CN215502770U

CN215502770U - Cleaning robot with movable water tank

Info

Publication number: CN215502770U
Application number: CN202120639832.3U
Authority: CN
Inventors: 李孟钦; 冯臻; 郑卓斌; 王立磊; 其他发明人请求不公开姓名
Original assignee: Guangzhou Coayu Robot Co Ltd
Current assignee: Guangzhou Coayu Robot Co Ltd
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2022-01-14
Anticipated expiration: 2031-03-29

Abstract

The utility model discloses a cleaning robot with a movable water tank. The cleaning robot with a movable water tank includes: a robot main body; the water tank assembly is arranged on the robot main body and can move up and down on the robot main body; the driving assembly is arranged on the robot main body, is connected with the water tank assembly and can drive the water tank assembly to move up and down; and the obstacle sensing assembly is used for sensing whether the cleaning robot meets an obstacle or not so as to trigger the driving assembly to drive and control the water tank assembly. The utility model discloses a can promote the water tank when meetting the barrier, and promote the controllable cleaning machines people of distance.

Description

Cleaning robot with movable water tank

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a cleaning robot with a movable water tank.

Background

Cleaning machines include sweeping robots, mopping robots and the like, a water tank of an existing cleaning robot is generally fixedly mounted under a host, and the water tank is fixed and can not float, so that the sweeping machine is difficult to cross obstacles, and the water tank needs to be taken down when the water tank passes through a threshold. Although a few cleaning robots can floatably install the water tank on the host machine through a spring or a guide post and the like, the floating of the water tank is uncontrollable, the water tank is only jacked up by a barrier, the water tank is jacked up upwards, after the standby robot crosses the barrier, the water tank is separated from the barrier to be instantly lowered, and the floating controllability and stability of the water tank are poor.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides a cleaning robot which can lift a water tank when meeting an obstacle and can move the water tank with a controllable lifting distance.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a cleaning robot having a movable water tank, comprising:

a robot main body;

the water tank assembly is arranged on the robot main body and can move up and down on the robot main body;

the driving assembly is arranged on the robot main body, is connected with the water tank assembly and can drive the water tank assembly to move up and down;

and the obstacle sensing assembly is used for sensing whether the cleaning robot meets an obstacle or not so as to trigger the driving assembly to drive and control the water tank assembly.

As an alternative to the above cleaning robot, the driving assembly includes:

a motor;

the turntable is connected with the motor and can rotate around the axis under the driving of the motor; be provided with on the carousel and dial the round pin, be provided with on the water tank set spare with dial round pin complex spout, when the carousel rotates, can pass through it drives to dial the round pin the water tank set spare reciprocates.

As an alternative to the above cleaning robot, the obstacle sensing assembly includes:

one end of the crank is rotatably connected with the robot main body, the other end of the crank extends to the bottom of the robot main body, and the micro switch can be triggered when the crank is jacked up by an obstacle;

and the microswitch is used for controlling the working state of the motor and is arranged above the crank, and the microswitch can be triggered when the crank is jacked up by the barrier.

As an alternative to the above cleaning robot, the cranks are provided on both left and right sides of the robot main body.

As an alternative to the above cleaning robot, the water tank assembly includes:

the water tank bracket is connected with the robot main body in a sliding mode, and the sliding groove is formed in the water tank bracket;

the water tank is arranged on the water tank bracket.

As an alternative to the above cleaning robot, the water tank may be detachably connected to the water tank holder.

As an alternative to the above cleaning robot, the water tank is inserted into the water tank holder.

As an alternative to the above cleaning robot, one end of the crank connected to the robot main body is located in front of the other end of the crank in the front-rear direction, and one end of the crank connected to the robot main body is located above the other end of the crank in the up-down direction.

As an alternative to the above cleaning robot, a speed reducing mechanism is disposed between the motor and the turntable, so that the torque of the motor is transmitted to the turntable after being reduced by the speed reducing mechanism.

As an alternative to the above cleaning robot, the robot main body includes a fixing bracket, and the water tank assembly and the driving assembly are provided on the fixing bracket.

The utility model has the advantages that: drive the water tank subassembly through drive assembly and reciprocate, set up obstacle response subassembly simultaneously and come the perception barrier, when obstacles such as obstacle response subassembly perception threshold, can trigger drive assembly to the drive control of water tank subassembly to make drive assembly drive water tank subassembly rebound, the distance accessible drive assembly of water tank subassembly rebound controls, the controllability and the stability that the water tank subassembly removed have been promoted, thereby the stability of complete machine operation has been promoted.

Drawings

FIG. 1 is an exploded view of a cleaning robot according to the present invention;

FIG. 2 is a schematic view of the bottom structure of the cleaning robot of the present invention;

FIG. 3 is a schematic cross-sectional view of a cleaning robot according to the present invention;

fig. 4 is an exploded view of a part of the structure of the cleaning robot according to the present invention.

In the figure:

100. a cleaning robot; 101. an axis;

110. a robot main body; 111. a traveling wheel; 112. a brush; 113. a dust suction port; 114. fixing a bracket;

120. a water tank assembly; 121. a chute; 122. a water tank bracket; 123. a water tank;

130. a drive assembly; 131. a motor; 132. a microswitch; 133. a turntable; 1331. pulling a pin; 134. a speed reduction mechanism;

140. an obstacle sensing assembly; 141. a crank.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The meaning of the above terms in the present invention can be understood by those of ordinary skill in the art as the case may be.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.

The present invention provides a cleaning robot, which may be a sweeping robot or a mopping robot, as shown in fig. 1 to 4, the sweeping robot in the present invention is described as an example, and referring to fig. 1 to 4, the cleaning robot 100 includes a robot main body 110, a water tank assembly 120, a driving assembly 130, and an obstacle sensing assembly 140. The water tank assembly 120 is disposed on the robot main body 110 and can move up and down on the robot main body 110, so that the water tank assembly 120 can move up and down on the robot main body 110 under the driving of the driving assembly 130, and the obstacle crossing effect is achieved. The driving assembly 130 is disposed on the robot main body 110 and connected to the water tank assembly 120, and can drive the water tank assembly 120 to move up and down. The obstacle sensing assembly 140 is disposed on the robot main body 110, senses whether the cleaning robot meets an obstacle, and triggers the driving assembly 130 to control the driving of the water tank assembly 120 when the cleaning robot meets the obstacle, so that the driving assembly 130 drives the water tank assembly 120 to move upward when the obstacle is crossed. The cleaning robot 100 of the present invention drives the water tank assembly 120 to move up and down by the driving assembly 130, so that the controllability of the movement of the water tank assembly 120 is high, rather than lifting and lowering the water tank 123 by simply jacking and releasing the water tank 123 by means of an obstacle as in the prior art, in the present invention, the obstacle is sensed by the obstacle sensing assembly 140, so as to control the power on and off of the driving assembly 130, thereby realizing the control of the movement of the water tank assembly 120, so that the stability and the accuracy of the movement of the water tank assembly 120 are significantly improved, and the operation of the whole machine is more stable.

It is understood that the cleaning robot 100 further includes other components required to perform cleaning, such as the traveling wheels 111, the brush 112, and the dust suction port 113. As shown in fig. 2, the road wheels 111 are provided at left and right sides of the bottom of the robot main body 110, the dust suction port 113 is provided between the road wheels 111 at both sides, and the brush 112 is provided in front of the dust suction port 113 to sweep the dust toward the dust suction port 113, and then the dust is sucked into the cleaning robot 100 through the dust suction port 113 to achieve cleaning. If the cleaning robot 100 is a floor mopping robot, the cleaning robot further comprises a cleaning cloth, and the cleaning cloth is in contact with the plane to be cleaned, so that the floor mopping effect is realized in the walking process of the cleaning robot 100. In the present invention, for convenience of description, the front-rear direction, which is the traveling direction of the cleaning robot 100, the left-right direction, and the up-down direction shown in the drawings are defined.

The structure of the driving assembly 130 is highly selective, and for example, a screw nut structure, a rack and pinion structure, etc. may be adopted as long as the driving assembly can drive the water tank assembly 120 to move up and down. Referring to fig. 4, in the present invention, the driving assembly 130 includes a motor 131 and a turntable 133. The turntable 133 is connected to the motor 131 and can rotate around the axis 101 under the driving of the motor 131, and in one embodiment, the axis 101 can be parallel to the left-right direction. The dial 133 is provided with a dial 1331, the dial 1331 is arranged on the dial 133 and far away from the center of the dial 133, and when the dial 133 rotates, the motion track of the dial 1331 is a circle with the center of the dial 133 as the center. As shown in fig. 4, the water tank assembly 120 is provided with a sliding groove 121 engaged with the shifting pin 1331, the sliding groove 121 extends in a direction parallel to the rotating plate 133, in an embodiment, the sliding groove 121 extends in a front-back direction, and when the rotating plate 133 rotates, the shifting pin 1331 can drive the water tank assembly 120 to move up and down. Rotate the drive mode who drives shifting pin 1331 and then drive water tank assembly 120 from top to bottom through carousel 133 for water tank assembly 120 reciprocates comparatively slowly and steadily, and the drive structure is comparatively simple, only need set up shifting pin 1331 on carousel 133 and establish spout 121 on water tank assembly 120 can, no other intermediate drive spare, save space and the cost is lower.

Preferably, as shown in fig. 4, a speed reducing mechanism 134 is disposed between the motor 131 and the turntable 133, so that the torque of the motor 131 is reduced by the speed reducing mechanism 134 and then transmitted to the turntable 133. The reduction mechanism 134 may employ a reduction gear box. Generally, the rotation speed of the motor 131 is fast, and if the torque of the motor 131 is directly transmitted to the turntable 133, the distance that the water tank assembly 120 moves up and down is large, so that the entire cleaning robot 100 has a large volume, and the water tank assembly 120 does not need a large moving distance according to the obstacle crossing requirement of the cleaning robot 100. Therefore, the torque of the motor 131 is reduced by the gear box and then transmitted to the turntable 133. As shown in fig. 4, the motor 131 and the turntable 133 are both connected to the outside of the gearbox, a reduction gear set is arranged inside the gearbox, the rotor of the motor 131 is connected to the input end of the gearbox, and the turntable 133 is connected to the output end of the gearbox.

The obstacle sensing component 140 may sense an obstacle by a sensor type, or may sense an obstacle by a direct physical contact type of a mechanical structure, as long as the obstacle can be detected. In the present invention, as shown in fig. 3, the obstacle sensing unit 140 includes a crank 141 and a micro switch 132. One end of the crank 141 is rotatably connected to the robot main body 110, and the other end extends to the bottom of the robot main body 110, so that when the cleaning robot 100 passes over an obstacle such as a doorsill, the obstacle lifts the crank 141 upward. Micro-gap switch 132 sets up in crank 141's top, and crank 141 upwards rotates around its tie point of being connected with robot main part 110 and can trigger micro-gap switch 132, and micro-gap switch 132 can control the operating condition of motor 131, and micro-gap switch 132 can control motor 131 work after being triggered by crank 141, and then makes water tank set spare 120 upwards move under the drive of motor 131, and water tank set spare 120 is raised, can accomplish and cross the barrier. In one embodiment, the micro switch 132 is electrically connected to the motor 131 to directly control the power supply of the motor 131, and in other embodiments, the micro switch 132 may be communicatively connected to the motor 131 to send a signal to the motor 131 or a signal to a control device controlling the motor 131 when the micro switch 132 is triggered by the crank 141 to control the operation of the motor 131.

The obstacle sensing unit 140 is configured to detect an obstacle through direct contact between the crank 141 and the obstacle and trigger a physical contact of the micro switch 132, and in other embodiments, a sensor may be used to sense the obstacle, and when the sensor detects the obstacle, the sensor sends a signal to a controller of the cleaning robot 100, and the controller controls the motor 131 to rotate.

In the present invention, the crank 141 is jacked up by an obstacle to trigger the microswitch 132, the power of the motor 131 is switched on, when the cleaning robot 100 crosses the obstacle, the crank 141 is separated from the obstacle, the crank 141 releases the microswitch 132, the power of the motor 131 is switched off, and the water tank assembly 120 is still in a lifted state. In the present invention, in order to lower the water tank assembly 120 to the original position, a delay design is provided on the circuit of the motor 131, that is, after the micro switch 132 is turned off, the power supply of the motor 131 is not immediately turned off, and a period of time for reverse reset of the motor 131 is left, so that the water tank assembly 120 is reset under the driving of the motor 131.

Preferably, the cranks 141 are disposed on the left and right sides of the robot body 110, so that the micro switch 132 can be triggered to turn on the power of the motor 131 when any one of the left and right sides of the robot contacts an obstacle.

Referring to fig. 3, one end of the crank 141 connected to the robot main body 110 is located in front of the other end of the crank 141 in the front-rear direction, and one end of the crank 141 connected to the robot main body 110 is located above the other end of the crank 141 in the up-down direction. That is, the other end of the crank 141 is inclined downward to form a guide surface contacting an obstacle, so that when the crank 141 contacts the obstacle, the obstacle slides toward the free end of the crank 141 along the inclined direction of the crank 141 to gradually lift up the crank 141. It is understood that the free end of the crank 141 needs to be lower than the bottom of the robot body 110 to allow the crank 141 to contact an obstacle.

Referring to fig. 4, the water tank assembly 120 includes a tank bracket 122 and a water tank 123. The water tank bracket 122 is slidably coupled to the robot main body 110, and the slide groove 121 is provided on the water tank bracket 122. It should be noted that, if the driving assembly 130 adopts other driving forms, for example, a form of a lead screw nut, under the condition that the connection between the water tank assembly 120 and the driving assembly 130 is stable and stable, the water tank bracket 122 may not be slidably connected with the robot main body 110, and only the water tank assembly 120 is directly connected to the driving assembly 130. In the present invention, the water tank assembly 120 cannot be stably connected to the driving assembly 130 by the coupling method of the pin 1331 of the turntable 133 and the sliding groove 121 of the water tank bracket 122, so that the water tank bracket 122 needs to be slidably coupled to the robot main body 110 to achieve guiding and stabilizing.

The water tank 123 is provided on the water tank bracket 122. Preferably, the water tank 123 and the water tank bracket 122 are detachably connected, so that the water tank 123 can be conveniently detached and replaced. In one embodiment, the tank 123 is plugged into the tank bracket 122. As shown in fig. 1, the water tank 123 is inserted into the water tank bracket 122 from the back to the front along the arrow direction shown in fig. 1, and when the water tank 123 needs to be removed, the water tank 123 is pushed back to be removed. In other embodiments, the water tank 123 may be snapped onto the water tank holder 122.

Referring to fig. 4, the robot main body 110 includes a fixing bracket 114, and the water tank assembly 120 and the driving assembly 130 are mounted on the fixing bracket 114, so as to facilitate the integrity of the overall structure, and after the water tank assembly 120 and the driving assembly 130 are mounted on the fixing bracket 114 to form a module, the module is mounted on the robot main body 110, so as to facilitate the modularization of the overall structure.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the utility model. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cleaning robot with a movable water tank, comprising:

a robot main body (110);

a water tank assembly (120) which is arranged on the robot main body (110) and can move up and down on the robot main body (110);

the driving assembly (130) is arranged on the robot main body (110), is connected with the water tank assembly (120), and can drive the water tank assembly (120) to move up and down;

and the obstacle sensing assembly (140) is arranged on the robot main body (110) and used for sensing whether the cleaning robot meets an obstacle or not so as to trigger the driving assembly (130) to drive and control the water tank assembly (120).

2. The cleaning robot as recited in claim 1, characterized in that the drive assembly (130) comprises:

a motor (131);

the turntable (133) is connected with the motor (131) and can rotate around the axis (101) under the driving of the motor (131); be provided with on carousel (133) and dial round pin (1331), be provided with on water tank set spare (120) with set round pin (1331) complex spout (121), when carousel (133) rotated, can pass through set round pin (1331) drives water tank set spare (120) reciprocates.

3. The cleaning robot as recited in claim 2, wherein the obstacle sensing assembly (140) includes:

the crank (141), one end of the crank (141) is rotatably connected with the robot main body (110), and the other end of the crank extends to the bottom of the robot main body (110);

and the microswitch (132) is used for controlling the working state of the motor (131) and is arranged above the crank (141), and when the crank (141) is jacked up by an obstacle, the microswitch (132) can be triggered.

4. The cleaning robot according to claim 3, wherein the cranks (141) are provided on both left and right sides of the robot main body (110).

5. The cleaning robot as recited in claim 2, wherein the water tank assembly (120) includes:

the water tank support (122) is connected with the robot main body (110) in a sliding mode, and the sliding groove (121) is formed in the water tank support (122);

and the water tank (123) is arranged on the water tank bracket (122).

6. The cleaning robot as recited in claim 5, characterized in that the water tank (123) is detachably connected with the water tank holder (122).

7. The cleaning robot as recited in claim 5, characterized in that the water tank (123) is plugged with the water tank holder (122).

8. The cleaning robot according to claim 3, wherein one end of the crank (141) connected to the robot main body (110) is located forward of the other end of the crank (141) in a front-rear direction, and one end of the crank (141) connected to the robot main body (110) is located above the other end of the crank (141) in a top-bottom direction.

9. The cleaning robot according to claim 2, wherein a speed reduction mechanism (134) is provided between the motor (131) and the turntable (133), so that the torque of the motor (131) is transmitted to the turntable (133) after being reduced by the speed reduction mechanism (134).

10. The cleaning robot as claimed in any one of claims 1 to 9, wherein the robot main body (110) includes a fixing bracket (114), and the water tank assembly (120) and the driving assembly (130) are provided on the fixing bracket (114).