CN216256896U

CN216256896U - Robot cleaning module lifting device and sweeping robot

Info

Publication number: CN216256896U
Application number: CN202121039411.3U
Authority: CN
Inventors: 李梦珍
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2022-04-12
Anticipated expiration: 2031-05-14

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a lifting device for a robot cleaning module and a sweeping robot. The robot cleaning module lifting device comprises a chassis, a cleaning module, a mounting bracket, a guide piece for guiding the cleaning module and a lifting driving piece arranged on the mounting bracket; the mounting bracket is mounted on the chassis; the output end of the lifting driving piece is connected with the cleaning module, and the lifting driving piece is used for driving the cleaning module to lift; the guide member includes a first guide portion mounted on the chassis, and a second guide portion mounted on the cleaning module; the first guide part and the second guide part are arranged in a matched mode. According to the utility model, the lifting device of the robot cleaning module has long service life and high movement stability.

Description

Robot cleaning module lifting device and sweeping robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a lifting device for a robot cleaning module and a sweeping robot.

Background

With the development of automation technology and artificial intelligence technology, the demand of intelligent robots is more and more extensive. The floor sweeping robot can automatically sweep garbage on the ground, and great convenience is brought to life of people. The cleaning module is used as a working part of the sweeping robot, and is required to be in contact with the ground in a working state so as to sweep garbage on the ground.

In the prior art, the cleaning module is generally fixed in a chassis of the sweeping robot, and the height is a certain value, that is, the height of the cleaning module is not adjustable, so that the sweeping robot always keeps a state of contacting with the ground in a walking process, and the abrasion of the cleaning module is accelerated.

SUMMERY OF THE UTILITY MODEL

The utility model provides a lifting device for a cleaning module of a robot and a sweeping robot, aiming at the technical problems that the cleaning module of the sweeping robot in the prior art is high in abrasion speed and the like.

In view of the above technical problems, an embodiment of the present invention provides a lifting device for a robot cleaning module, including a chassis, a cleaning module, a mounting bracket, a guide for guiding the cleaning module, and a lifting driving member mounted on the mounting bracket; the mounting bracket is mounted on the chassis; the output end of the lifting driving piece is connected with the cleaning module, and the lifting driving piece is used for driving the cleaning module to lift; the guide member includes a first guide portion mounted on the chassis, and a second guide portion mounted on the cleaning module; the first guide part is connected with the second guide part in a guiding mode.

Optionally, the first guide part is a guide post mounted on the chassis, the second guide part is a guide seat mounted on the cleaning module, and a guide through hole is formed in the guide seat; the guide post is inserted into the guide through hole and is in sliding connection with the guide seat.

Optionally, the lifting device of the robot cleaning module further comprises a pushing block and a pin shaft, and the pushing block is rotatably connected with the output end of the lifting driving piece through the pin shaft; one end of the push block, which deviates from the lifting driving piece, is connected with the cleaning module.

Optionally, an accommodating space is provided on the mounting bracket, and the lifting driving member is mounted in the accommodating space.

Optionally, a first lifting lug is arranged on the lifting driving piece, and a second through hole is arranged on the first lifting lug; the robot cleaning module lifting device further comprises a connecting shaft, the connecting shaft penetrates through the second through hole, and the two opposite ends of the connecting shaft are mounted on the mounting support.

Optionally, the mounting bracket further includes a first connecting bracket and a second connecting bracket, and two opposite ends of the connecting shaft are respectively connected to the first connecting bracket and the second connecting bracket.

Optionally, the lifting drive is a hall encoder power push rod.

The utility model also provides a sweeping robot, which comprises a robot body and the robot cleaning module lifting device; the robot cleaning module lifting device is installed on the robot body.

Optionally, the sweeping robot further comprises a first driving wheel, a second driving wheel and a third driving wheel which are all mounted on the chassis; an isosceles triangle is formed among the first connecting line point, the second connecting line and the third connecting line; the first connecting line is a connecting line between a center point of the first driving wheel and a center point of the second driving wheel, the second connecting line is a connecting line between a center point of the second driving wheel and a center point of the third driving wheel, and the third connecting line is a connecting line between a center point of the third driving wheel and a center point of the first driving wheel.

According to the utility model, the mounting bracket is mounted on the chassis, and the lifting driving piece is mounted on the mounting bracket; the output end of the lifting driving piece is connected with the cleaning module; when the cleaning module needs cleaning work, the lifting driving piece drives the cleaning module to descend, and the cleaning module can perform cleaning work; when the cleaning module does not need to carry out cleaning work, the lifting driving piece drives the cleaning module to ascend, so that the sweeping robot moves in the process, the cleaning module does not contact with the ground, the sweeping robot moves in the process, the cleaning module is in contact with the ground and the like, damage accidents occur, the service life of the cleaning module is prolonged, and the stability of the sweeping robot during moving is improved. In addition, the guide can guarantee that the lifting driving piece drives the cleaning module to move up and down, the cleaning module shakes, and therefore the stability of the lifting device for the robot cleaning module is improved.

Drawings

The utility model is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of a lifting device of a robot cleaning module according to an embodiment of the present invention;

fig. 2 is a front view of a robotic cleaning module lift provided in accordance with an embodiment of the present invention;

fig. 3 is a partial structural schematic view of a lifting device of a robot cleaning module according to another embodiment of the present invention;

fig. 4 is a schematic structural view illustrating a lifting driving member of a lifting device of a robot cleaning module according to an embodiment of the present invention mounted on a mounting bracket;

fig. 5 is a schematic structural view of a mounting bracket of a lifting device of a robot cleaning module according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a chassis; 11. a first through hole; 2. a cleaning module; 3. mounting a bracket; 31. an accommodating space; 32. a first connecting rod; 33. a second connecting rod; 34. a third connecting rod; 35. a fourth connecting rod; 36. a fifth connecting rod; 37. a sixth connecting rod; 38. a seventh connecting rod; 39. a first connecting bracket; 310. a second connecting bracket; 4. a guide member; 41. a first guide portion; 42. a second guide portion; 421. a guide seat; 5. a lifting drive member; 51. a first lifting lug; 6. a push block; 7. a connecting shaft; 8. a pin shaft; 10. a robotic cleaning module lift; 101. a first drive wheel; 102. a second drive wheel; 103. a third drive wheel.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 and 2, a robot cleaning module lifting device 10 according to an embodiment of the present invention includes a chassis 1, a cleaning module 2, a mounting bracket 3, a guide 4 for guiding the cleaning module 2, and a lifting drive 5 mounted on the mounting bracket 3; the mounting bracket 3 is mounted on the chassis 1; the output end of the lifting driving piece 5 is connected (screwed, welded, etc.) with the cleaning module 2, and the lifting driving piece 5 is used for driving the cleaning module 2 to lift; the guide 4 comprises a first guide portion 41 mounted on the chassis 1, and a second guide portion 42 mounted on the cleaning module 2; the first guide portion 41 is connected to the second guide portion 42 in a guiding manner. Preferably, the lifting driving member 5 is a hall encoder electric push rod. The Hall encoder electric push rod can be programmed, so that the Hall encoder electric push rod accurately drives the cleaning module 2 to move up and down. Further, the mounting bracket 3 and the lifting driving piece 5 are both located above the chassis 1, the cleaning module 2 is located below the chassis 1, and the output end of the lifting driving piece 5 is connected with the central part of the cleaning module 2, so that the stability of the cleaning module 2 during moving is ensured. Further, a first through hole 11 is formed in the chassis 1, and since the lifting driving member 5 is located above the chassis 1 and the cleaning module 2 is located below the chassis 1, the first through hole 11 provides a connection channel for connecting the output end of the lifting driving member 5 to the cleaning module 2. In an embodiment, the output end of the lifting drive 5 can pass through the first through hole 11 and be connected to the cleaning module 2.

It is understood that the first guide portion 41 is a fixed component mounted on the chassis 1, and the second guide portion 42 is a movable component mounted on the cleaning module 2 and moving with the cleaning module 2; preferably, the first guide part 41 is a guide post mounted on the chassis 1, the second guide part 42 is mounted on a guide seat 421 on the cleaning module 2, and a guide through hole is formed on the guide seat 421; the guide posts are inserted into the guide through holes and slidably connected to the guide seats 421. Specifically, lift driving piece 5 drives clean module 2 and the in-process that guide holder 421 reciprocated, the direction through-hole can only be followed the guide post reciprocates, also promptly the direction through-hole has restricted the motion space of guide post has avoided the phenomenon that the guide post rocked appears, thereby has avoided lift driving piece 5 drives the in-process that clean module 2 reciprocated, the phenomenon that rocks appears in clean module 2 has improved the stability that clean module 2 reciprocated.

In the utility model, the mounting bracket 3 is mounted on the chassis 1, and the lifting driving piece 5 is mounted on the mounting bracket 3; the output end of the lifting driving piece 5 is connected with the cleaning module 2; when the cleaning module 2 needs cleaning work, the lifting driving piece 5 drives the cleaning module 2 to descend, and the cleaning module 2 can perform cleaning work; work as cleaning module 2 need not carry out the cleaning during operation, 5 drives of lift driving piece 2 rises to the in-process that the robot removed of sweeping the floor, cleaning module 2 will not contact with ground, thereby has avoided the in-process that the robot removed of sweeping the floor, the accident of damage takes place for cleaning module 2 contact ground etc. has prolonged cleaning module 2's life, has improved the stability when the robot removed of sweeping the floor. In addition, the guide piece 4 can ensure that the lifting driving piece 5 drives the cleaning module 2 to move up and down, and the cleaning module 2 shakes, so that the stability of the lifting device 10 for the robot cleaning module is improved.

In one embodiment, as shown in fig. 3, the lifting device 10 further includes a pushing block 6 and a pin 8, wherein the pushing block 6 is rotatably connected to the output end of the lifting driving member 5 through the pin 8; one end of the push block 6, which is far away from the lifting driving piece 5, is connected with the cleaning module 2. Specifically, a groove is formed in the push block 6, and a third through hole and a fourth through hole are respectively formed in two opposite side walls of the groove; the output end of the lifting driving piece 5 is provided with a fifth through hole; one end of the pin shaft 8 is abutted against the outer side wall of the push block 6, and the other end of the pin shaft 8 sequentially penetrates through the third through hole, the fifth through hole and the fourth through hole and then is connected with a screw. It can be understood that the output end of the lifting driving member 5 is rotatably connected to the cleaning module 2, that is, the lifting driving member 5 is hinged to the mounting bracket 3, and the hinged form can ensure that the lifting driving member 5 can only bear the force along the axial direction (i.e. vertical direction) of the lifting driving member 5, but not the force along the radial direction (i.e. horizontal direction) of the lifting driving member 5, and when the cleaning module 2 is subjected to the force along the horizontal direction, the force along the horizontal direction is transmitted to the guiding member 4, but not to the lifting driving member 5; when the cleaning module 2 is subjected to a vertical force, the vertical force can be transmitted to the lifting drive 5. According to the utility model, the cleaning module 2 can only apply acting force to the lifting driving piece 5 from the axial direction of the lifting driving piece 5, but cannot apply acting force to the lifting driving piece 5 from the radial direction of the lifting driving piece 5, so that the accident that the lifting driving piece 5 damages internal components due to radial force is avoided, and the service life of the lifting driving piece 5 is further prolonged. Furthermore, the output end of the lifting driving piece 5 is communicated with the pushing block 6 to drive the cleaning module 2 to ascend or descend, so that the abrasion rate of the output end of the lifting driving piece 5 is reduced, the lifting driving piece 5 and the cleaning module 2 are convenient to disassemble and assemble, and the robot cleaning module lifting device is convenient to maintain.

In one embodiment, as shown in fig. 3 and 4, the mounting bracket 3 is provided with an accommodating space 31, and the lifting driving member 5 is installed in the accommodating space 31. It can be understood that the mounting bracket 3 is formed by splicing a plurality of connecting rods, and the accommodating space 31 is defined between the connecting rods. Further, by installing the lifting drive 5 in the receiving space 31, the mounting bracket 3 may serve to protect the lifting drive 5 and improve the compactness of the robot cleaning module lifting device 10.

In an embodiment, as shown in fig. 4 and 5, the mounting bracket 3 includes a first connecting rod 32, a second connecting rod 33, a third connecting rod 34, a fourth connecting rod 35, a fifth connecting rod 36, a sixth connecting rod 37 and a seventh connecting rod 38 enclosing the accommodating space 31; the lower ends of the first connecting rod 32, the second connecting rod 33, the third connecting rod 34 and the fourth connecting rod 35 are all connected to the chassis 1, the fifth connecting rod 36 is connected between the upper end of the first connecting rod 32 and the upper end of the second connecting rod 33, the sixth connecting rod 37 is connected between the upper end of the second connecting rod 33 and the upper end of the third connecting rod 34, and the seventh connecting rod 38 is connected between the upper end of the third connecting rod 34 and the upper end of the fourth connecting rod 35; it is understood that the accommodating space 31 is defined between the first connecting rod 32, the second connecting rod 33, the third connecting rod 34 and the fourth connecting rod 35, and the upper end of the first connecting rod 32 and the upper end of the fourth connecting rod 34 are not connected, i.e. an opening communicating with the accommodating space 31 is formed between the upper end of the first connecting rod 32 and the fourth connecting rod 34, so as to facilitate the installation of the lifting driving member 5 in the accommodating space 31 through the opening.

The lifting drive 5 is mounted on the fifth connecting rod 36 and the seventh connecting rod 38. It is understood that the upper end of the lifting driving member 5 is mounted on the fifth connecting rod 36 and the seventh connecting rod 38, and the lower end of the lifting driving member 5 extends into the accommodating space 31. In the utility model, the mounting bracket 3 has simple structure and low manufacturing cost.

In an embodiment, as shown in fig. 3 and 4, a first lifting lug 51 is provided on the lifting driving member 5, and a second through hole is provided on the first lifting lug 51; the robot cleaning module lifting device 10 further comprises a connecting shaft 7, the connecting shaft 7 penetrates through the second through hole, and the two opposite ends of the connecting shaft 7 are mounted on the bracket 3 (that is, the two ends of the connecting shaft 7 are mounted on the fifth connecting rod and the seventh connecting rod 38, respectively). It is understood that opposite ends of the connecting shaft 7 are respectively fixed to the fifth connecting rod 36 and the seventh connecting rod 38, and opposite ends of the first lifting lug 51 are mounted on the fifth connecting rod and the seventh connecting rod 38 after passing through the connecting shaft 7 passing through the second through hole. It can be understood that the upper end of the lifting driving member 5 is rotatably connected to the mounting bracket 3 via the connecting shaft 7 (i.e. the upper end of the lifting driving member 5 can rotate around the connecting shaft 7), the lower end of the lifting driving member 5 is rotatably connected to the cleaning module 2 via the pin 8 (i.e. the lower end of the lifting driving member 5 can rotate around the pin 8), that is, the upper end and the lower end of the lifting driving member 5 are both connected in an articulated manner, this form of articulation ensures that the lifting drive 5 can only withstand forces in the axial direction (i.e. vertical direction) of the lifting drive 5, and cannot withstand forces in the radial direction (i.e., the horizontal direction) of the lift drive 5, when the cleaning module 2 is subjected to forces in the horizontal direction, this horizontal force will be transmitted to the guide 4 and not to the lifting drive 5; when the cleaning module 2 is subjected to a vertical force, the vertical force can be transmitted to the lifting drive 5. According to the utility model, the cleaning module 2 can only apply acting force to the lifting driving piece 5 from the axial direction of the lifting driving piece 5, but cannot apply acting force to the lifting driving piece 5 from the radial direction of the lifting driving piece 5, so that the accident that the lifting driving piece 5 damages internal components due to radial force is avoided, and the service life of the lifting driving piece 5 is further prolonged. In addition, the arrangement of the lifting lug 51 and the connecting shaft 7 facilitates the detachment of the lifting drive 5 from the mounting bracket 3, i.e. the maintenance of the robotic cleaning module lifting device 10.

In one embodiment, as shown in fig. 4, the mounting bracket 3 further includes a first connecting bracket 39 and a second connecting bracket 310, and opposite ends of the connecting shaft 7 are respectively connected to the first connecting bracket 39 and the second connecting bracket 310 (i.e., one end of the connecting shaft 7 is mounted on the fifth connecting rod 36 through the first connecting bracket 39, and the other end of the connecting shaft 7 is mounted on the seventh connecting rod 38 through the second connecting bracket 310). Specifically, a fourth mounting through hole is formed in the first connecting bracket 39, a fifth mounting through hole is formed in the second connecting bracket 310, and opposite ends of the connecting shaft 7 are respectively mounted in the fourth mounting through hole and the fifth mounting through hole. In the present invention, the first and second connecting

brackets

39 and 310 are designed to facilitate the installation of the lifting driving member 5 on the mounting bracket 3 and the removal of the lifting driving member 5 from the mounting bracket 3.

Another embodiment of the present invention further provides a floor sweeping robot, which includes a robot body and the robot cleaning module lifting device 10; the robot cleaning module lifting device 10 is installed on the robot body. It will be appreciated that the cleaning module 2 lifting device is mounted at the bottom of the robot body. In the utility model, through the design of the lifting device 10 of the cleaning module of the robot, when the sweeping robot carries out sweeping work, the lifting driving piece 5 drives the cleaning module 2 to descend; when cleaning module 2 need not carry out cleaning, lift driving piece 5 drive cleaning module 2 rises to the in-process that the robot removed of sweeping the floor, cleaning module 2 will not contact with ground, thereby has avoided the in-process that the robot removed of sweeping the floor, the accident that takes place the damage of cleaning module 2 contact ground etc. has prolonged the life of the robot of sweeping the floor.

In an embodiment, as shown in fig. 1 and fig. 2, the sweeping robot further includes a first driving wheel 101, a second driving wheel 102 and a third driving wheel 103, all mounted on the chassis 1; an isosceles triangle is formed among the first connecting line point, the second connecting line and the third connecting line; the first line is a connection line between a center point of the first driving wheel 101 and a center point of the second driving wheel 102, the second line is a connection line between a center point of the second driving wheel 102 and a center point of the third driving wheel 103, and the third line is a connection line between a center point of the third driving wheel 103 and a center point of the first driving wheel 101. It is understood that the first driving wheel 101 and the second driving wheel 102 are designed side by side, the first driving wheel 101 and the second driving wheel 102 are installed at the rear end of the base plate 1 at an interval, the third driving wheel 103 is installed at the front end of the base plate 1, and the third driving wheel 103 is located at the middle position of the first driving wheel 102 and the second driving wheel 103. According to the floor sweeping robot, the function of moving can be completed only by arranging the three driving wheels, and the floor sweeping robot is simple in structure and low in manufacturing cost.

The above embodiments are merely exemplary of the lifting device for robot cleaning module of the present invention, and are not intended to limit the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A robotic cleaning module lifting device comprising a chassis, a cleaning module, a mounting bracket, a guide for guiding the cleaning module, and a lifting drive mounted on the mounting bracket; the mounting bracket is mounted on the chassis; the output end of the lifting driving piece is connected with the cleaning module, and the lifting driving piece is used for driving the cleaning module to lift; the guide member includes a first guide portion mounted on the chassis, and a second guide portion mounted on the cleaning module; the first guide part is connected with the second guide part in a guiding mode.

2. The robotic cleaning module lifting device of claim 1, wherein the first guide portion is a guide post mounted on the chassis, the second guide portion is a guide seat mounted on the cleaning module, the guide seat having a guide through hole; the guide post is inserted into the guide through hole and is in sliding connection with the guide seat.

3. The robotic cleaning module lifting device of claim 1, further comprising a pusher and a pin, the pusher being rotatably connected to the output end of the lift drive member via the pin; one end of the push block, which deviates from the lifting driving piece, is connected with the cleaning module.

4. A robotic cleaning module lifting device as claimed in claim 1, wherein the mounting bracket is provided with an accommodation space in which the lifting drive is mounted.

5. The robotic cleaning module lifting device of claim 1, wherein the lifting drive member has a first lifting lug thereon, the first lifting lug having a second through hole thereon; the robot cleaning module lifting device further comprises a connecting shaft, the connecting shaft penetrates through the second through hole, and the two opposite ends of the connecting shaft are mounted on the mounting support.

6. A robotic cleaning module lifting device as claimed in claim 5, wherein the mounting bracket is provided with a first connecting bracket and a second connecting bracket, opposite ends of the connecting shaft being connected to the first connecting bracket and the second connecting bracket, respectively.

7. The robotic cleaning module lifting device of claim 1, wherein the lift drive is a hall encoder power pushrod.

8. A sweeping robot comprising a robot body and a robotic cleaning module lifting device as claimed in any one of claims 1 to 7; the robot cleaning module lifting device is installed on the robot body.

9. The sweeping robot of claim 8, further comprising a first drive wheel, a second drive wheel, and a third drive wheel all mounted on the chassis; an isosceles triangle is formed among the first connecting line point, the second connecting line and the third connecting line; the first connecting line is a connecting line between a center point of the first driving wheel and a center point of the second driving wheel, the second connecting line is a connecting line between a center point of the second driving wheel and a center point of the third driving wheel, and the third connecting line is a connecting line between a center point of the third driving wheel and a center point of the first driving wheel.