, and the brush disc assembly 7 always keeps a horizontal state, so that the brush disc assembly 7 can be lifted up and down in a limited space, and meanwhile, the relative movement in the horizontal direction is reduced as much as possible, so that the intelligent cleaning robot is compact and good, and the development of miniaturization and light weight of the intelligent cleaning robot is facilitated.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.
Claims (3)
1. The utility model provides an intelligent cleaning robot brushes dish elevating system, includes first parallelogram four-bar linkage (1), second parallelogram four-bar linkage (2), big connecting rod (3) and installs brush dish subassembly (7) of being fixed in on second parallelogram four-bar linkage (2), its characterized in that: the first parallelogram four-bar mechanism (1) comprises a connecting rod fixing frame (11), a vertical connecting rod fixing seat (12) positioned at the rear of the connecting rod fixing frame (11), a first connecting rod (13) which is parallel to the vertical connecting rod fixing seat (12) in the up-down direction and a second connecting rod (14) positioned below the first connecting rod (13), the second parallelogram four-bar mechanism (2) comprises a brush disc connecting bracket (21), a third connecting rod (22) positioned above and a force doubling rod (23) positioned below, which are connected with a first port positioned at the front end, a second port positioned in the middle and a third port positioned at the rear end, the front end of the first connecting rod (13) and the front end of the second connecting rod (14) are respectively connected with the connecting rod fixing frame (11), the front end of the third connecting rod (22) and the first port of the force doubling rod (23) are connected with the brush disc connecting bracket (21) and the first connecting rod fixing seat (12) positioned above, the force doubling rod (23) is connected with the brush disc connecting bracket (21) and the top end of the brush disc assembly (12) which is fixedly connected with the brush disc (12), the rear end of the second connecting rod (14) and the second port of the force doubling rod (23) are connected to the bottom end of the vertical connecting rod fixing seat (12), the front end of the large connecting rod (3) is connected to the front end of the first connecting rod (13) of the first parallelogram four-bar mechanism (1), the rear end of the large connecting rod (3) is connected to the third port of the force doubling rod (23) of the second parallelogram four-bar mechanism (2), and the first parallelogram four-bar mechanism (1) and the second parallelogram four-bar mechanism (2) are combined through the large connecting rod (3) to form an eight-bar mechanism;
the front end of the first connecting rod (13) is fixed on the connecting rod fixing frame (11) through a first plugging screw (15) so that the first connecting rod (13) can rotate around the first plugging screw (15); the front end of the second connecting rod (14) is fixed on the connecting rod fixing frame (11) through a driving shaft (5) so that the second connecting rod (14) can rotate around the driving shaft (5), and the rear ends of the first connecting rod (13) and the third connecting rod (22) are fixed on the top end of the vertical connecting rod fixing frame (12) through a second plugging screw (16) so that the first connecting rod (13) and the third connecting rod (22) can rotate around the second plugging screw (16); the second port of the force doubling rod (23) and the rear end of the second connecting rod (14) are fixed at the bottom end of the vertical connecting rod fixing seat (12) through a transmission shaft (6), so that the force doubling rod (23) and the second connecting rod (14) can rotate around the transmission shaft (6); the third port of the force doubling rod (23) and the rear end of the large connecting rod (3) are fixed through a stopper screw five (26), so that the force doubling rod (23) and the large connecting rod (3) can rotate around the stopper screw five (26); the front end of the third connecting rod (22) is fixed on the brush disc connecting bracket (21) through a third plugging screw (24) so that the third connecting rod (22) can rotate around the third plugging screw (24);
the intelligent cleaning robot brush lifting mechanism further comprises a driving rod (4), the driving rod (4) is L-shaped, the driving rod (4) comprises a first free end (41) positioned at the top end in the vertical direction, a second free end slightly close to the front end of the driving rod in the front-rear direction and a third free end positioned at the rear end in the front-rear direction, the driving rod (4) can also rotate around the driving rod (5) due to the fact that the driving rod (5) is mounted on a connecting rod fixing frame (11), and the driving rod (4) can also rotate around a transmission shaft (6) due to the fact that the third free end is mounted on a vertical connecting rod fixing seat (12) through a transmission shaft (6);
the eight-bar linkage mechanism is fixed on a chassis mounting assembly (200) of the intelligent cleaning robot, a push rod motor (300) is fixed above the chassis mounting assembly (200), a first free end (41) of the driving rod (4) is connected with an output end of the push rod motor (300) and provides a power source for reciprocating motion through the push rod motor (300), the push rod motor (300) pushes the driving rod (4) to move rightwards or leftwards, the driving rod (4) rotates around the driving shaft (5) and drives the vertical connecting rod fixing seat (12) to move downwards or upwards relative to the connecting rod fixing seat (11) through the first parallelogram four-bar linkage mechanism (1), and meanwhile, the large connecting rod (3) pulls the force doubling rod (23) to rotate around the transmission shaft (6) and drives the brush disc connecting bracket (21) to move downwards or upwards relative to the vertical connecting rod fixing seat (12) through the second parallelogram four-bar linkage mechanism (2);
the vertical connecting rod fixing seat (12) comprises vertical connecting rod fixing plates (121) positioned on the left side and the right side and a welding plate (122) positioned between the vertical connecting rod fixing plates (121), and the vertical connecting rod fixing plates (121) and the welding plate (122) are welded into an integrated structure and are provided with openings backwards;
the large connecting rod (3) pulls the force doubling rod (23) to enable the transmission shaft to move in the opening space area;
the first connecting rod (13), the second connecting rod (14), the third connecting rod (22) and the force doubling rod (23) are arranged in a pair and are respectively connected to the two sides of the connecting rod fixing frame (11), the vertical connecting rod fixing seat (12) and the brush disc connecting bracket (21);
the driving rod (4) is only one, and is arranged on one side of the eight-bar linkage and covers the outer side of the second connecting rod (14) on the side.
2. The intelligent cleaning robot brush lifting mechanism of claim 1, wherein: the brush dish subassembly (7) include brush dish (71), install brush dish motor (73) on brush dish (71) through brush dish motor cabinet (72) that stacks from top to bottom, brush dish (76) on output shaft (731) of brush dish motor (73) are connected through flat key (74) and little bolt (75), brush dish (76) are located the below of brush dish (71), little bolt (75) are fixed in brush dish motor (73) on vertical direction with brush dish (76), brush dish motor (73) drive brush dish (76) through flat key (74) and rotate in the horizontal direction, brush dish (71) are connected at brush dish linking bridge (21) through big bolt (8), brush dish linking bridge (21) drive brush dish (71) and go up and down in the direction.
3. The intelligent cleaning robot brush lifting mechanism of claim 2, wherein: the brush disc (76) is arranged to be a pair of brush disc (71) installed at the bottom, and the brush disc motor (73) is arranged to be a pair of brush disc (71) installed at the top and respectively located at the left side and the right side of the eight-link mechanism.
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| CN201910613662.9A CN110215166B (en) | 2019-07-09 | 2019-07-09 | Intelligent cleaning robot brushes dish elevating system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110464266A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | The suspension of the cleaning module of clean robot |
| CN110811434B (en) * | 2019-10-15 | 2021-12-10 | 广东博智林机器人有限公司 | Cleaning robot |
| CN110772181A (en) * | 2019-11-08 | 2020-02-11 | 上海高仙自动化科技发展有限公司 | Lifting mechanism and cleaning robot with same |
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| US11612295B2 (en) | 2021-01-04 | 2023-03-28 | Beijing Roborock Technology Co., Ltd. | Autonomous cleaning device |
| CN115919194A (en) * | 2021-01-04 | 2023-04-07 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| CN112914425B (en) * | 2021-02-05 | 2022-12-16 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
| CN112806917A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| CN112914431B (en) * | 2021-03-25 | 2022-06-21 | 云鲸智能科技（东莞）有限公司 | Cleaning assembly and cleaning robot |
| CN113208505A (en) * | 2021-04-19 | 2021-08-06 | 北京石头世纪科技股份有限公司 | Self-moving cleaning equipment |
| CN113550254B (en) * | 2021-07-27 | 2023-08-01 | 上海高仙自动化科技发展有限公司 | Lifting device and intelligent cleaning robot |
| CN113679308A (en) * | 2021-10-13 | 2021-11-23 | 安徽橙犀科技有限公司 | Automatic locking type parallel motion water absorption and raking lifting mechanism |
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