CN110772181A - Lifting mechanism and cleaning robot with same - Google Patents
Lifting mechanism and cleaning robot with same Download PDFInfo
- Publication number
- CN110772181A CN110772181A CN201911087588.8A CN201911087588A CN110772181A CN 110772181 A CN110772181 A CN 110772181A CN 201911087588 A CN201911087588 A CN 201911087588A CN 110772181 A CN110772181 A CN 110772181A
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- connecting portion
- cleaning mechanism
- cleaning
- support
- lifting mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 193
- 238000004140 cleaning Methods 0.000 title claims abstract description 119
- 230000009471 action Effects 0.000 claims abstract description 6
- 230000003028 elevating effect Effects 0.000 claims abstract description 6
- 238000013459 approach Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000010408 sweeping Methods 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 6
- 238000005406 washing Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005283 ground state Effects 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
- 230000000630 rising effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
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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
- 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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- 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
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- Manipulator (AREA)
Abstract
The application discloses elevating system and cleaning machines people who has it, cleaning machines people include body support, clean mechanism support and drive arrangement, and drive arrangement is used for producing drive power so that body support and clean mechanism support can be close to or keep away from. The lifting mechanism comprises a first connecting portion, a second connecting portion and a movable portion, the first connecting portion is fixedly connected with the body support, the second connecting portion is fixedly connected with the cleaning mechanism support, the movable portion is movably connected with the first connecting portion and the second connecting portion respectively, and the movable portion contracts or opens under the action of driving force so as to drive the first connecting portion and the second connecting portion to be close to or far away from each other. The lifting mechanism and the cleaning robot are fixedly connected with the body support through the first connecting portion, the second connecting portion are fixedly connected with the cleaning mechanism support, the lifting mechanism is retracted and opened along with the fact that the driving device drives the cleaning mechanism support to be close to or far away from the body support, and therefore the cleaning mechanism support can stably ascend and descend.
Description
Technical Field
The application relates to the technical field of cleaning, in particular to a lifting mechanism and a cleaning robot with the same.
Background
In the related technology, the lifting mechanism mainly adopts a lifting mechanism such as a steel wire rope to lift or lower the washing and sweeping disk assembly, so that the washing and sweeping disk assembly of the lifting mechanism is in a ground state and can be contacted with the ground when in work; and in the non-working state, the washing and sweeping disc assembly is in a lifting state and is separated from the ground. However, such a lifting mechanism has a simple structure and few rigid connection points, so that the washing and sweeping tray assembly is easy to shake during lifting or descending, which is not favorable for structural stability.
Disclosure of Invention
The embodiment of the application provides a lifting mechanism for cleaning robot, cleaning robot includes body support, clean mechanism support and drive arrangement, drive arrangement is used for producing drive power so that the body support with clean mechanism support can be close to or keep away from. The lifting mechanism comprises a first connecting part, a second connecting part and a movable part. The first connecting part is fixedly connected with the body bracket. The second connecting portion is fixedly connected with the cleaning mechanism support. The movable part is movably connected with the first connecting part and the second connecting part respectively, and the movable part is contracted or opened under the action of the driving force so as to drive the first connecting part and the second connecting part to be close to or far away from each other.
The application provides a lifting mechanism passes through first connecting portion and body support fixed connection, and second connecting portion and clean mechanism support fixed connection are close to or keep away from the body support along with the clean mechanism support of drive arrangement drive, and lifting mechanism contracts and opens for clean mechanism support can be stable rise and descend.
In some embodiments, the movable portion comprises at least one of a scissor structure, a telescoping rod structure, a gas rod, and a hydraulic support rod.
The lifting mechanism of the embodiment increases the contact points of the first connecting part and the second connecting part through the movable part, so that the lifting mechanism can be stably contracted, and the cleaning mechanism support can stably ascend and descend.
In some embodiments, the movable portion includes a first link and a second link, opposite first and second ends of the first link are movably mounted on the first and second connecting portions, respectively, and opposite first and second ends of the second link are movably mounted on the first and second connecting portions, respectively.
The lifting mechanism of the embodiment is movably connected with the first connecting portion and the second connecting portion through the first connecting rod and the second connecting rod respectively so as to guide the first connecting portion and the second connecting portion to be far away from and close to each other, and the lifting mechanism is prevented from shaking when being contracted and opened.
In some embodiments, the first link and the second link are arranged in a crossing manner, and at least one of the first connecting portion and the second connecting portion is provided with a strip-shaped hole for the first link and/or the second link to move.
The lifting mechanism of the embodiment eliminates the radian influence caused by the expansion and contraction of the first connecting rod and the second connecting rod through the strip-shaped holes, so that the first connecting part and the second connecting part can move relatively along one direction.
In some embodiments, the bar holes include a first bar hole and a second bar hole, the first bar hole is located on the first connecting portion, one end of the first connecting rod is movably mounted on the first bar hole, the second bar hole is located on the second connecting portion, and one end of the second connecting rod is movably mounted on the second bar hole.
The elevating system of this embodiment eliminates the radian influence of first connecting rod on first connecting portion through first bar hole, eliminates the radian influence of second connecting rod at the second connecting portion through second bar hole to guarantee that first connecting portion is close to and keeps away from the second connecting portion along same direction.
In some embodiments, the body bracket includes first and second oppositely disposed extensions; the lifting mechanism comprises a plurality of lifting mechanisms, wherein one part of the lifting mechanism is arranged on the first extension part, and the other part of the lifting mechanism is arranged on the second extension part.
This embodiment cleans machine people and all is provided with elevating system through all on the first extension and the second extension of the relative both sides of body support to increase the contact point of body support and clean mechanism support, make clean mechanism can stably keep away from and be close to body support.
In some embodiments, the cleaning mechanism support includes a first cleaning mechanism support and a second cleaning mechanism support located on opposite sides of the body support, and the second connecting portion connects the first cleaning mechanism support and the second cleaning mechanism support.
In this embodiment, the second connecting portion of the lifting mechanism is connected to the first cleaning mechanism support and the second cleaning mechanism support, so that the cleaning mechanism can stably ascend and descend as the second connecting portion approaches and leaves the first connecting portion.
In some embodiments, opposite ends of the drive device are connected to the body bracket and the cleaning mechanism bracket, respectively; or one end of the driving device is connected with the body bracket, and the other end of the driving device is connected with the movable part; or one end of the driving device is connected with the cleaning mechanism support, and the other end of the driving device is connected with the movable part.
The lifting mechanism in this embodiment drives the second connecting portion to be close to and away from the first connecting portion by the driving force of the driving device while driving the cleaning mechanism to ascend and descend.
In some embodiments, the first cleaning mechanism bracket includes a first lug, the first lug is provided with a first long hole along the extending and retracting direction of the movable portion, the second cleaning mechanism bracket includes a second lug, the second lug is provided with a second long hole along the extending and retracting direction of the movable portion, and a first end and a second end of the second connecting portion, which are opposite to each other, are respectively mounted on the first long hole and the second long hole.
The lifting mechanism of the embodiment of the application changes the relative distance between the second connecting part and the cleaning mechanism through the first lug and the second lug, so that the extending and retracting distance of the lifting mechanism in the cleaning robot can be changed.
The application also provides a cleaning robot, the cleaning robot comprises a steering mechanism and the lifting mechanism, and the lifting mechanism is arranged on the steering mechanism.
The application provides a cleaning machines people is through first connecting portion and body support fixed connection, and second connecting portion and clean mechanism support fixed connection are close to or keep away from body support along with the clean mechanism support of drive arrangement drive, and elevating system contracts and opens for the rising and the decline that clean mechanism support can be stable.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a side schematic view of a cleaning robot of an embodiment of the present application;
FIG. 2 is a schematic view of an assembled structure of a body bracket, a cleaning mechanism bracket and a driving device of the cleaning robot in FIG. 1;
FIG. 3 is a side schematic view of FIG. 2;
fig. 4 is a schematic structural view of the lifting mechanism according to the embodiment of the present application.
Description of the main element symbols: the cleaning robot 100, the lifting mechanism 10, the first connecting portion 12, the second connecting portion 14, the movable portion 16, the first connecting rod 162, the second connecting rod 164, the strip-shaped hole 18, the first strip-shaped hole 182, the second strip-shaped hole 184, the body bracket 20, the first extending portion 22, the second extending portion 24, the cleaning mechanism 30, the cleaning mechanism bracket 32, the first cleaning mechanism bracket 322, the first lug 3222, the first long hole 3224, the second cleaning mechanism bracket 324, the second lug 3242, the second long hole 3244, the connecting member 326, the sweeping device 34, the first rolling brush assembly 342, the second rolling brush assembly 344, the driving device 40, and the buffering device 42.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.
In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, 2 and 4, the present application provides a lifting mechanism 10 for a cleaning robot 100, the cleaning robot 100 includes a body frame 20, a cleaning mechanism frame 32 and a driving device 40, the driving device 40 is used for generating a driving force to enable the body frame 20 and the cleaning mechanism frame 32 to approach or separate from each other. The lifting mechanism 10 includes a first connecting portion 12, a second connecting portion 14, and a movable portion 16. The first connecting portion 12 is fixedly connected with the body support 20, the second connecting portion 14 is fixedly connected with the cleaning mechanism support 32, the movable portion 16 is movably connected with the first connecting portion 12 and the second connecting portion 14 respectively, and the movable portion 16 contracts or opens under the action of driving force to drive the first connecting portion 12 and the second connecting portion 14 to be close to or far away from each other.
The lifting mechanism 10 provided by the application is fixedly connected with the body support 20 through the first connecting portion 12, the second connecting portion 14 is fixedly connected with the cleaning mechanism support 32, along with the driving device 40 driving the cleaning mechanism support 32 to be close to or far away from the body support 20, the lifting mechanism 10 is contracted and opened, and the cleaning mechanism support 32 can stably ascend and descend.
Specifically, referring to fig. 1 and fig. 2, the cleaning robot 100 of the present application may be a sweeper, a scrubber, etc., and the cleaning robot 100 of the present embodiment is a scrubber. The cleaning robot 100 includes a steering mechanism (not shown), a body frame 20, a cleaning mechanism 30, a driving device 40, and a lifting mechanism 10.
The steering mechanism is used to change the direction in which the cleaning robot 100 travels. The upper end of the body support 20 is connected with a steering mechanism, and the lower end of the body support 20 is provided with wheels. The steering mechanism is controlled to rotate to drive the body bracket 20 to rotate, so that the traveling direction of the wheels is changed, and the cleaning robot 100 is steered.
Referring to fig. 2, the body bracket 20 includes a first extending portion 22 and a second extending portion 24, the first extending portion 22 and the second extending portion 24 are disposed opposite to each other and located on two sides of the advancing direction of the wheel, respectively, and the first extending portion 22 and the second extending portion 24 are symmetrical with respect to a central axis O of the body bracket 20 (the central axis O refers to a rotation axis of the body bracket 20). The first extension 22 and the second extension 24 are both removably attached to the bracket. In some embodiments, the body bracket 20 may include only one of the first extension 22 and the second extension 24. In some embodiments, the first extension 22 and the second extension 24 may also extend in other directions, such as the front side and the rear side of the wheel, and the present application does not limit the arrangement of the first extension 22 and the second extension 24, and the arrangement may be set according to actual needs.
Referring to fig. 1 to 3, the cleaning mechanism 30 includes a cleaning mechanism support 32 and a sweeping device 34 mounted on the cleaning mechanism support 32.
The cleaning mechanism bracket 32 includes a first cleaning mechanism bracket 322, a second cleaning mechanism bracket 324, and a connector 326. The first cleaning mechanism support 322 and the second cleaning mechanism support 324 are provided at intervals. The connecting member 326 connects and fixes the first cleaning mechanism bracket 322 and the second cleaning mechanism bracket 324. The connecting member 326 may be a connecting plate, a connecting rod, or the like, and the connecting member 326 of the present embodiment is a connecting plate. There may be 1, 2, 3, 4 or more connectors 326, and in this embodiment there are two connectors 326. The first cleaning mechanism bracket 322 and the second cleaning mechanism bracket 324 are located at opposite sides of the body bracket 20, and more specifically, the first cleaning mechanism bracket 322 and the second cleaning mechanism bracket 324 are located at the front side and the rear side in the wheel traveling direction, and the positions thereof are symmetrical front and rear with respect to the central axis O of the body bracket 20. The two connecting members 326 are located on both sides in the wheel advancing direction, respectively, and the two connecting members 326 are symmetrical about the center axis O of the body frame 20. Therefore, when the cleaning mechanism 30 ascends and descends, the cleaning force is balanced, and the cleaning mechanism does not shake too much.
The sweeping device 34 includes a first rolling brush assembly 342 and a second rolling brush assembly 344, the first rolling brush assembly 342 being mounted on the first cleaning mechanism bracket 324, and the second rolling brush assembly 344 being mounted on the second cleaning mechanism bracket 324.
The driving device 40 is directly or indirectly connected with the body support 20 and the cleaning mechanism 30, and the driving device 40 is controlled to drive the cleaning mechanism 30 to ascend and descend so as to enable the cleaning mechanism 30 to be far away from and close to the ground, so that the cleaning mechanism 30 can clean the ground conveniently. Specifically, there are two driving devices 40, one end of each of the two driving devices 40 is mounted on the first extension 22 and the second extension 24, the other end of each of the two driving devices 40 is correspondingly mounted on the two connecting members 326, and the two driving devices 40 are symmetrical with respect to the central axis O of the body bracket 20, so that the two sides of the cleaning mechanism 30 are relatively balanced in force. The driving device 40 may be a hydraulic cylinder, an air cylinder, a linear motor, or the like, and the driving device 40 of the present embodiment is a hydraulic cylinder. In other embodiments, the driving devices 40 may be installed at other positions, for example, at the front side and the rear side of the body bracket 20, and the number of the driving devices 40 may also be 1, 3, 4, or more.
In some embodiments, a buffer device 42 is further disposed between the driving device 40 and the connecting member 326 to prevent the driving device 40 from being extended too long to directly impact the cleaning mechanism 30 on the ground. The impact force of the cleaning mechanism 30 is reduced by the action of the buffer device 42. For example, the buffer device 42 may include an elastic member, the output end of the driving device 40 is connected to the connecting member 326 by a pin, the output end is movable in an up-and-down direction with respect to the connecting member 326, the elastic member is disposed between the output end and the connecting member 326, and the elastic member may be a spring, rubber, or the like.
Referring to fig. 2 and 4, the lifting mechanism 10 is connected to the body frame 20 and the cleaning mechanism 30, and the lifting mechanism 10 is retracted and extended as the cleaning mechanism is driven by the driving device 40 to ascend and descend. The lifting mechanism 10 includes a first connecting portion 12, a second connecting portion 14, and a movable portion 16 connecting the first connecting portion 12 and the second connecting portion 14. The first connecting portion 12 and the second connecting portion 14 are disposed in parallel at an interval, and the movable portion 16 is located between the first connecting portion 12 and the second connecting portion 14.
The first connecting portion 12 and the second connecting portion 14 are both U-shaped rails, the opening of the first connecting portion 12 faces the second connecting portion 14, and the opening of the second connecting portion 14 faces the first connecting portion 12. The first connecting portion 12 is mounted on the first extending portion 22, and opposite ends of the second connecting portion 14 are mounted on the first cleaning mechanism support 322 and the second cleaning mechanism support 324, respectively. In other embodiments, the first connection portion 12 and the second connection portion 14 may also be plate members, rod members, or the like.
At least one of the first connecting portion 12 and the second connecting portion 14 has a strip-shaped hole 18, for convenience of description, the strip-shaped hole 18 of the second connecting portion 14 can refer to the hole of the first connecting portion 12 by taking the first connecting portion 12 as an example. The strip-shaped hole 18 penetrates through the two side plates opposite to the first connecting part 12, or penetrates through the strip-shaped hole 18 to connect the top plates of the two side plates. In other embodiments, the strip-shaped hole 18 may not be penetrated, or a strip-shaped groove may be used instead of the strip-shaped hole 18.
In some examples, the bar aperture 18 includes a first bar aperture 182 and a second bar aperture 184. The first strip-shaped hole 182 is located on the first connecting portion 12, and the first strip-shaped hole 182 extends along the length direction of the first connecting portion 12. The second bar-shaped hole 184 is located on the second connecting portion 14, and the second bar-shaped hole 184 extends along the length direction of the second connecting portion 14. The elongated hole 18 may be a straight line, a curved line, an arc, etc., and the elongated hole 18 of the present embodiment is a straight line. In other examples, the strip-shaped holes 18 may also extend in other directions, such as perpendicular to the length direction of the first connecting portion 12, forming an angle with the length direction of the first connecting portion 12, and the like, and the orientation of the strip-shaped holes 18 is not limited in the present application.
In other examples, one of the first connecting portion 12 and the second connecting portion 14 has a strip-shaped hole 18, specifically, only the first connecting portion 12 has a first strip-shaped hole 182, or only the second connecting portion 14 has a second strip-shaped hole 184.
The movable portion 16 includes at least one of a scissor structure, a telescopic rod structure, a pneumatic rod, and a hydraulic support rod. In some embodiments, the movable portion 16 is a scissors structure and includes a first link 162 and a second link 164, wherein two ends of the first link 162 are movably mounted on the first connecting portion 12 and the second connecting portion 14, respectively, and two ends of the second link 164 are movably mounted on the first connecting portion 12 and the second connecting portion 14, respectively.
A through hole corresponding to the first strip-shaped hole 182 is formed at the first end of the first connecting rod 162, and the first end of the first connecting rod 162 is located between the two side plates of the first connecting portion 12. The pin shaft passes through the first strip-shaped hole 182 and the through hole to connect the first end of the first connecting rod 162 with the first connecting portion 12, so that the first end of the first connecting rod 162 can be movably mounted on the first connecting portion 12 and can freely slide along the first strip-shaped hole 182. The second end of the first link 162 has a through hole, the second end of the first link 162 is opposite to the first end, the two opposite side plates of the second connecting portion 14 have through holes corresponding to the through hole of the second end of the first link 162, and the second end of the first link 162 is located between the two side plates of the second connecting portion 14. The pin shaft passes through the through hole and the through hole to hinge the first link 162 and the second link 14.
A through hole is formed in the first end of the second connecting rod 164, through holes corresponding to the through hole in the first end of the second connecting rod 164 are formed in the two opposite side plates of the first connecting portion 12, and the first end of the second connecting rod 164 is located between the two opposite side plates of the first connecting portion 12. The pin shaft passes through the through hole and the through hole to hinge the first end of the second link 164 to the first connection portion 12. The second end of the second connecting rod 164 is provided with a through hole corresponding to the second strip-shaped hole 184, and the pin shaft passes through the second strip-shaped hole 184 and the through hole to connect the second end of the second connecting rod 164 with the second connecting portion 14, so that the first end of the second connecting rod 164 can be movably mounted on the second connecting portion 14 and can freely slide along the second strip-shaped hole 184.
In some examples, one end of each of the first link 162 and the second link 164 is movably mounted on the first elongated hole 182, and the other end of each of the first link 162 and the second link 164 is movably mounted on the second elongated hole 184.
Further, the first link 162 and the second link 164 are disposed to intersect and are hinged at the intersecting position to prevent the first link 162 and the second link 164 from shaking. In other embodiments, the first link 162 and the second link 164 may not intersect, for example, the first link 162 and the second link 164 are parallel.
In other examples, the lifting mechanism 10 may further include a plurality of movable portions 16, and the plurality of movable portions 16 are sequentially connected to increase the extending distance of the lifting mechanism 10. Alternatively, there may be a plurality of lifting mechanisms 10, such as 2, 3, 4 or more. Taking two lifting mechanisms 10 as an example, the second connecting part 14 of the first lifting mechanism 10 is connected with the first connecting part 12 of the second lifting mechanism 10, or only the first connecting part 12 of the first lifting mechanism 10 and the second connecting part 14 of the second lifting mechanism 10 are reserved, and the two movable parts 16 are directly connected.
There are various methods for movably mounting the movable portion 16 and the first connecting portion 12, and for movably mounting the movable portion 16 and the second connecting portion 14, for example, a sliding slot is provided on the first connecting portion 12, and one end of the first connecting rod 162 freely slides along the sliding slot; for another example, a collar is disposed at one end of the first connecting rod 162, the collar is sleeved on the periphery of the first connecting portion 12, and the collar can freely slide along the length direction of the first connecting portion 12.
In other embodiments, the movable section 16 comprises at least one telescoping pole structure comprising opposing first and second ends, the first end of the telescoping pole being connected to the body bracket 20 and the second end of the telescoping pole being connected to the cleaning mechanism 30. The telescopic rod structure may comprise 1, 2, 3, 4 or more. In some examples, the movable portion 16 includes two telescoping rods spaced apart from each other, and each of the telescoping rods has first and second opposing ends connected to the first and second connecting portions 12 and 14, respectively. The telescopic rod structure can be referred to in the setting mode of telescopic rod structure, gas pole and hydraulic support pole. In other embodiments, the movable portion 16 includes a scissors structure and a telescopic rod structure, and the scissors structure and the telescopic rod structure can be arranged in the manner described in the above embodiments, which will not be described in detail.
Referring to fig. 2 and 3, in some embodiments, there are a plurality of lifting mechanisms 10, such as 2, 3, 4, 5, or more. One part of which is mounted on the first extension 22 and the other part of which is mounted on the second extension 24. In some examples, the lifting mechanism 10 on the first extension 22 is symmetrical to the lifting mechanism 10 on the second extension 24 about the central axis O of the body bracket 20, for example, there are 2 lifting mechanisms 10, and one lifting mechanism 10 is mounted on each of the first extension 22 and the second extension 24 and is symmetrical about the central axis O of the body bracket 20. At this time, the two sides of the body support 20 are stressed equally. In other examples, the lifting mechanism 10 on the first extension 22 and the lifting mechanism 10 on the second extension 24 are optionally provided. For example, there are 3 lifting mechanisms 10, there are two random positions on the first extension portion 22 and randomly disposed on the first extension portion 22, there is one random position on the second extension portion 24 and randomly disposed on the second extension portion 24, and the lifting mechanism 10 on the second extension portion 24 is asymmetric to the lifting mechanism 10 on the first extension portion 22.
In some examples, the second link 14 includes opposing first and second ends, the first end of the second link 14 is coupled to the first cleaning mechanism bracket 322, the second end of the second link 14 is coupled to the second cleaning mechanism bracket 324, and the second link 14 is positioned between the first cleaning mechanism bracket 322 and the second cleaning mechanism bracket 324. Specifically, the first cleaning mechanism support 322 includes a first lug 3222, a first long hole 3224 is opened on the first lug 3222, the first long hole 3224 extends along the extending and retracting direction of the lifting mechanism 10, and the first end of the second connecting portion 14 is fixedly mounted on the first long hole 3224 through a pin, a screw, and the like. The second cleaning mechanism support 324 includes a second lug 3242, a second long hole 3244 is formed in the second lug, the second long hole 3244 extends along the extending and retracting direction of the lifting mechanism 10, and a second end of the second connecting portion 14 is fixedly mounted on the second long hole 3244 by a pin such as a pin or a screw. The first long hole 3224 and the second long hole 3244 have the same shape and size. The positions of the pins on the first long hole 3224 and the second long hole 3244 are changed to adjust the relative positions of the second connecting portion 14 and the cleaning mechanism 30, or, in other words, the positions of the pins on the first long hole 3224 and the second long hole 3244 are changed to adjust the distance by which the lifting mechanism 10 is retracted and extended.
In other embodiments, the lifting mechanism 10 may be disposed at other positions to connect the body bracket 20 and the cleaning mechanism 30, such as the front and rear sides of the body bracket 20.
When the cleaning robot 100 performs a cleaning operation, the driving device 40 is extended to lower the cleaning mechanism 30, the sweeping device 34 is close to the ground, the first link 162 and the second link 164 are unfolded during the lowering of the cleaning mechanism 30 by the lifting mechanism 10, and the second connecting portion 14 is gradually separated from the first connecting portion 12. When the cleaning robot 100 finishes the cleaning work, the driving device 40 is contracted to lift the cleaning mechanism 30, the sweeping device 34 is far away from the ground, the first link 162 and the second link 164 are contracted during the lifting mechanism 10 descends the cleaning mechanism 30, and the second connecting portion 14 is gradually close to the first connecting portion 12. Under the combined action of the driving device 40 and the lifting mechanism 10, the cleaning mechanism 30 can be stably lifted and lowered.
In some embodiments, one end of the driving device 40 is connected to the body bracket 20, and the other end of the driving device 40 is connected to the movable portion 16, so that the lifting mechanism 10 is contracted or expanded by the driving force of the driving device 40. For example, one end of the driving unit 40 is hinged to the body bracket 20, and the other end of the driving unit 40 is hinged to the first link 162 or the second link 164, so that the lifting mechanism 10 is retracted and extended by the driving force of the driving unit 40.
In other embodiments, one end of the driving device 40 is connected to the cleaning mechanism bracket 32, and the other end of the driving device 40 is connected to the movable portion 16, so that the lifting mechanism 10 is retracted or extended by the driving force of the driving device 40. For example, one end of the driving unit 40 is hinged to the cleaning mechanism bracket 32, and the other end of the driving unit 40 is hinged to the first link 162 or the second link 164, so that the lifting mechanism 10 can be retracted and extended under the driving force of the driving unit 40.
In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.
Claims (10)
1. An elevating mechanism for a cleaning robot including a body frame, a cleaning mechanism frame, and a driving device for generating a driving force to enable the body frame and the cleaning mechanism frame to approach or separate from each other, the elevating mechanism comprising:
the first connecting part is fixedly connected with the body bracket;
the second connecting part is fixedly connected with the cleaning mechanism bracket;
the movable part is respectively movably connected with the first connecting part and the second connecting part, and the movable part is contracted or opened under the action of the driving force so as to drive the first connecting part and the second connecting part to be close to or far away from each other.
2. The lift mechanism of claim 1, wherein the movable portion comprises at least one of a scissor structure, a telescoping rod structure, a pneumatic rod, and a hydraulic support rod.
3. The lift mechanism of claim 1, wherein the movable portion includes a first link and a second link, opposing first and second ends of the first link being movably mounted to the first and second coupling portions, respectively, and opposing first and second ends of the second link being movably mounted to the first and second coupling portions, respectively.
4. The lifting mechanism according to claim 3, wherein the first connecting rod and the second connecting rod are arranged in a crossed manner, and at least one of the first connecting portion and the second connecting portion is provided with a strip-shaped hole for the movement of the first connecting rod and/or the second connecting rod.
5. The lifting mechanism according to claim 4, wherein the bar-shaped holes comprise a first bar-shaped hole and a second bar-shaped hole, the first bar-shaped hole is located on the first connecting portion, one end of the first connecting rod is movably mounted on the first bar-shaped hole, the second bar-shaped hole is located on the second connecting portion, and one end of the second connecting rod is movably mounted on the second bar-shaped hole.
6. The lift mechanism of claim 1, wherein the body bracket includes first and second oppositely disposed extensions; the lifting mechanism comprises a plurality of lifting mechanisms, wherein one part of the lifting mechanism is arranged on the first extension part, and the other part of the lifting mechanism is arranged on the second extension part.
7. The lift mechanism of claim 1, wherein the cleaning mechanism support includes a first cleaning mechanism support and a second cleaning mechanism support located on opposite sides of the body support, opposite ends of the second connecting portion respectively connecting the first cleaning mechanism support and the second cleaning mechanism support.
8. The lifting mechanism as claimed in claim 1, wherein opposite ends of the driving means are connected to the body bracket and the cleaning mechanism bracket, respectively;
or one end of the driving device is connected with the body bracket, and the other end of the driving device is connected with the movable part;
or one end of the driving device is connected with the cleaning mechanism support, and the other end of the driving device is connected with the movable part.
9. The lifting mechanism according to claim 1, wherein the first cleaning mechanism bracket includes a first lug, the first lug is provided with a first long hole along the extending and retracting direction of the movable portion, the second cleaning mechanism bracket includes a second lug, the second lug is provided with a second long hole along the extending and retracting direction of the movable portion, and a first end and a second end of the second connecting portion, which are opposite to each other, are respectively mounted on the first long hole and the second long hole.
10. A cleaning robot comprising a steering mechanism and the lifting mechanism of any one of claims 1 to 9, wherein the lifting mechanism is mounted on the steering mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911087588.8A CN110772181A (en) | 2019-11-08 | 2019-11-08 | Lifting mechanism and cleaning robot with same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911087588.8A CN110772181A (en) | 2019-11-08 | 2019-11-08 | Lifting mechanism and cleaning robot with same |
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| CN110772181A true CN110772181A (en) | 2020-02-11 |
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| CN201911087588.8A Pending CN110772181A (en) | 2019-11-08 | 2019-11-08 | Lifting mechanism and cleaning robot with same |
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