A sweeping robot sweeping disc adaptive adjusting mechanism and a control method thereof

Abstract

The application relates to a cleaning robot sweep disc adaptive adjusting mechanism and a control method thereof, and belongs to the technical field of environmental sanitation robots. The mechanism comprises a fixing frame, an adjusting push rod is hingedly arranged at the front end of the fixing frame, two linear guides are symmetrically arranged on the two sides of the adjusting push rod and fixed at the front end of the fixing frame, a sliding block is slidably connected to each of the two linear guides, a sliding seat is fixedly connected between the two sliding blocks, the sliding seat is hingedly connected with the adjusting push rod, two fixing arms are symmetrically fixed on the two sides of the sliding seat, a sweep disc body is mounted at the free ends of the two fixing arms, and the sweep disc body is driven to rotate by a driving device. The mechanism further comprises a host computer, the adjusting push rod is electrically connected with the host computer, and the host computer is used for monitoring the working power of the sweep disc body and controlling the movement of the adjusting push rod when the working power of the sweep disc body is abnormal. The application can ensure the cleaning effect, effectively meet the daily operation demand, ensure the unmanned automatic adjustment of the whole life cycle of the sweep disc, and effectively reduce the labor cost.

Description

Technical Field

[0001] This invention relates to an adaptive adjustment mechanism for the sweeping disc of a cleaning robot and its control method, belonging to the field of sanitation robot technology. Background Technology

[0002] During the operation of a robotic vacuum cleaner, the contact pressure of the brush on the ground has a significant impact on its lifespan and cleaning performance. Excessive contact pressure accelerates brush wear and shortens its lifespan. As operating time increases, the brushes gradually wear down, and if not adjusted in time, this will affect cleaning effectiveness. Today, with the development of intelligent and autonomous driving technologies, unmanned robotic vacuum cleaners are also evolving. How to automatically monitor brush wear and adjust the brush's contact state in a timely manner has become a major challenge for the industry.

[0003] Currently, there are three main methods for adjusting the sweeping disc of unmanned cleaning robots: First, manually assessing the wear of the brush and adjusting its height using a mechanical limit device; this method requires frequent manual intervention. Second, using a hydraulic floating system for the sweeping disc, controlling the extension and retraction of the cylinder through feedback of cylinder pressure changes to achieve the purpose of adjusting the sweeping disc height. Although this method can achieve automatic adjustment, it requires a hydraulic system, which is costly. Furthermore, the sweeping disc is lightweight, pressure changes are small, and the hydraulic system requires high precision, resulting in poor actual adjustment performance. Third, using a spring combined with an air circuit system, controlling the extension and retraction of the cylinder through feedback of cylinder pressure changes to achieve the purpose of adjusting the sweeping disc height. This solution requires an air circuit system, which is costly. Additionally, due to sealing issues in the air circuit system, the system reliability is poor.

[0004] A sweeper brush adaptive adjustment control device for a sweeper disclosed in Chinese invention patent publication number CN109811690A includes a sweeping disc assembly. The device is characterized by further including a controller and a lifting mechanism for controlling the lifting of the sweeping disc assembly. The lifting mechanism is fixedly mounted on the vehicle frame, hinged to the sweeping disc assembly, and electrically connected to the controller.

[0005] The above-mentioned example can adjust the grounding pressure of the sweeping brush in real time according to the user's working conditions to keep the grounding pressure of the sweeping disc constant. However, it adjusts the grounding pressure of the sweeping brush through a cylinder, which requires high sealing conditions and has poor system reliability. Therefore, it urgently needs improvement. Summary of the Invention

[0006] To overcome the shortcomings of existing cleaning robot sweeping disc adjustment methods, such as high labor costs, poor adjustment effect, and poor stability, this invention designs an adaptive adjustment mechanism for the sweeping disc of a cleaning robot and its control method. It can ensure cleaning effect, effectively meet daily operation needs, guarantee unmanned automatic adjustment of the sweeping disc throughout its entire life cycle, and effectively reduce labor costs.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Technical Solution 1

[0009] An adaptive adjustment mechanism for a cleaning robot's sweeping disc includes a fixed frame. An adjustment push rod is hinged to the front end of the fixed frame. Two linear guide rails, symmetrically arranged on both sides of the adjustment push rod and fixed to the front end of the fixed frame, are connected to sliders that slide vertically on both linear guide rails. A sliding seat is fixedly connected between the two sliders. The sliding seat is hinged to the adjustment push rod, and two fixed arms are symmetrically fixed on both sides of the sliding seat. A sweeping disc body is mounted on the free end of each fixed arm. The sweeping disc body is driven to rotate by a drive device. The mechanism also includes a host computer. The adjustment push rod is electrically connected to the host computer, which monitors the working power of the sweeping disc body and controls the movement of the adjustment push rod when the working power of the sweeping disc body is abnormal.

[0010] Furthermore, it also includes an alarm module, which is connected to the host computer.

[0011] Furthermore, a transition seat is detachably connected to one end of the fixed arm near the sliding seat, and the transition seat is detachably connected to the sliding seat.

[0012] Furthermore, the driving device includes a drive motor fixed on the fixed arm, and the output shaft of the drive motor is fixedly connected to the sweeping disc body.

[0013] Furthermore, an extension frame is detachably connected to the top of the fixed frame. The extension frame includes a vertical part and a horizontal part. The vertical part is detachably connected to the fixed frame. The horizontal part is integrally formed with the vertical part. The free end of the horizontal part is located near the sliding seat. A hinge pin is provided at the bottom of the horizontal part that is perpendicular to the fixed frame. The fixed end of the adjusting push rod is hinged to the hinge pin.

[0014] Furthermore, the extended end of the adjusting push rod is inserted through a hinge pin two provided with a vertical fixing frame, and the sliding seat is hinged to the hinge pin two.

[0015] Furthermore, the fixing frame is hollow inside.

[0016] Furthermore, the extension frame and the fixed frame are connected by several bolts.

[0017] Furthermore, the fixed arm is hollow inside and has several through holes on its side.

[0018] Technical Solution Two

[0019] A control method for the adaptive adjustment mechanism of the sweeping disc of a cleaning robot based on the above-mentioned technical solution 1 includes the following steps:

[0020] S1: Measure the working power of the sweeping disc body under three conditions during the rotation of the sweeping disc body: normal ground contact, suspension, and excessive ground contact, and then calibrate the corresponding ground contact working power range, suspension working power range, and excessive ground contact working power range.

[0021] S2: When the sweeping disc body is in operation, when the host computer detects that the working power of the sweeping disc body is within the calibrated suspended working power range, the host computer controls the adjustment push rod to extend, driving the sweeping disc body to press down and thus increasing the contact pressure of the sweeping disc body to the ground.

[0022] S3: When the host computer detects that the working power of the sweeping disc body increases to the calibrated ground contact working power range as the sweeping disc body is pressed down, the host computer controls the adjustment push rod to stop moving, and the sweeping disc body performs normal operation.

[0023] S4: When the host computer detects that the working power of the sweeping disc body is within the calibrated excessive ground contact working power range, the host computer controls the adjustment push rod to retract, driving the sweeping disc body to rise and thus reducing the ground contact pressure of the sweeping disc body.

[0024] S5: When the host computer detects that the working power of the sweeping disc body decreases to the calibrated ground contact working power range as the sweeping disc body rises, the host computer controls the adjustment push rod to stop moving, and the sweeping disc body performs normal operation.

[0025] S6: When the host computer controls the adjustment push rod to extend to the maximum extension stroke, and the host computer detects that the working power of the sweeping disc body is still within the calibrated suspended working power range, the host computer will issue an alarm through the alarm module.

[0026] S7: Monitor the working power of the sweeping disc body in real time through the host computer, and repeat steps S2-S6 to ensure that the working power of the sweeping disc body is always within the calibrated ground contact working power range.

[0027] Compared with the prior art, the present invention has the following features and beneficial effects:

[0028] This invention uses a host computer to monitor the wear of the sweeping brush in real time and adjust the contact state of the sweeping disc body according to its working status. This ensures cleaning effectiveness, meets daily operational needs, and guarantees unmanned automatic adjustment of the sweeping disc body throughout its entire life cycle, effectively reducing labor costs. It is highly intelligent and automated. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2 yes Figure 1 Schematic cross-sectional view along the AA direction;

[0031] Figure 3 yes Figure 2 A partial structural diagram.

[0032] The attached diagram is labeled as follows: 1. Fixed frame; 2. Slider; 3. Adjusting push rod; 4. Linear guide rail; 5. Fixed arm; 7. Sweeping disc body; 8. Transition seat; 9. Sliding seat; 10. Pin shaft; 11. Extension frame. Detailed Implementation

[0033] The present invention will now be described in more detail with reference to the embodiments.

[0034] Example 1

[0035] like Figures 1 to 3 As shown, the adaptive adjustment mechanism of the sweeping disc of the cleaning robot in this embodiment includes a fixed frame 1. An adjustment push rod 3 is hinged to the front end of the fixed frame 1. Two linear guide rails 4 are symmetrically arranged on both sides of the adjustment push rod 3 and fixed to the front end of the fixed frame 1. Slider 2 is slidably connected to both linear guide rails 4. A sliding seat 9 is fixedly connected between the two sliders 2. The sliding seat 9 is hinged to the adjustment push rod 3, and two fixed arms 5 are symmetrically fixed on both sides of the sliding seat 9. The sweeping disc body 7 is installed on the free end of the two fixed arms 5. The sweeping disc body 7 is driven to rotate by a drive device.

[0036] Specifically, the sweeping disc body 7 is driven to rotate by the drive device, thereby performing sweeping; the sliding seat 9 is adjusted up and down by adjusting the extension and retraction of the push rod 3, thereby causing the sliding seat 9 to drive the slider 2 to move along the linear guide rail, thereby realizing the up and down movement of the sweeping disc body 7, and thus adjusting the contact pressure of the sweeping disc body 7.

[0037] It also includes a host computer. The adjusting push rod 3 is electrically connected to the host computer. The host computer is used to monitor the working power of the sweeping disc body 7 and control the movement of the adjusting push rod 3 when the working power of the sweeping disc body 7 is abnormal.

[0038] Specifically, the host computer is used to detect the working power of the sweeping disc body 7. Since the contact torque of the sweeping disc body 7 is positively correlated with the degree of contact pressure of the sweeping disc body 7, and the contact torque of the sweeping disc body 7 is also positively correlated with the working power of the sweeping disc body 7, by monitoring the working power of the sweeping disc body 7 and calibrating the working power of the sweeping disc body 7 during normal operation, the host computer can detect abnormal working power of the sweeping disc body 7. Then, the controller can control the extension and retraction of the adjusting push rod 3 to control the position of the sweeping disc body 7, which can maintain the normal operation of the sweeping disc body 7, reduce the wear and tear of the sweeping disc body 7, and effectively improve the cleaning effect.

[0039] In particular, the two sweeping disc bodies 7 rotate in opposite directions.

[0040] As can be seen from the above description, the beneficial effects of the present invention are as follows: by setting up a host computer to automatically monitor the wear of the sweeping brush in real time, and adjusting the contact state of the sweeping disc body in a timely manner according to the working status of the sweeping disc body, it can not only ensure the cleaning effect and effectively meet the daily operation needs, but also ensure the unmanned automatic adjustment of the sweeping disc body throughout its entire life cycle, effectively reducing labor costs and achieving a high degree of intelligence and automation; at the same time, by setting up the sliding seat 9 and the linear guide rail 4 adapted to the sliding seat 9, the stability of the movement of the sweeping disc body 7 is effectively ensured, thereby ensuring the cleaning effect.

[0041] Furthermore, it also includes an alarm module, which is connected to the host computer.

[0042] As can be seen from the above description, by setting an alarm module, the abnormal working status of the sweeping disc body 7 set by the host computer can be effectively warned, thereby ensuring that the staff can detect it in time and ensure the cleaning effect.

[0043] Furthermore, a transition seat 8 is detachably connected to one end of the fixed arm 5 near the sliding seat 9, and the transition seat 8 is detachably connected to the sliding seat 9.

[0044] As can be seen from the above description, the setting of the transition seat 8 effectively increases the overall mechanical connection strength, and the detachable connection design makes it easy to disassemble the sweeping disc body 7 for easy replacement.

[0045] Furthermore, the drive device includes a drive motor fixed on the fixed arm 5, and the output shaft of the drive motor is fixedly connected to the sweeping disc body 7.

[0046] As can be seen from the above description, using an electric motor for drive facilitates promotion and use.

[0047] Furthermore, the top of the fixed frame 1 is detachably connected to the extension frame 11, which includes a vertical part and a horizontal part. The vertical part is detachably connected to the fixed frame 1, and the horizontal part is integrally formed with the vertical part. The free end of the horizontal part is located near the sliding seat 9, and the bottom end of the horizontal part is provided with a hinge pin that is perpendicular to the fixed frame 1. The fixed end of the adjusting push rod 3 is hinged to the hinge pin.

[0048] Furthermore, the extension end of the adjusting push rod 3 is inserted through a hinge pin two provided by the vertical fixing frame 1, and the sliding seat 9 is hinged to the hinge pin two.

[0049] Among them, hinge pin one and hinge pin two are both pin shaft 10.

[0050] As can be seen from the above description, the hinge pin facilitates hinge connection, which in turn facilitates the host computer to monitor the working power of the sweeping disc body 7.

[0051] Furthermore, the interior of the fixing frame 1 is hollow.

[0052] As can be seen from the above description, the fixing frame 1 serves as a transitional connection between the vehicle body and the sweeping disc body 7. Under the premise of ensuring the fixing frame 1, the hollow fixing frame 1 can effectively reduce the overall weight and meet the requirements of lightweighting.

[0053] Furthermore, the extension frame 11 is connected to the fixed frame 1 by several bolts.

[0054] As can be seen from the above description, bolts are standard parts, easy to install and reliable in connection, and suitable for promotion and use.

[0055] Furthermore, the fixed arm 5 is hollow inside and has several through holes on its side.

[0056] As can be seen from the above description, a lightweight design is achieved while ensuring the strength of the fixed arm 5, thereby reducing the overall weight of the device.

[0057] Example 2

[0058] A control method based on the adaptive adjustment mechanism of the sweeping disc of the cleaning robot in Embodiment 1 above includes the following steps:

[0059] S1: Measure the working power of the sweeping disc body 7 under three conditions during the rotation of the sweeping disc body 7: normal ground contact, suspension and excessive ground contact, and then calibrate the corresponding ground contact working power range, suspension working power range and excessive ground contact working power range.

[0060] S2: When the sweeping disc body 7 is in operation, when the host computer detects that the working power of the sweeping disc body 7 is within the calibrated suspended working power range, the host computer controls the adjustment push rod 3 to extend, driving the sweeping disc body 7 to press down and thus increase the contact pressure of the sweeping disc body 7.

[0061] S3: When the host computer detects that the working power of the sweeping disc body 7 increases to the calibrated ground contact working power range as the sweeping disc body 7 is pressed down, the host computer controls the adjustment push rod 3 to stop moving, and the sweeping disc body 7 performs normal operation.

[0062] S4: When the host computer detects that the working power of the sweeping disc body 7 is within the calibrated excessive ground contact working power range, the host computer controls the adjustment push rod 3 to retract, driving the sweeping disc body 7 to rise and thus reducing the ground contact pressure of the sweeping disc body 7.

[0063] S5: When the host computer detects that the working power of the sweeping disc body 7 decreases to the calibrated ground contact working power range as the sweeping disc body 7 rises, the host computer controls the adjustment push rod 3 to stop moving, and the sweeping disc body 7 performs normal operation.

[0064] S6: When the host computer controls the adjustment push rod 3 to extend to the maximum extension stroke, and the host computer detects that the working power of the sweeping disc body 7 is still within the calibrated suspended working power range, the host computer will issue an alarm through the alarm module.

[0065] S7: Monitor the working power of the sweeping disc body 7 in real time through the host computer, and repeat steps S2-S6 to ensure that the working power of the sweeping disc body 7 is always within the calibrated ground contact working power range.

[0066] The working principle of this invention is as follows: In use, the sweeping disc body 7 is rotated by the drive device to perform cleaning.

[0067] By adjusting the extension and retraction of the push rod 3, the sliding seat 9 can be moved up and down, thereby causing the sliding seat 9 to drive the slider 2 to move along the linear guide rail, thus realizing the up and down movement of the sweeping disc body 7, and thus adjusting the contact pressure of the sweeping disc body 7.

[0068] Meanwhile, the host computer is used to detect the working power of the sweeping disc body 7. Since the contact torque of the sweeping disc body 7 is positively correlated with the degree of contact pressure of the sweeping disc body 7, and the contact torque of the sweeping disc body 7 is also positively correlated with the working power of the sweeping disc body 7, by monitoring the working power of the sweeping disc body 7 by the host computer and calibrating the working power of the sweeping disc body 7 during normal operation, the host computer can detect abnormal working power of the sweeping disc body 7. Then, the controller can control the extension and retraction of the adjusting push rod 3 to control the position of the sweeping disc body 7, which can maintain the normal operation of the sweeping disc body 7, reduce the wear and tear of the sweeping disc body 7, and effectively improve the cleaning effect.

[0069] In the description of this invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A sweeping disc adaptive adjustment mechanism for a cleaning robot, characterized in that: The system includes a fixed frame (1), with an adjusting push rod (3) hinged to the front end of the fixed frame (1). Two linear guide rails (4) are symmetrically arranged on both sides of the adjusting push rod (3) and fixed to the front end of the fixed frame (1). Each of the two linear guide rails (4) is slidably connected to a slider (2). A sliding seat (9) is fixedly connected between the two sliders (2). The sliding seat (9) is hinged to the adjusting push rod (3), and two fixed arms (5) are symmetrically fixed on both sides of the sliding seat (9). A sweeping disc body (7) is installed on the free end of the two fixed arms (5). The sweeping disc body (7) is driven to rotate by a driving device. The system also includes a host computer. The adjusting push rod (3) is electrically connected to the host computer. The host computer is used to monitor the working power of the sweeping disc body (7) and control the movement of the adjusting push rod (3) when the working power of the sweeping disc body (7) is abnormal. The host computer is used to detect the working power of the sweeping disc body (7). The contact torque of the sweeping disc body (7) is positively correlated with the contact pressure of the sweeping disc body (7). The contact torque of the sweeping disc body (7) is positively correlated with the working power of the sweeping disc body (7). The host computer monitors the working power of the sweeping disc body (7) and calibrates the working power of the sweeping disc body (7) when it is working normally. If the host computer finds that the working power of the sweeping disc body (7) is abnormal, the controller controls the extension and retraction of the adjusting push rod (3) to control the position of the sweeping disc body (7) and maintain the normal operation of the sweeping disc body (7).

2. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: It also includes an alarm module, which is electrically connected to the host computer.

3. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: The fixed arm (5) is detachably connected to a transition seat (8) at one end near the sliding seat (9), and the transition seat (8) is detachably connected to the sliding seat (9).

4. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: The driving device includes a drive motor fixed on the fixed arm (5), and the output shaft of the drive motor is fixedly connected to the sweeping disc body (7).

5. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: The top of the fixed frame (1) is detachably connected to an extension frame (11). The extension frame (11) includes a vertical part and a horizontal part. The vertical part is detachably connected to the fixed frame (1). The horizontal part is integrally formed with the vertical part. The free end of the horizontal part is set near the sliding seat (9). The bottom end of the horizontal part is provided with a hinge pin set vertically to the fixed frame (1). The fixed end of the adjusting push rod (3) is hinged to the hinge pin.

6. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 5, characterized in that: The extension end of the adjusting push rod (3) is inserted through a hinge pin two provided by the vertical fixing frame (1), and the sliding seat (9) is hinged to the hinge pin two.

7. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: The fixing frame (1) is hollow inside.

8. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 5, characterized in that: The extension frame (11) and the fixed frame (1) are connected by several bolts.

9. The adaptive adjustment mechanism for the sweeping disc of a cleaning robot according to claim 1, characterized in that: The fixed arm (5) is hollow inside and has several through holes on its side.

10. A control method based on the adaptive adjustment mechanism of the sweeping disc of a cleaning robot according to any one of claims 1-9, characterized in that: Includes the following steps: S1: Measure the working power of the sweeping disc body (7) under three conditions during the rotation of the sweeping disc body (7): normal contact with the ground, suspension, and excessive contact with the ground. Then calibrate the corresponding working power range for contact with the ground, suspension, and excessive contact with the ground. S2: When the sweeping body (7) is working, when the host computer detects that the working power of the sweeping body (7) is within the calibrated suspended working power range, the host computer controls the adjustment push rod (3) to extend, driving the sweeping body (7) to press down and thus increase the contact pressure of the sweeping body (7). S3: When the host computer detects that the working power of the sweeping disc body (7) increases to the calibrated ground contact working power range as the sweeping disc body (7) is pressed down, the host computer controls the adjustment push rod (3) to stop the action, and the sweeping disc body (7) performs normal operation. S4: When the host computer detects that the working power of the sweeping disc body (7) is within the calibrated excessive ground contact working power range, the host computer controls the adjustment push rod (3) to retract, driving the sweeping disc body (7) to rise and thus reducing the ground contact pressure of the sweeping disc body (7); S5: When the host computer detects that the working power of the sweeping disc body (7) decreases to the calibrated ground contact working power range as the sweeping disc body (7) rises, the host computer controls the adjustment push rod (3) to stop moving, and the sweeping disc body (7) performs normal operation. S6: When the host computer controls the adjustment push rod (3) to extend to the maximum extension stroke, and the host computer detects that the working power of the sweeping disc body (7) is still within the calibrated suspended working power range, the host computer will issue an alarm through the alarm module. S7: Monitor the working power of the sweeping disc body (7) in real time through the host computer, and repeat steps S2-S6 to ensure that the working power of the sweeping disc body (7) is always within the calibrated ground contact working power range.

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