CN111387886A - Cleaning device and cleaning robot - Google Patents
Cleaning device and cleaning robot Download PDFInfo
- Publication number
- CN111387886A CN111387886A CN202010385608.6A CN202010385608A CN111387886A CN 111387886 A CN111387886 A CN 111387886A CN 202010385608 A CN202010385608 A CN 202010385608A CN 111387886 A CN111387886 A CN 111387886A
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- Prior art keywords
- rolling brush
- brush
- buffer plate
- frame
- rolling
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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
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Cleaning In General (AREA)
Abstract
The invention provides a cleaning device and a cleaning robot, and relates to the technical field of cleaning equipment, wherein the cleaning device comprises a rolling brush mechanism and an edge brush mechanism, wherein the edge brush mechanism is arranged in front of the advancing direction of the end part of the rolling brush mechanism; the rolling brush mechanism comprises a rolling brush mounting frame and a rolling brush assembly, the rolling brush assembly is mounted in the rolling brush mounting frame, and the side brush mechanism is fixed on the rolling brush mounting frame; the rolling brush mounting frame is provided with buffer gear in the top, and buffer gear is used for being connected with lift actuating mechanism, and buffer gear makes the rolling brush mounting frame can have and keeps away from the ascending floating allowance or be close to the decline of ground. The rolling brush mechanism and the side brush mechanism can synchronously avoid obstacles when encountering the obstacles, the coordination of the rolling brush mechanism and the side brush mechanism is improved, the adaptability of the cleaning robot to road conditions is improved, and the rolling brush mechanism and the side brush mechanism can be applied to the complex road conditions with uneven ground or obstacles and the like.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a cleaning device and a cleaning robot.
Background
With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The intelligent cleaning robot is an equipment for replacing manual work to automatically clean, has the advantages of convenient use, high cleaning efficiency and the like, and is suitable for various indoor environments, such as: shopping malls, office buildings, walkways, hotels, etc.
The existing intelligent cleaning robot directly sweeps garbage into a rear garbage box by using a rolling brush, and the garbage box is generally short and small so as to facilitate sweeping of the garbage. But the rubbish at the round brush both ends is difficult to sweep into the rubbish box through the round brush in the cleaning process, also the scope that the round brush is located is not all the effectual scope of cleaning promptly to the round brush cleans the scope relatively to be restricted in the cleaning process, has the problem that cleaning efficiency is lower, and cleaning effect is not good. In order to solve the problems, the scheme of further improvement in the prior art is that the side brushes are arranged at the two ends of the rolling brush, and the garbage near the two ends of the rolling brush is cleaned to the effective range of the rolling brush through the side brushes, so that the cleaning range is expanded, and the cleaning efficiency is improved. However, since the side brush and the rolling brush are both required to be reasonably installed and fixed and to be lifted according to working conditions, the cleaning robot with the side brush is bulky and complex in structure. In the working process of the cleaning robot, the rolling brush or the side brush often meets the condition of barriers or uneven ground, and the cleaning robot with the side brush is too fat in structure and difficult to coordinate, so that the cleaning robot is inconvenient to apply to complex road conditions, and the application of the cleaning robot is limited.
Disclosure of Invention
The invention aims to provide a cleaning device to solve the technical problem that a cleaning robot with a side brush in the prior art is inconvenient to apply to complex road conditions.
The invention also aims to provide a cleaning robot to solve the technical problem that the cleaning robot with the side brush in the prior art is inconvenient to apply to complex road conditions.
The cleaning device provided by the invention comprises a rolling brush mechanism and an edge brush mechanism, wherein the edge brush mechanism is arranged in front of the advancing direction of the end part of the rolling brush mechanism; the rolling brush mechanism comprises a rolling brush mounting frame and a rolling brush assembly, the rolling brush assembly is mounted in the rolling brush mounting frame, and the side brush mechanism is fixed on the rolling brush mounting frame;
the rolling brush installation frame is characterized in that a buffer mechanism is arranged above the rolling brush installation frame and used for being connected with a lifting driving mechanism, and the buffer mechanism enables the rolling brush installation frame to have floating allowance which is far away from the ground and rises or is close to the ground and falls.
Further, the cleaning device also comprises a chassis frame, the rolling brush mounting frame is arranged below the chassis frame, and the rolling brush mounting frame is hinged to the chassis frame through a connecting rod assembly;
the rolling brush installation frame is characterized in that a guide rail is further arranged on the chassis frame, a guide part is arranged on the rolling brush installation frame, the guide part is arranged on the guide rail and can move along the guide rail, the guide part can rotate on the guide rail by taking a first direction shaft as a shaft, and the first direction shaft is perpendicular to the guide part along the moving direction of the guide rail and the axial direction of a hinged shaft of the connecting rod assembly, so that the rolling brush installation frame can tilt in a pitching mode by taking the position where the connecting rod assembly is connected as a rotating point.
Further, the connecting rod assembly is arranged at the rear end of the chassis frame in the advancing direction, and the guide rail is arranged at the front end of the chassis frame in the advancing direction;
the guide rail comprises a guide hole parallel to the output direction of the lifting driving mechanism, the guide part is a guide roller, the outer diameter of the guide roller is matched with the distance between the inner walls of the guide hole, and the guide roller can be arranged in the guide hole in a self-rotating mode.
Furthermore, the two groups of connecting rod assemblies are respectively arranged on two sides of the chassis frame in the left-right direction perpendicular to the advancing direction;
the connecting rod assembly comprises N sections of connecting rods which are connected in sequence, N is an integer not less than 3, the N sections of connecting rods are hinged through a hinge shaft, the first section of connecting rod in the N sections of connecting rods is connected with the chassis frame, and the last section of connecting rod in the N sections of connecting rods is connected with the rolling brush mounting frame; the links of adjacent segments have a floating margin therebetween in a left-right direction perpendicular to the advancing direction.
Further, the cleaning device further comprises a lifting driving mechanism, the lifting driving mechanism is installed on the chassis frame, and the lifting driving mechanism is connected above the buffering mechanism.
Furthermore, the buffer mechanism comprises a first buffer plate and a second buffer plate which are arranged oppositely up and down, the first buffer plate is connected with the output end of the lifting driving mechanism, and the second buffer plate is connected with the rolling brush mounting frame;
the first buffer plate and the second buffer plate are connected through a floating rod, and the first buffer plate and the second buffer plate can be close to or far away from each other along the floating rod.
Furthermore, one of the first buffer plate and the second buffer plate is fixedly connected with the floating rod, the other of the first buffer plate and the second buffer plate is provided with a through hole, the floating rod penetrates through the through hole and can move in the through hole, and a limiting part for limiting the floating rod to be separated from the through hole is arranged on the part of the floating rod penetrating through the through hole; or
The first buffer plate and the second buffer plate are both provided with through holes, and two ends of the floating rod are respectively provided with limiting parts for limiting the floating rod to be separated from the through holes after penetrating through the corresponding through holes.
Further, the floating rod is provided with an elastic buffer at a part between the first buffer plate and the second buffer plate.
Further, the rolling brush assembly comprises a rolling brush driving piece, a rolling brush and a garbage collecting unit, wherein the rolling brush driving piece, the rolling brush and the garbage collecting unit are all arranged on the rolling brush mounting frame;
the garbage collection unit comprises a garbage box and a dust collection component, the garbage box is arranged on the rear side of the advancing direction of the rolling brush, and the dust collection component is communicated with the garbage box and arranged on one side of the garbage box far away from the rolling brush;
the rolling brush driving piece is in transmission connection with the rolling brush so as to drive the rolling brush to rotate and sweep the garbage backwards into the garbage box.
Furthermore, the dust collection component comprises a dust collection pipe and a dust collection nozzle which are connected and communicated with each other, the dust collection pipe is used for being connected with the fan assembly, the cross section of the dust collection nozzle is gradually reduced along a dust collection path, the large end of the dust collection nozzle is connected with the garbage box, the lowest end of the bottom surface of the dust collection nozzle is lower than the upper edge of the side wall, close to the dust collection nozzle, of the garbage box, so that the dust collection nozzle and the side wall, close to the dust collection nozzle, of the garbage box form a garbage overflow cavity, and garbage can overflow into the garbage overflow cavity through the upper edge of the side wall, close to the dust collection nozzle, of the garbage box.
Further, be provided with rubbish box installation position on the round brush mounting bracket, the rubbish box is installed on the rubbish box installation position, just the rubbish box can be followed perpendicular direction of advance's left and right sides direction and removed, the round brush mounting bracket corresponds rubbish box installation position is provided with the restriction the spacing lid that rubbish box removed, the one end of spacing lid is articulated fixed, the other end of spacing lid passes through the buckle and can dismantle the connection.
And/or, the round brush mounting bracket is provided with a round brush installation position, the round brush is installed through the end cover that two are relative to each other set up on the round brush installation position, the end cover of at least one of them one end of round brush passes through the buckle to be connected on the round brush installation position.
Furthermore, the rolling brush mounting frame is provided with a universal wheel at the front end in the advancing direction, and the universal wheel is in contact with the ground when the rolling brush assembly performs cleaning operation;
the universal wheel is relative the distance between the rolling brush mounting racks is adjustable, and after the universal wheel is adjusted in place, the universal wheel can be fixed on the rolling brush mounting racks.
Further, the side brush mechanism comprises a side brush driving mechanism, a side brush driving piece, a side brush and a side brush mounting frame, the side brush and the side brush driving mechanism are mounted on the side brush mounting frame, and the side brush mounting frame is fixedly connected to the rolling brush mounting frame;
the side brush comprises a brush disc and brush bristles arranged on the brush disc, a mounting hole is formed in the brush disc, and an output shaft of a side brush driving mechanism side brush driving part penetrates through the mounting hole and then is in limit butt joint through a clamp spring.
The cleaning robot comprises the cleaning device.
The cleaning device provided by the invention comprises a rolling brush mechanism and an edge brush mechanism, wherein the edge brush mechanism is arranged in front of the advancing direction of the end part of the rolling brush mechanism; the rolling brush mechanism comprises a rolling brush mounting frame and a rolling brush assembly, the rolling brush assembly is mounted in the rolling brush mounting frame, and the side brush mechanism is fixed on the rolling brush mounting frame; the rolling brush mounting frame is provided with buffer gear in the top, and buffer gear is used for being connected with lift actuating mechanism, and buffer gear makes the rolling brush mounting frame can have and keeps away from the ascending floating allowance or be close to the decline of ground. According to the cleaning device, the rolling brush assembly and the side brush mechanism are both arranged on the rolling brush mounting frame, and the rolling brush mounting frame is connected with the lifting driving mechanism through the arrangement of the buffer mechanism; because first buffer gear makes the round brush mounting bracket can have and keep away from the ground and rise or be close to the unsteady surplus that ground descends to when cleaning device walks on the ground of unevenness or meet the barrier, for example when cleaning device meets the barrier, the round brush mounting bracket can keep away from the ground and rise and convenient crossing the barrier, and round brush mechanism and limit brush mechanism can keep away the barrier in step when meeting the barrier, the harmony of both improves, make cleaning machines people improve to the adaptability of road conditions, thereby can be applied to the complicated road conditions of ground unevenness or having the barrier etc..
The cleaning robot provided by the invention comprises the cleaning device provided by the invention, has the same beneficial effects as the cleaning device provided by the invention, and specific reference can be made to the description of the beneficial effects of the cleaning device provided by the invention, so that the detailed description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic view of a cleaning robot provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a cleaning device provided in an embodiment of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic view of a rolling brush mechanism of a cleaning device provided in an embodiment of the present invention;
FIG. 5 is a left side view of FIG. 4;
FIG. 6 is a front view of FIG. 4;
FIG. 7 is a schematic top view of the components connected to the roll brush mounting frame of the cleaning apparatus provided in accordance with an embodiment of the present invention;
FIG. 8 is a schematic bottom view of FIG. 7;
FIG. 9 is a schematic front view of FIG. 7;
FIG. 10 is a schematic sectional view A-A of FIG. 9;
FIG. 11 is an isometric view of FIG. 7;
FIG. 12 is an internal view of a rolling brush mechanism of a cleaning device according to an embodiment of the present invention;
fig. 13 is a left side view of fig. 12.
Icon: 1-universal wheel; 2, fixing a plate; 3-a bolt; 4-wheel carrier; 5-a protective cover; 6-rear wheel; 7-front wheels; 100-rolling brush mounting rack; 110-guide rollers; 111-a third connecting plate; 200-a roller brush assembly; 210-a roller brush drive; 211-a motor; 212-a drive wheel; 213-a tension wheel; 214-tensioner swing arm; 215-driven wheel; 220-rolling and brushing; 221-a roller; 222-bristles; 223-end cap; 2231-operating handle; 300-side brush mechanism; 310-side brush drive; 320-brushing the disc; 321-bristles; 330-a clamp spring; 400-a buffer mechanism; 410-a first buffer plate; 411-a second connecting plate; 420-a second buffer plate; 421-groove type frame; 430-a floating rod; 431-an upper limit portion; 432-lower limit portion; 500-a chassis frame; 510-a guide block; 511-pilot hole; 600-a linkage assembly; 601-an articulated shaft; 610-first section connecting rod; 620-intermediate link; 630-end link; 700-a lift drive mechanism; 701-vertical support plates; 702-a top plate; 710-a motor; 720-pin shaft; 730-a first connection plate; 740-connecting block; 800-a garbage collection unit; 810-trash can; 811-a limit cover; 8111-push-pull handle; 812-a hinge; 813-snap fastener; 820-a dust-collecting member; 821-dust suction pipe; 822-a dust suction nozzle; 823-rubbish overflow cavity.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 13, the present embodiment provides a cleaning apparatus including a rolling brush mechanism and an edge brush mechanism 300, the edge brush mechanism 300 being mounted forward in a forward direction of an end portion of the rolling brush mechanism. Specifically, the rolling brush mechanism comprises a rolling brush mounting frame 100 and a rolling brush assembly 200, wherein the rolling brush assembly 200 is mounted in the rolling brush mounting frame 100, and the side brush mechanism 300 is fixed on the rolling brush mounting frame 100; a buffer mechanism 400 is provided above the roll brush installation frame 100, the buffer mechanism 400 is used to be connected to the elevation driving mechanism 700, and the buffer mechanism 400 enables the roll brush installation frame 100 to have a floating margin that is elevated away from the ground or lowered close to the ground.
It is understood that the forward direction refers to a forward direction of the cleaning device when cleaning, for example, the cleaning device is generally applied to a cleaning robot, that is, a forward direction of the cleaning robot when performing a cleaning operation.
The rolling brush assembly 200 and the side brush mechanism 300 of the cleaning device of the embodiment are both mounted on the rolling brush mounting frame 100, and the rolling brush mounting frame 100 is connected with the lifting driving mechanism 700 through the buffer mechanism 400, so that the side brush mechanism 300 and the rolling brush mechanism can be lifted synchronously when the lifting driving mechanism 700 acts, and the structure is simple and compact; because first buffer gear 400 makes rolling brush mounting bracket 100 can have and keeps away from the ground and rise or be close to the unsteady surplus that ground descends, thereby when cleaning device walks on uneven ground or meets the barrier, for example when cleaning device meets the barrier, rolling brush mounting bracket 100 can keep away from the ground and rise and convenient crossing the barrier, and rolling brush mechanism and limit brush mechanism 300 can keep away the barrier in step when meeting the barrier, the harmony of both improves, make the adaptability of cleaning machines people to the road conditions improve, thereby can be applied to the complicated road conditions of ground unevenness or having the barrier etc..
The lifting driving mechanism 700 is used for driving the rolling brush installation frame 100 to ascend or descend, that is, the rolling brush mechanism and the side brush mechanism 300 are lifted up and down, so as to facilitate cleaning operation; specifically, when the cleaning device performs a cleaning operation, the elevation driving mechanism 700 lowers the roller brush assembly 200 and the side brush mechanism 300, the roller brush 220 is rotated simultaneously by the roller brush driving unit 210, and after the operation is completed, the elevation driving mechanism 700 raises the roller brush assembly 200 and the side brush mechanism 300. In this embodiment, the lifting driving mechanism 700 is installed on the chassis frame 500, that is, the cleaning apparatus further includes the chassis frame 500, the rolling brush assembly 200, the rolling brush installation frame 100 and the side brush mechanism 300 are all installed below the chassis frame 500, the lifting driving mechanism 700 is installed on the chassis frame 500, and the lifting driving mechanism 700 may be a linear driving mechanism such as a push rod driven by a motor, a hydraulic push rod or a pneumatic push rod.
As shown in fig. 2 or fig. 3, in this embodiment, the lifting driving mechanism 700 is a push rod driven by a motor, a push rod bracket is fixedly connected above the chassis frame 500, the push rod bracket includes two vertical supporting plates 701 arranged oppositely and a top plate 702 connected between the two vertical supporting plates 701, the top end of the motor 710 of the lifting driving mechanism 700 is hinged on the first connecting plate 730 through a horizontally arranged pin shaft 720, and the first connecting plate 730 is fastened on the top plate 702 through a bolt. The lower end of the push rod of the lifting driving mechanism 700 is hinged with a connecting block 740 through a pin shaft. The chassis frame 500 is provided with a through hole corresponding to the buffer mechanism 400, and the buffer mechanism 400 is connected with the connection block 740 through the through hole.
As a specific form of the buffer mechanism 400 of the cleaning device of the present embodiment, the buffer mechanism 400 includes a first buffer plate 410 and a second buffer plate 420 which are disposed opposite to each other in the up-down direction, the first buffer plate 410 is connected to the output end of the elevating driving mechanism 700, and the second buffer plate 420 is connected to the roll brush installation frame 100. The first damping plate 410 and the second damping plate 420 are connected by a floating rod 430, and the first damping plate 410 and the second damping plate 420 can approach or move away from each other along the floating rod 430.
Specifically, one of the first buffer plate 410 and the second buffer plate 420 of the buffer mechanism 400 may be fixedly connected to the floating rod 430, the other of the first buffer plate 410 and the second buffer plate 420 is provided with a through hole, the floating rod 430 is inserted into the through hole, the floating rod 430 can move in the through hole, and a limiting portion for limiting the floating rod 430 to be separated from the through hole is arranged at a portion of the floating rod 430 which penetrates out of the through hole; or, the first buffer plate 410 and the second buffer plate 420 may both be provided with through holes, and both ends of the floating rod 430 are provided with limit portions for limiting the floating rod 430 to separate from the through holes after passing through the corresponding through holes. In this embodiment, as shown in fig. 4 to 6, a through hole is provided in the upper first buffer plate 410, a through hole is also provided in the lower second buffer plate 420, an upper limit portion 431 is provided at one end of the floating rod 430 above the first buffer plate 410, a lower limit portion 432 is provided at one end of the floating rod 430 below the second buffer plate 420, and the upper limit portion 431 and the lower limit portion 432 connect and fix the first buffer plate 410 and the second buffer plate 420 to each other without separation.
A limiting portion may be disposed at a position of the floating rod 430 between the first buffer plate 410 and the second buffer plate 420 to prevent the first buffer plate 410 and the second buffer plate 420 from floating too much, and an elastic buffer member may be disposed at a portion of the floating rod 430 between the first buffer plate 410 and the second buffer plate 420, for example, a spring may be disposed on the elastic buffer member, so as to limit the floating allowance of the first buffer plate 410 and the second buffer plate 420.
It should be emphasized that, preferably, the floating rod 430 between the first buffer plate 410 and the second buffer plate 420 is sleeved with a spring, which can limit the floating margin of the first buffer plate 410 and the second buffer plate 420, and at the same time, the spring has a buffer function in the compression process, so as to avoid rigid contact, and the buffer effect is better, so as to avoid situations such as rigid contact abrasion.
The number of the floating rods 430 may be one or more, the specific floating rods 430 may be pins, and the limiting parts may be pin caps or nuts of the pins. In practical installation, the inner diameter of the through hole is slightly larger than the outer diameter of the floating rod 430, so that the floating rod 430 can slightly displace in the radial direction during ascending or descending, and the connection is not too rigid, so as to be more suitable for road conditions with uneven ground or obstacles.
Corresponding to the form of the buffer mechanism 400 in this embodiment, the connection block 740 of the lifting driving mechanism 700 is connected to the first buffer plate 410, specifically, two second connection plates 411 arranged oppositely are connected above the first buffer plate 410, and the connection block 740 is connected between the two second connection plates 411 through a pin.
In actual use, the roller brush mechanism and the side brush mechanism 300 are weak to be fixed only by the elevating driving mechanism 700, so that the roller brush mounting frame 100 is also connected to the chassis frame 500 to improve stability. Considering that the roll brush installation frame 100 also needs to be lifted and lowered directionally, in the present embodiment, the roll brush installation frame 100 is disposed below the chassis frame 500, and the roll brush installation frame 100 is hinged to the chassis frame 500 through the link assembly 600; the chassis frame 500 is further provided with guide rails, the rolling brush installation frame 100 is provided with guide portions, the guide portions are arranged on the guide rails and can move along the guide rails, and the guide portions can rotate on the guide rails by taking a first direction axis as an axis, the first direction axis is perpendicular to the moving direction of the guide portions along the guide rails and the axial direction of the hinge shaft 601 of the link assembly 600, so that the rolling brush installation frame 100 can tilt in a pitching manner by taking the position where the link assembly 600 is connected as a rotation point.
In other words, the rotation of the guide portion enables only the rolling brush mounting frame 100, the rolling brush assembly 200 and the side brush mechanism 300 to tilt in pitch at a certain angle when encountering an obstacle or uneven ground, but the chassis frame 500 does not tilt.
Preferably, the link assembly 600 of the present embodiment is disposed at the rear end of the chassis frame 500 in the forward direction, and the guide rail is disposed at the front end of the chassis frame 500 in the forward direction; the guide rail includes a guide block 510 fixedly coupled to a front end of the chassis frame 500, and the guide block 510 is provided with a guide hole 511 parallel to an output direction (up-down direction of fig. 4) of the elevation driving mechanism 700. The guide part is a guide roller 110, two third connecting plates 111 which are oppositely arranged are welded at the front end of the rolling brush mounting frame 100, and the guide roller 110 is connected to the third connecting plates 111 through a shaft. The outer diameter of the guide roller 110 is adapted to the interval (the interval in the left-right direction shown in fig. 4) of the inner wall of the guide hole 511, the guide roller 110 is rotatably disposed in the guide hole 511, and the axle of the guide roller 110 is perpendicular to the extending direction of the guide hole 511.
When the cleaning robot performs a cleaning operation, the front end of the cleaning robot first encounters an obstacle or contacts an uneven ground, and the guide hole 511 and the guide roller 110 are disposed at the front end of the cleaning robot, so that the cleaning robot can quickly respond to a road condition. Taking the case of encountering an obstacle as an example, when the side brush encounters an obstacle, the side brush needs to move upward to cross the obstacle, at this time, the guide roller 110 can move upward in the guide hole 511 and can roll and rotate downward (counterclockwise direction shown in fig. 4) in the guide hole 511, at this time, the front end of the rolling brush mounting frame 100 is tilted upward with the hinge position of the rear end as a supporting point, the rear end of the rolling brush mounting frame 100 does not need to be separated from the ground, and the chassis frame 500 does not need to be tilted. When the condition of uneven ground is an uphill or convex condition, the floating form of the cleaning device is similar to that of encountering an obstacle, and the details are not repeated; when the road condition in front is a pit, the front end of the roller-brush mounting frame 100 is bent downward with the hinge position of the rear end as a supporting point, and the rear end of the roller-brush mounting frame 100 does not need to be separated from the ground. The stability of the cleaning device is improved when the cleaning device is driven on complex road conditions.
Note that the width of the guide hole 511 (the left-right direction shown in fig. 4) should be equivalent to the outer diameter of the guide roller 110 so as to be able to restrict the guide roller 110 from wobbling in the width direction of the guide hole 511. Meanwhile, the matching of the two third connecting plates 111 and the end faces of the guide rollers 110 should also avoid the guide rollers 110 from shaking too much in the axial direction, that is, a small gap may exist between the two third connecting plates 111 and the end faces of the guide rollers 110, but the gap is not too large, and is generally not larger than 1 mm.
Since the guiding hole 511 defines that the roller brush installation frame 100 has almost no play margin in the front-rear direction (the left-right direction shown in fig. 4), that is, the roller brush installation frame 100 and the roller brush assembly 200 and the side brush mechanism 300 mounted thereon are not displaced in the front-rear direction when ascending or descending, the link assembly 600 includes at least two hinge points, that is, the link assembly includes N segments of links connected in sequence, a first segment of the N segments of the links 610 is connected with the chassis frame 500, a last segment of the N segments of the links 630 is connected with the roller brush installation frame 100, and N is an integer not less than 3.
In this embodiment, the connecting rod includes three sections, a first section of connecting rod 610 is fixedly connected to the chassis frame 500, a last section of connecting rod 630 is fixedly connected to the roller brush installation frame 100, and the first section of connecting rod 610 and the middle connecting rod 620, and the middle connecting rod 620 and the last section of connecting rod 630 are hinged through hinge shafts 601.
It should be noted that the number of the connecting rods defined in this embodiment is defined by forming at least two hinge points, and in practical applications, it may appear to be a section of connecting rod, and actually, three sections of connecting rods, for example, the chassis frame 500 and the rolling brush installation frame 100 are not fixed with connecting rods, but are directly hinged to two ends of a section of connecting rod, and at this time, the chassis frame 500 and the rolling brush installation frame 100 themselves are used as a section of connecting rod, so there are still three connecting rods.
In order to improve the adaptability of the cleaning apparatus in the left-right direction perpendicular to the advancing direction, the cleaning apparatus of the present embodiment has a floating margin between the links of the adjacent segments of the link assembly 600 in the left-right direction perpendicular to the advancing direction.
As a specific form, as shown in fig. 5, each of the first-stage connecting rod 610 and the last-stage connecting rod 630 includes two oppositely disposed connecting rods, the middle connecting rod 620 is a single connecting rod, one end of the middle connecting rod 620 is inserted between the two connecting rods of the first stage, shaft holes are correspondingly disposed at the ends of the two connecting rods of the first stage and the middle connecting rod 620, and the hinge shaft 601 penetrates through the shaft holes to hinge the first-stage connecting rod 610 and the middle connecting rod 620. The other end of the middle connecting rod 620 is inserted between the two connecting rods at the end section, the two connecting rods at the end section and the end of the middle connecting rod 620 are correspondingly provided with shaft holes, and the hinge shaft 601 penetrates through the shaft holes to hinge the end connecting rod 630 and the middle connecting rod 620. The thickness of the middle connecting rod 620 is smaller than the distance between the two first-stage connecting rods and the distance between the two last-stage connecting rods, and the distance between the two first-stage connecting rods 610 and the distance between the two last-stage connecting rods 630 are not changed, so that the middle connecting rod 620 can float between the two first-stage connecting rods 610 and also can float between the two last-stage connecting rods 630.
It should be noted that, the left-right floating range between adjacent connecting rods is generally smaller, that is, the left-right floating of the rear end of the rolling brush installation rack 100 is smaller, and since the rolling brush installation rack 100 has a certain length from the front end to the rear end, when the rear end of the rolling brush installation rack 100 floats left and right, the rack body of the rolling brush installation rack 100 can offset a part of floating amount by using micro-deformation of the structure itself, only small floating is needed at the position of the guide roller 110 at the front end of the corresponding rolling brush installation rack 100, that is, only a small gap needs to be left between the two third connecting plates 111 and the end faces of the guide roller 110, and in fact, due to the processing precision and the like, the small gap does not need to be specially reserved, and thus the.
The link assembly 600 enables the roll brush installation frame 100 to have left and right floating margins, and the flexibility of the roll brush installation frame 100 is further improved, so that the cleaning device can be more suitable for complex road conditions. Preferably, a floating gap is formed between the inner wall of the shaft hole in the connecting rod and the outer circumferential surface of the hinge shaft 601, that is, the outer diameter of the hinge shaft 601 is smaller than the inner diameter of the shaft hole, so that the hinge shaft 601 can be slightly inclined to adapt to the condition that the rolling brush installation frame 100 is inclined left and right, and the adaptability of the cleaning device to road conditions is further improved.
Preferably, as shown in fig. 3 or 5, the link assemblies 600 of the present embodiment are provided in two sets, and the two sets of link assemblies 600 are respectively disposed on both sides of the chassis frame 500 in the left-right direction perpendicular to the advancing direction. It can be understood that the two sets of link assemblies 600 and the guide rollers 110 at the front end form three support points of the rolling brush installation frame 100, and the support is more stable.
As shown in fig. 2 to 13, the rolling brush assembly 200 of the cleaning device of the present embodiment includes a rolling brush driving part 210, a rolling brush 220, and a garbage collecting unit 800, and the rolling brush driving part 210, the rolling brush 220, and the garbage collecting unit 800 are all mounted on the rolling brush mounting bracket 100. The garbage collection unit 800 includes a garbage box 810 and a dust suction member 820, the garbage box 810 is disposed at a rear side of the drum brush 220 in the advancing direction, and the dust suction member 820 is communicated with the garbage box 810 and disposed at a side of the garbage box 810 away from the drum brush 220. The rolling brush driving member 210 is in driving connection with the rolling brush 220 to drive the rolling brush 220 to rotate and sweep the garbage backwards into the garbage box 810.
The rolling brush driving member 210 may be in the form of a transmission member matched with the motor 211, the lower portion of the second buffer plate 420 of the buffer mechanism 400 is connected to the rolling brush installation frame 100 through a groove-shaped frame 421, the motor 211 of the rolling brush driving member 210 is installed in the groove-shaped frame 421, the output shaft of the motor 211 is provided with a driving wheel 212, the driving wheel 212 is connected to a driven wheel 215 through a belt, the driven wheel 215 is arranged below the driving wheel 212, and the driven wheel 215 is connected to one end of the rolling shaft 221 of the rolling brush 220. To avoid belt slack, a tension pulley 213 is also mounted between the driving pulley 212 and the driven pulley 215 via a tension pulley swing arm 214, and the tension pulley swing arm 214 is mounted to the roller brush mounting frame 100.
The rolling brush mounting frame 100 is provided with a rolling brush casing corresponding to the rolling brush mounting position, the rolling brush casing includes two end covers 223, two ends of the rolling shaft 221 of the rolling brush 220 are respectively rotatably connected to the end covers 223 through bearings, and the power input end of the rolling shaft 221 of the rolling brush 220 penetrates out of the corresponding end cover 223 and is connected with the driven wheel 215. The end cap 223 of at least one end is connected to the roller brush mounting block 100 by a snap 813, in this embodiment, the end cap 223 of the end of the roller brush 220 away from the driven wheel 215 is connected to the roller brush mounting block 100 by a snap 813, and an operating handle 2231 is further provided on the end cap 223 to detach the end cap 223 by the operating handle 2231. It can be understood that the end cap 223 connected by the buckle 813 belongs to a quick-release mounting end cap, which is convenient to detach and facilitates the replacement or maintenance operation of the side brush.
The roller 221 of the rolling brush 220 is provided with a plurality of groups of bristles 222, each group of bristles 222 is arranged in a V shape along the length direction of the outer circumferential surface of the roller 221, and the plurality of groups of bristles 222 are arranged at intervals along the circumferential direction of the outer circumferential surface of the roller 221.
The rolling brush 220 of the present embodiment can be a single rolling brush structure, the rolling brush 220 with the V-shaped bristles 222 gathers the garbage toward the middle and sweeps the garbage backward, and the garbage and the dust are thrown into the rear garbage box 810 by the guidance of the guiding rubber strips of the garbage box 810.
The dust suction member 820 includes a dust suction pipe 821 and a dust suction nozzle 822 connected and communicated with each other, and the dust suction pipe 821 may connect the dust box and the fan assembly by a bellows. The cross section of the dust suction nozzle 822 is gradually reduced along a dust suction path, the large end of the dust suction nozzle 822 is connected with the garbage box 810, the lowest end of the bottom surface of the dust suction nozzle 822 is lower than the upper edge of the side wall, close to the dust suction nozzle 822, of the garbage box 810, so that a garbage overflow cavity 823 is formed by the side walls, close to the dust suction nozzle 822, of the dust suction nozzle 822 and the garbage box 810, and garbage can overflow into the garbage overflow cavity 823 through the upper edge of the side wall, close to the dust suction nozzle 822, of the garbage box 810.
The dust suction nozzle 822 is communicated with the garbage box 810, and the garbage box 810 is communicated with a cleaning environment, so that negative pressure can be generated by the fan assembly, and raised dust is sucked into a dust bag of the dust box through the dust suction pipe 821; and dust absorption mouth 822 of this embodiment is provided with rubbish and overflows and hold the chamber 823, and when rubbish box 810 was full back, rubbish can overflow to rubbish overflow and hold the chamber 823, and be in the rubbish overflow and hold the interior little, light rubbish of chamber 823 again can inhale the dirt bag through dust absorption pipe 821, has improved cleaning device's rubbish holding capacity, need not often empty rubbish box 810, has improved the operating efficiency.
Be provided with rubbish box installation position on the round brush mounting bracket 100, rubbish box 810 is installed on rubbish box installation position, and the up end opening of rubbish box 810 is provided with the direction adhesive tape on the up end of rubbish box 810, and rubbish can get into in the rubbish box 810 from the upper end opening of rubbish box 810 through the direction adhesive tape. The garbage box 810 can move in the left and right directions perpendicular to the advancing direction, and a limiting cover 811 for limiting the movement of the garbage box 810 is arranged at the position, corresponding to the garbage box mounting position, of the rolling brush mounting rack 100; one end of the limiting cover 811 is hinged and fixed by a hinge 812, and the other end of the limiting cover 811 is detachably connected by a buckle 813.
Preferably, the limiting plate is provided with a handle hole, one end of the garbage box 810 corresponding to the limiting plate is provided with a push-pull handle 8111, and the push-pull handle 8111 can be arranged in the handle hole.
When rubbish needs to be dumped, the buckle 813 of the limiting cover 811 is opened, then the limiting cover 811 is rotated on one side of the hinge 812, the limiting cover 811 is opened, at the moment, the rubbish box 810 can be pulled through the push-pull handle 8111, the rubbish box 810 is taken down from the rolling brush installation frame 100, and then rubbish is dumped. After the garbage is dumped, the garbage box 810 is placed back to the garbage box mounting position, and the limiting cover 811 is locked by the buckle 813.
In the cleaning apparatus of the present embodiment, the universal wheel 1 is further provided at the front end of the roller brush attachment 100 in the forward direction, and when the roller brush 220 performs the cleaning operation, the universal wheel 1 is in contact with the floor surface. Preferably, the distance between the universal wheel 1 and the rolling brush installation frame 100 is adjustable, and after the universal wheel 1 is adjusted to the proper position, the universal wheel 1 can be fixed on the rolling brush installation frame 100. Specifically, as shown in fig. 4, a fixing plate 2 is fixed to a front end of the roll brush mounting frame 100, and a wheel frame 4 of the universal wheel 1 is screwed to the fixing plate 2 through a bolt 3.
The universal wheel 1 at the front side of the roller brush installation 100 can assist in crossing obstacles and keep the whole apparatus stable when the roller brush 220 rotates. When the round brush 220 was installed, the accessible was adjusted the bolt 3 of fixed universal wheel 1 and is adjusted the height of universal wheel 1 to adjust the magnitude of interference of round brush 220 with ground, reach better clean effect.
In order to improve safety and the like, the front end of the rolling brush installation frame 100 is further provided with a protective cover 5, the universal wheel 1 is arranged in the protective cover 5, and the protective cover 5 does not influence the movement of the universal wheel 1. The number of the universal wheels 1 may be plural, and in the present embodiment, two universal wheels 1 are provided.
It should be noted that the position-limiting cover 811 of the trash box 810 and the end cover 223 of the rolling brush 220 provided with the snap 813 are provided at the same end, and the two can be interlocked by the same snap 813.
The edge brush mechanism 300 of the cleaning device of this embodiment includes an edge brush driving member 310, an edge brush installed on the edge brush installation frame, and an edge brush installation frame fixedly connected to the rolling brush installation frame 100, together with the edge brush driving member 310. The side brush comprises a brush disc 320 and brush bristles 321 arranged on the brush disc 320, a mounting hole is formed in the brush disc 320, the side brush driving part 310 can be a motor, and an output shaft of the side brush driving part 310 penetrates through the mounting hole and then is limited, abutted and fixed through a clamp spring 330. When the edge brush needs to be replaced due to abrasion of the edge brush, the quick-release clamp spring 330 is only required to be taken down, and the operation is convenient.
In this embodiment, the number of the side brushes is two, and the two side brushes are respectively arranged in front of the two ends of the rolling brush 220.
It should be noted that the chassis frame 500 of the cleaning device of this embodiment is further connected with a traveling mechanism, in this embodiment, the traveling mechanism includes two rear wheels 6 at the rear end and one front wheel 7 at the front end, and the front wheel 7 and the rear wheel 6 are both provided with the protective cover 5.
In conclusion, the cleaning device of the present embodiment enlarges the cleaning range of the cleaning device by the side brush mechanism 300, and the rolling brush 220 and the side brush mechanism 300 can be lifted and lowered simultaneously, the structure is simple, and the buffering mechanism 400 is provided, so that the adaptability of the cleaning device to the road condition is improved.
The present embodiment further provides a cleaning robot, which includes the cleaning device provided in this embodiment and other components, including but not limited to a fan assembly, a travel driving mechanism and a control system, wherein the fan assembly is used for forming a negative pressure to clean and adsorb dust through the dust suction pipe 821, the travel driving mechanism is used for driving the travel mechanism to travel, the control system is used for controlling actions of the lifting driving mechanism 700, the fan assembly, the travel driving mechanism and the like, and the fan assembly, the travel driving mechanism and the control system can all adopt the existing conventional components.
The cleaning robot of this embodiment includes the cleaning device provided in this embodiment, and has the same beneficial effects as the cleaning device of this embodiment, and specific reference may be made to the description of the beneficial effects of the cleaning device of this embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A cleaning device comprises a rolling brush mechanism and an edge brush mechanism (300), wherein the edge brush mechanism (300) is arranged in front of the advancing direction of the end part of the rolling brush mechanism; the rolling brush mechanism is characterized by comprising a rolling brush mounting frame (100) and a rolling brush assembly (200), wherein the rolling brush assembly (200) is mounted in the rolling brush mounting frame (100), and the side brush mechanism (300) is fixed on the rolling brush mounting frame (100);
a buffer mechanism (400) is arranged above the rolling brush installation frame (100), the buffer mechanism (400) is used for being connected with a lifting driving mechanism (700), and the buffer mechanism (400) enables the rolling brush installation frame (100) to have floating allowance which is far away from the ground and rises or is close to the ground and falls.
2. The cleaning apparatus as claimed in claim 1, further comprising a chassis frame (500), the roll brush mounting bracket (100) being disposed under the chassis frame (500), the roll brush mounting bracket (100) being hinged to the chassis frame (500) by a link assembly (600);
the chassis frame (500) is further provided with a guide rail, the rolling brush installation frame (100) is provided with a guide part, the guide part is arranged on the guide rail and can move along the guide rail, the guide part can rotate on the guide rail by taking a first direction shaft as a shaft, and the first direction shaft is perpendicular to the direction of movement of the guide rail along the guide part and the axial direction of a hinged shaft (601) of the connecting rod assembly (600), so that the rolling brush installation frame (100) can tilt by taking the position where the connecting rod assembly (600) is connected as a rotating point.
3. The cleaning apparatus according to claim 2, wherein the link assembly (600) is provided at a rear end in a forward direction of the chassis frame (500), and the guide rail is provided at a front end in the forward direction of the chassis frame (500);
the guide rail comprises a guide hole (511) parallel to the output direction of the lifting driving mechanism (700), the guide part is a guide roller (110), the outer diameter of the guide roller (110) is matched with the distance between the inner walls of the guide hole (511), and the guide roller (110) can be arranged in the guide hole (511) in a self-rotating mode.
4. The cleaning apparatus according to claim 3, wherein the link assemblies (600) are provided in two groups, the two groups of link assemblies (600) being respectively provided on both sides of the chassis frame (500) in a left-right direction perpendicular to the advancing direction;
the connecting rod assembly (600) comprises N sections of connecting rods which are sequentially connected, N is an integer not less than 3, the N sections of connecting rods are hinged through a hinge shaft (601), a first section of connecting rod (610) in the N sections of connecting rods is connected with the chassis frame (500), and a last section of connecting rod (630) in the N sections of connecting rods is connected with the rolling brush mounting frame (100); the links of adjacent segments have a floating margin therebetween in a left-right direction perpendicular to the advancing direction.
5. The cleaning apparatus according to any one of claims 2 to 4, further comprising an elevation driving mechanism (700), the elevation driving mechanism (700) being mounted on the chassis frame (500), the elevation driving mechanism (700) being connected above the buffering mechanism (400).
6. The cleaning device as claimed in claim 5, wherein the buffer mechanism (400) comprises a first buffer plate (410) and a second buffer plate (420) which are oppositely arranged up and down, the first buffer plate (410) is connected with the output end of the lifting driving mechanism (700), and the second buffer plate (420) is connected with the rolling brush mounting frame (100);
the first buffer plate (410) and the second buffer plate (420) are connected through a floating rod (430), and the first buffer plate (410) and the second buffer plate (420) can be close to or far away from each other along the floating rod (430).
7. The cleaning device according to claim 6, characterized in that one of the first buffer plate (410) and the second buffer plate (420) is fixedly connected with the floating rod (430), the other of the first buffer plate (410) and the second buffer plate (420) is provided with a through hole, the floating rod (430) is arranged in the through hole in a penetrating way, the floating rod (430) can move in the through hole, and a limiting part for limiting the floating rod (430) to be separated from the through hole is arranged on the part of the floating rod (430) penetrating out of the through hole; or
The first buffer plate (410) and the second buffer plate (420) are both provided with through holes, and two ends of the floating rod (430) are respectively provided with limiting parts for limiting the floating rod (430) to be separated from the through holes after penetrating through the corresponding through holes.
8. The cleaning device as claimed in claim 6, characterized in that a portion of the floating rod (430) between the first bumper plate (410) and the second bumper plate (420) is provided with an elastic buffer.
9. The cleaning apparatus according to claim 1, wherein the roller brush mounting frame (100) is provided with a universal wheel (1) at a front end in the advancing direction, the universal wheel (1) being in contact with the ground when the roller brush assembly (200) performs a sweeping operation;
the universal wheel (1) is relative the distance between the rolling brush installation frames (100) is adjustable, and after the universal wheel (1) is adjusted in place, the universal wheel (1) can be fixed on the rolling brush installation frames (100).
10. A cleaning robot, characterized in that it comprises a cleaning device according to any one of claims 1-9.
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| CN202010385608.6A CN111387886B (en) | 2020-05-13 | 2020-05-13 | Cleaning device and cleaning robot |
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| CN202010385608.6A CN111387886B (en) | 2020-05-13 | 2020-05-13 | Cleaning device and cleaning robot |
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