Follow-up mechanism and cleaning module test tool

Abstract

The invention relates to the technical field of cleaning robot testing, in particular to a follow-up mechanism and a cleaning module testing tool using the follow-up mechanism, and the follow-up mechanism comprises a power input part, a power output part and a follow-up connecting assembly connected between the power input part and the power output part. The power input part is used for being connected with a cleaning end of an external cleaning module, and the power output part is used for being in driving connection with an external loading piece so as to simulate a load of the cleaning end of the external cleaning module; when an external cleaning module drives the mounting part to ascend, descend and / or swing, the power output part and the power input part are in transmission connection, and meanwhile movement of the cleaning end of the cleaning module is not interfered. According to the follow-up mechanism and the cleaning module testing tool using the follow-up mechanism, the follow-up connecting assembly which telescopically slides is utilized by the follow-up mechanism, and the cleaning module is allowed to freely ascend, descend or swing while a simulated load test is achieved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot testing technology, specifically to a follow-up mechanism and a cleaning module testing fixture using the mechanism. Background Technology

[0002] With the popularization of smart homes, the functions of cleaning devices such as robot vacuums and mops are becoming increasingly complex. In order to improve cleaning results, modern cleaning modules (such as rotating mop mechanisms) usually have multiple degrees of freedom of movement: in addition to basic rotation and wiping, they also have the function of automatically lifting when encountering carpets and swinging outward when cleaning along the edges.

[0003] When performing performance tests (such as torque tests and life tests) on these cleaning modules, a certain load needs to be applied to simulate real ground friction. However, existing testing equipment typically uses a fixed connection method to connect the load loading device to the cleaning module. This rigid or fixed connection inevitably leads to motion interference. When the cleaning module attempts to perform lifting or swinging movements, the fixed test load mechanism restricts its movement, causing the cleaning module to jam, malfunction, or even be damaged. This makes it impossible for the testing equipment to accurately monitor the performance parameters of the cleaning module during dynamic adjustments, and it cannot truly reproduce the operating state of the equipment under complex working conditions.

[0004] Therefore, how to design a follow-up connection mechanism that can stably transmit the load, adapt to the lifting and swinging displacement of the cleaning module in space, and not interfere with each other is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the present invention aims to provide a follow-up mechanism and a cleaning module test fixture using the mechanism. The mechanism utilizes a telescopic sliding follow-up connection component to allow the cleaning module to freely rise, fall or swing while simulating load testing.

[0006] This invention is achieved through the following technical solution: A follow-up mechanism includes a power input section, a power output section, and a follow-up connection assembly connecting the power input section and the power output section. The power input section is used for connecting to the cleaning end of an external cleaning module, and the power output section is used for driving connection with an external loading component to simulate the load on the cleaning end of the external cleaning module. When the external cleaning module drives the mounting part to move up and down and / or swing, the transmission connection between the power output part and the power input part does not interfere with the movement of the cleaning end of the cleaning module.

[0007] The follower connection component is a telescopic structure, and its two ends are movably or rotatably connected to the power input part and the power output part, respectively.

[0008] The follow-up connection assembly includes a first movable member, a connecting post, and a second movable member. The two ends of the connecting post are slidably connected to one end of the first movable member and one end of the second movable member, respectively. The other end of the first movable member is movably connected to the power input part, and the other end of the second movable member is movably connected to the power output part.

[0009] The other end of the first movable member is rotatably connected to the power input part, and the other end of the second movable member is rotatably connected to the power output part.

[0010] Wherein, the axial direction of the first movable part is parallel to or located on the same straight line as the axial direction of the second movable part; The connecting column is slidably connected to the first movable member and the second movable member along the axial direction of the first movable member.

[0011] The two ends of the connecting post are respectively inserted into the first movable member and the second movable member to achieve a sliding connection.

[0012] The connecting column is connected to sliding columns at both ends. The first movable component is provided with a first limiting hole parallel to the axis of the connecting column, and the second movable component is provided with a second limiting hole parallel to the axis of the connecting column. The sliding columns are slidably embedded in the first limiting hole and the second limiting hole respectively to realize that the two ends of the connecting column are respectively inserted and slidably connected to the first movable component and the second movable component.

[0013] In addition, the present invention also discloses a cleaning module testing fixture, which includes a clamping mechanism, a loading component, a detection mechanism, and a follow-up mechanism as described above. The clamping mechanism is used to install an external cleaning module, the detection mechanism is used to detect the working parameters of the cleaning module installed on the clamping mechanism during testing, and the loading component acts on the power output part to simulate the load of the cleaning module.

[0014] The detection mechanism includes a rotary encoder, a height sensor, a swing-in sensor, a swing-out sensor, and a Hall element. The input end of the rotary encoder is connected to the center of the bottom end of the loading member. The height sensor is located on one side of the follow-up mechanism. The Hall element, the swing-in sensor, and the swing-out sensor are respectively located on one side of the clamping mechanism.

[0015] The input end of the rotary encoder is connected to the center of the bottom end of the loading component.

[0016] The beneficial effects of this invention are: This invention discloses a follow-up mechanism and a testing fixture for a cleaning module. By setting a follow-up connection component with telescopic and movable connection functions, the rotational motion of the cleaning module is effectively decoupled from its spatial displacement. No matter how the module moves up and down or swings left and right, the power input unit can follow the module's movement. The telescopic structure compensates for distance changes, ensuring that the test load is always stably applied. This eliminates the interference of the testing equipment on the motion of the product under test, and can realistically reproduce the actual working conditions of the sweeping robot on complex ground, improving the accuracy and reference value of the test data. At the same time, in conjunction with the detection mechanism, it can simultaneously detect parameters of multiple simulated working conditions, realizing comprehensive performance evaluation. Attached Figure Description

[0017] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a cleaning module testing fixture in one embodiment of the present invention.

[0019] Figure 2 This is a partial structural schematic diagram of the cleaning module testing fixture in one embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the follower mechanism in one embodiment of the present invention.

[0021] Figure Labels Follow-up mechanism--100, power input section--101, power output section--102, first moving member--104, connecting column--105, second moving member--106, sliding column--107, first limiting hole--108, second limiting hole--109 Clamping mechanism--200, loading element--300, detection mechanism--400, rotary encoder--401, height sensor--402, Hall element--403, swing-out sensor--404, swing-in sensor--405. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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 limitations on this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] Example 1 like Figure 3 As shown, this embodiment discloses a follower mechanism 100, which includes a power input section 101, a power output section 102, and a follower connection assembly connecting the two. The power input section 101 (e.g., a connecting plate or chuck) is designed to connect to the cleaning end of an external cleaning module (e.g., the rotating mop bracket of a sweeper). The power output section 102 is used for a drive connection to an external loading member 300 (e.g., a magnetic powder brake or a damping motor). The loading member 300 provides a reverse torque to simulate the load of the mop when it rubs against the ground.

[0026] The core of this embodiment lies in the follow-up mechanism. The follow-up connection component is configured such that when the external cleaning module drives the power input part 101 to move up and down (Z-axis movement) and / or swing (XY plane movement), although the position of the power output part 102 is fixed, the two still maintain a torque transmission connection, and the follow-up mechanism 100 itself deforms to adapt to the displacement, so as not to interfere with the movement of the cleaning end of the cleaning module.

[0027] In terms of specific structure, the follower connection assembly is a telescopic structure, and its two ends are movably or rotatably connected to the power input part 101 and the power output part 102 respectively (e.g., using a universal joint or hinge connection). As a preferred embodiment, the follower connection assembly includes a first movable member 104, a connecting post 105, and a second movable member 106. The connecting post 105 serves as an intermediate transmission medium, and its two ends are slidably connected to one end of the first movable member 104 and one end of the second movable member 106 respectively. The other end of the first movable member 104 is movably connected to the power input part 101, and the other end of the second movable member 106 is movably connected to the power output part 102, preferably rotatably connected.

[0028] To ensure smooth transmission, the axial direction of the first movable member 104 is parallel to or on the same straight line as the axial direction of the second movable member 106. The connecting post 105 is slidably connected to both the first movable member 104 and the second movable member 106 along the axial direction of the first movable member 104. Preferably, both ends of the connecting post 105 are inserted into the first movable member 104 and the second movable member 106 respectively (or vice versa) to achieve a plug-in sliding connection.

[0029] Specifically, each end of the connecting post 105 is connected to a sliding post 107. The first movable member 104 is provided with a first limiting hole 108 parallel to the axial direction of the connecting post 105, and the second movable member 106 is provided with a second limiting hole 109 parallel to the axial direction of the connecting post 105. The sliding post 107 is slidably embedded in the first limiting hole 108 and the second limiting hole 109 respectively to achieve a sliding connection between the two ends of the connecting post 105 and the first movable member 104 and the second movable member 106. Through the sliding post 107, the first limiting hole 108, and the second limiting hole 109, no relative rotation is achieved between the connecting post 105 and the first movable member 104 and the second movable member 106.

[0030] This bidirectional plug-in structure provides a large extension stroke. When the cleaning module is raised, the connecting post 105 slides within the moving part, changing the total length of the component, thereby absorbing Z-axis displacement.

[0031] Example 2 like Figure 1 and Figure 2 As shown, this embodiment discloses a cleaning module testing fixture, which includes a clamping mechanism 200, a loading member 300, a detection mechanism 400, and a follower mechanism 100 as described in Embodiment 1. The clamping mechanism 200 is used to fix the main body of the entire cleaning module (such as the swing arm of a robot). The loading member 300 (such as a servo motor) acts on the power output unit 102, and the follower mechanism 100 applies a precise load torque to the cleaning module.

[0032] The testing mechanism 400 is used for comprehensive testing of working parameters, specifically including: Rotary encoder 401: Its input end is connected to the bottom center of the loading member 300 (or the power output part) to monitor the rotation speed of the cleaning module in real time and determine whether it stalls under load.

[0033] A height sensor 402 (such as a laser displacement sensor) is located on one side of the follow-up mechanism 100 and is used to detect the lifting height of the module.

[0034] The in-swing sensor 405 and the out-swing sensor 404 are located on one side of the clamping mechanism 200, respectively, and are used to detect whether the module has successfully completed the outward swing action during edge cleaning.

[0035] The Hall element 403 is located on one side of the clamping mechanism 200 and is used to detect the magnetic pole position or commutation of the motor inside the module.

[0036] With this fixture, testers can continuously apply a constant load while the cleaning module rotates, repeatedly rises and falls, and swings dynamically, and record the speed fluctuations and positional accuracy, thereby verifying the mechanical reliability of the robot cleaning module and the stability of the control algorithm.

[0037] It should be noted that the structure and principle of the clamping mechanism 200 in this embodiment are existing technologies and will not be described in detail here.

[0038] Compared with the prior art, the present invention has at least the following advantages: Motion decoupling: Effectively decouples the rotational motion of the cleaning module (used for torque testing) from its spatial displacement (lifting / swinging). Regardless of how the module moves up and down or swings left and right, the power input unit follows the module's movement and compensates for distance changes through a telescopic structure, ensuring that the test load is always applied stably.

[0039] Realistic simulation: It eliminates the interference of the testing equipment on the movement of the product under test, and can realistically reproduce the actual working conditions of the robot vacuum cleaner on complex surfaces (such as carpet edges and corners), thus improving the accuracy and reference value of the test data.

[0040] Multi-parameter monitoring: When used in conjunction with a testing organization, it can simultaneously monitor factors such as rotational speed, height changes, and swing position, enabling comprehensive performance evaluation.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A follower mechanism, characterized in that, It includes a power input unit (101), a power output unit (102), and a follower connection assembly connecting the power input unit (101) and the power output unit (102). The power input unit (101) is used for connecting to the cleaning end of an external cleaning module, and the power output unit (102) is used to act on an external loading member (300) to simulate the load of the cleaning end of the external cleaning module. When the external cleaning module drives the mounting part to move up and down and / or swing, the transmission connection between the power output part (102) and the power input part (101) does not interfere with the movement of the cleaning end of the cleaning module.

2. The follower mechanism according to claim 1, characterized in that, The follower connection assembly is a telescopic structure, and its two ends are movably or rotatably connected to the power input part (101) and the power output part (102), respectively.

3. The follower mechanism according to claim 2, characterized in that, The follow-up connection assembly includes a first movable member (104), a connecting post (105), and a second movable member (106). The two ends of the connecting post (105) are slidably connected to one end of the first movable member (104) and one end of the second movable member (106), respectively. The other end of the first movable member (104) is movably connected to the power input part (101), and the other end of the second movable member (106) is movably connected to the power output part (102).

4. The follower mechanism according to claim 3, characterized in that, The other end of the first movable member (104) is rotatably connected to the power input part (101), and the other end of the second movable member (106) is rotatably connected to the power output part (102).

5. A follower mechanism according to claim 3, characterized in that, The axial direction of the first movable member (104) is parallel to or on the same straight line as the axial direction of the second movable member (106); The connecting column (105) is slidably connected to the first movable member (104) and the second movable member (106) along the axial direction of the first movable member (104).

6. A follower mechanism according to claim 5, characterized in that, The two ends of the connecting post (105) are respectively inserted into the first movable member (104) and the second movable member (106) to achieve a plug-in sliding connection.

7. A follower mechanism according to claim 6, characterized in that, The two ends of the connecting column (105) are respectively connected to sliding columns (107). The first movable member (104) is provided with a first limiting hole (108) parallel to the axis of the connecting column (105). The second movable member (106) is provided with a second limiting hole (109) parallel to the axis of the connecting column (105). The sliding column (107) is slidably embedded in the first limiting hole (108) and the second limiting hole (109) respectively to realize the two ends of the connecting column (105) being inserted and slidably connected to the first movable member (104) and the second movable member (106) respectively.

8. A cleaning module testing fixture, characterized in that, The device includes a clamping mechanism (200), a loading element (300), a detection mechanism (400), and a follow-up mechanism (100) as described in any one of claims 1-7. The clamping mechanism (200) is used to install an external cleaning module, the detection mechanism (400) is used to detect the working parameters of the cleaning module installed on the clamping mechanism (200) during testing, and the loading element (300) acts on the power output unit (102) to simulate the load of the cleaning module.

9. A cleaning module testing fixture according to claim 8, characterized in that, The detection mechanism (400) includes a rotary encoder (401), a height sensor (402), a swing-in sensor (405), a swing-out sensor (404), and a Hall element (403). The input end of the rotary encoder (401) is connected to the bottom center of the loading member (300), the height sensor (402) is located on one side of the follower mechanism (100), and the Hall element (403), the swing-in sensor (405) and the swing-out sensor (404) are respectively located on one side of the clamping mechanism (200).

10. A cleaning module testing fixture according to claim 9, characterized in that, The input end of the rotary encoder (401) is connected to the bottom center of the loading member (300).

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