Fixing mechanism of cleaning robot and cleaning robot

Abstract

The utility model discloses a cleaning robot fixing mechanism and a cleaning robot, the cleaning robot fixing mechanism comprises a vehicle body, the vehicle body comprises a bottom plate and side plates arranged on two sides of the bottom plate, and the side plates are connected with a walking mechanism used for driving the vehicle body to walk; the rotating arms can be allowed to rotate relative to the side plates, the rotating arms comprise two sets, one set of rotating arms is located on the side plate on one side, and the other set of rotating arms is located on the side plate on the other side; the driving mechanism is in driving connection with the rotating arm and can be used for driving the rotating arm to rotate; and the sucking disc mechanism is positioned at the tail end of the rotating arm and at least comprises a sucking disc. Wherein the suction cup is allowed to be connected with a negative pressure source, and the negative pressure source is allowed to generate adsorption force at the suction cup. The problem that an existing cleaning robot is poor in cleaning effect due to insufficient stability in the using process can be effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a fixing mechanism of a cleaning robot and the cleaning robot. Background Art

[0002] With the development of social economy, scientific and technological progress, and people's demand for improving the quality of life, it is necessary to deal with some environments or places that are not suitable for manual cleaning. For example, for some places with high temperature, high pressure, strong radiation, high risk or large area, manual cleaning is not only inefficient, but also may pose safety risks. Therefore, an automated equipment that can work in these extreme environments is needed. This type of cleaning robot needs to be highly intelligent and autonomous to adapt to various complex environments and tasks.

[0003] At present, cleaning robots for complex sites usually need to work in extreme environments, and their power systems and cleaning methods have high efficiency and stability requirements. In the actual cleaning process, existing cleaning robots usually use their own weight to ensure the stability of the body. In some smooth places, there will be slippage, resulting in the cleaning robot body being not stable enough during the actual cleaning process, resulting in poor cleaning effect. Utility Model Content

[0004] In view of the above shortcomings of the prior art, the purpose of the utility model is to disclose a fixing mechanism of a cleaning robot and a cleaning robot, so as to improve the problem that the existing cleaning robots are insufficiently stable during use, resulting in poor cleaning effects.

[0005] To achieve the above-mentioned purpose and other related purposes, the utility model discloses a fixing mechanism of a cleaning robot, which includes: a body, which includes a bottom plate and side plates arranged on both sides of the bottom plate, and the side plates are connected with a walking mechanism for driving the body to walk; a plurality of rotating arms, the rotating arms are allowed to rotate relative to the side plates, and the plurality of rotating arms include two groups, one group is located on the side plate on one side, and the other group is located on the side plate on the other side; a driving mechanism, which is connected to the rotating arms and can be used to drive the rotating arms to rotate; and a suction cup mechanism, which is located at the end of the rotating arm and includes at least one suction cup; wherein a negative pressure source can be connected to the suction cup, and the negative pressure source can generate adsorption force at the suction cup.

[0006] In one embodiment of the utility model, the walking mechanism includes: two parallel rotating shafts, the rotating shafts are rotatably connected between the two side plates, and the ends of the rotating shafts protrude from the outer sides of the side plates; a driving roller, which is detachably fixedly connected to the ends of the rotating shafts; and a driving motor, which is drivingly connected to any one of the rotating shafts; wherein the two rotating shafts are connected via a belt drive.

[0007] In one embodiment of the utility model, the driving mechanism includes: a rotating shaft, fixedly connected to the rotating arm, and the rotating shaft is rotatably arranged on the side plate; and a rotating motor, located inside the vehicle body and fixedly connected to the side plate; wherein the rotating motor and the rotating shaft are drivingly connected.

[0008] In one embodiment of the utility model, the driving mechanism includes: a rotating shaft, fixedly connected to the rotating arm, and the rotating shaft is rotatably arranged on the driving roller; and a rotating motor, located inside the vehicle body and fixedly connected to the side panel; wherein the rotating motor and the rotating shaft are drivenly connected.

[0009] In one embodiment of the utility model, the rotating shaft is coaxially arranged with the rotating shaft, the axis of the rotating shaft is hollow, and the rotating shaft is located at the axis of the rotating shaft.

[0010] In one embodiment of the utility model, a first gear is fixedly connected to the end of the rotating shaft, and a second gear is fixedly connected to the main shaft of the rotating motor; wherein the first gear is meshed with the second gear.

[0011] In one embodiment of the utility model, the two groups of rotating arms are symmetrically arranged along the center line of the vehicle body.

[0012] In one embodiment of the present invention, the suction cup mechanism further comprises a shell, the shell is hinged to the end of the rotating arm, and comprises an opening on the shell; wherein the suction cup is located in the opening.

[0013] The utility model also discloses a cleaning robot comprising any one of the fixing mechanisms of the cleaning robots described above.

[0014] In summary, the utility model provides a fixing mechanism of a cleaning robot and a cleaning robot. During the cleaning process of the cleaning robot, the rotating arm is rotated so that the suction cup is adsorbed to the ground or a fixed surface, thereby ensuring the stability of the cleaning robot during operation. At the same time, multiple rotating arms work independently and can be applied to horizontal adsorption surfaces or inclined adsorption surfaces. By providing an elastic member between the suction cup and the shell, the device can also be applied to uneven adsorption surfaces. This can effectively improve the problem of poor cleaning effect caused by insufficient stability of existing cleaning robots during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 This is a schematic structural diagram of a cleaning robot in one embodiment of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of a cleaning robot in one embodiment of the utility model after the upper cover is hidden;

[0018] Figure 3 This is a schematic diagram of the structure of a cleaning robot according to an embodiment of the utility model, viewed from above with the upper cover hidden;

[0019] Figure 4 It is a schematic diagram of a rotating arm of a fixing mechanism of a cleaning robot in one embodiment of the utility model;

[0020] Figure 5 The figure is a schematic diagram of a driving mechanism of a fixing mechanism of a cleaning robot according to the utility model in one embodiment.

[0021] Component number description

[0022] 100, vehicle body; 110, bottom plate; 120, side plate;

[0023] 200, walking mechanism; 210, rotating shaft; 220, driving roller; 230, driving motor;

[0024] 300, rotating arm;

[0025] 310, driving mechanism; 311, rotating shaft; 312, rotating motor; 313, first gear; 314, second gear;

[0026] 320. Suction cup mechanism; 321. Suction cup; 322. Shell; 3220. Opening.

[0027] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] See also Figures 1 to 5 It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions for the implementation of the utility model, so they have no substantive technical significance. Any modification of the structure, change in the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model.

[0031] See also Figures 1 to 5 The utility model discloses a cleaning robot, which is connected with a fixing mechanism of the cleaning robot. The fixing mechanism of the cleaning robot can improve the problem that the existing cleaning robot is not stable enough during use, resulting in poor cleaning effect.

[0032] Specifically, the fixing mechanism of the cleaning robot may include a vehicle body 100, a rotating arm 300, a driving mechanism 310, and a suction cup mechanism 320. The rotating arm 300 and the driving mechanism 310 are connected to the vehicle body 100, and the suction cup mechanism 320 is connected to the rotating arm 300. Therefore, the vehicle body 100 may be driven to move by the driving mechanism 310, and the vehicle body 100 may be fixed by the coordinated action of the rotating arm 300 and the suction cup mechanism 320.

[0033] Further, the vehicle body 100 includes a bottom plate 110 and side plates 120 disposed on both sides of the bottom plate 110, and the two side plates 120 are disposed in parallel. The side plates 120 and the bottom plate 110 are fixedly connected, and the side plates 120 and the bottom plate 110 can be vertically disposed. An upper cover is also allowed to be connected to the top of the two side plates 120, and a cleaning mechanism is connected to the upper cover. Therefore, the outer shell structure of the cleaning robot can be constructed by the side plates 120, the bottom plate 110 and the upper cover.

[0034] The traveling mechanism 200 is connected to the side plate 120 so as to drive the vehicle body 100 to move.

[0035] In some embodiments, the walking mechanism 200 includes two parallel rotating shafts 210, a driving roller 220, and a driving motor 230. The rotating shaft 210 is rotatably connected between the two side plates 120, and the end of the rotating shaft 210 protrudes from the outside of the side plate 120. Therefore, the driving roller 220 can be detachably fixedly connected to the end of the rotating shaft 210. The driving motor 230 is drivingly connected to any rotating shaft 210, and the driving motor 230 drives the rotating shaft 210 and the driving roller 220 located on the rotating shaft 210 to rotate, and further drives the vehicle body 100 to move.

[0036] It is understandable that a transmission member is provided between the two rotating shafts 210, and the transmission member is used to achieve synchronous operation between the two rotating shafts 210. For example, in one embodiment, a belt transmission may be allowed between the two rotating shafts 210. However, it is not limited thereto and may be determined according to actual needs.

[0037] In some embodiments, the rotating arm 300 can be allowed to rotate relative to the side panel 120. Specifically, a plurality of rotating arms 300 are provided, and the plurality of rotating arms 300 are divided into two groups. One group is located on the side panel 120 on one side, and the other group is located on the side panel 120 on the other side. The two groups of rotating arms 300 are symmetrically arranged along the center line of the vehicle body 100 to improve the use effect of the device in actual use.

[0038] It should be noted that the driving mechanism 310 is connected to the rotating arm 300 to drive the rotating arm 300 to rotate.

[0039] For example, in one embodiment, the driving mechanism 310 may include a rotating shaft 311 and a rotating motor 312. The rotating shaft 311 is fixedly connected to the rotating arm 300, and the rotating shaft 311 is rotatably arranged on the side plate 120. The rotating motor 312 is located inside the vehicle body 100 and is fixedly connected to the side plate 120. The rotating motor 312 is drivingly connected to the rotating shaft 311. Alternatively, in one embodiment, the rotating shaft 311 may be rotatably arranged on the driving roller 220.

[0040] It should be noted that when the rotating shaft 311 is rotatably disposed on the driving roller 220, the rotating shaft 311 is coaxially disposed with the rotating shaft 210, the axis of the rotating shaft 210 is hollow, and the rotating shaft 311 is located at the axis of the rotating shaft 210. At this time, the rotating shaft 210 and the rotating shaft 311 are both connected to their respective power sources. That is, each rotating shaft 311 is connected to a rotating motor 312 to drive the rotating shaft 311 to rotate through the rotating motor 312. At the same time, each rotating shaft 210 is connected to a driving motor 230 to drive the rotating shaft 210 to rotate through the driving mechanism 310.

[0041] Furthermore, the transmission mode between the rotating motor 312 and the rotating shaft 311 can be determined according to the requirements. For example, a first gear 313 can be fixedly connected to the end of the rotating shaft 311, and a second gear 314 can be fixedly connected to the main shaft of the rotating motor 312, and the first gear 313 and the second gear 314 are meshed. The first gear 313 and the second gear 314 can be bevel gears or spur gears.

[0042] In some embodiments, the suction cup mechanism 320 is located at the end of the rotating arm 300, and includes at least one suction cup 321. The suction cup 321 may be connected to a negative pressure source, and the negative pressure source may generate an adsorption force at the suction cup 321. Therefore, during the cleaning process of the cleaning robot, the suction cup 321 may be allowed to be adsorbed to the ground or a fixed surface to improve the stability of the cleaning robot during the working process.

[0043] Furthermore, in order to improve the adsorption effect of the suction cup 321 during the actual use of the device, the suction cup mechanism 320 is also allowed to include a shell 322, the shell 322 is hinged to the end of the rotating arm 300, and includes an opening 3220 on the shell 322. Among them, the suction cup 321 is located in the opening 3220. Specifically, it is allowed to be provided with an elastic telescopic rod in the shell 322, the telescopic rod includes a fixed part and a sliding part, and a spring is provided between the fixed part and the sliding part. It can be understood that the suction cup 321 is fixedly connected to the sliding part. Therefore, in the actual adsorption process of the suction cup 321, under the pressure of the rotating arm 300, it is allowed to compress the spring to increase the pressure between the suction cup 321 and the adsorption surface, thereby improving the adsorption effect.

[0044] In summary, the utility model provides a fixing mechanism of a cleaning robot and a cleaning robot. During the cleaning process of the cleaning robot, the rotating arm 300 is rotated so that the suction cup 321 is adsorbed to the ground or a fixed surface, thereby ensuring the stability of the cleaning robot during the working process. At the same time, multiple rotating arms 300 work independently and can be applied to a horizontal adsorption surface or an inclined adsorption surface. By means of an elastic member between the suction cup 321 and the shell 322, the device can also be applied to an uneven adsorption surface. It has measures such as preventing tipping over, adapting to dangerous sites, enhancing stability, reducing maintenance costs and improving energy efficiency, and the convenience of automated operation.

[0045] Therefore, the problem that the existing cleaning robot has insufficient stability during use, resulting in poor cleaning effect, can be effectively improved. Therefore, the utility model effectively overcomes some practical problems in the prior art and has high utilization value and use significance.

[0046] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A fixing mechanism for a cleaning robot, characterized in that: include: A vehicle body (100) comprises a bottom plate (110) and side plates (120) arranged on both sides of the bottom plate (110), wherein a walking mechanism (200) for driving the vehicle body (100) to walk is connected to the side plates (120); A plurality of rotating arms (300), wherein the rotating arms (300) are allowed to rotate relative to the side plate (120), and the plurality of rotating arms (300) include two groups, one group is located on the side plate (120) on one side, and the other group is located on the side plate (120) on the other side; A driving mechanism (310) is drivingly connected to the rotating arm (300) and can be used to drive the rotating arm (300) to rotate; as well as A suction cup mechanism (320), which is located at the end of the rotating arm (300) and includes at least one suction cup (321); The suction cup (321) may be connected to a negative pressure source, and the negative pressure source may generate an adsorption force at the suction cup (321).

2. The fixing mechanism of the cleaning robot according to claim 1, characterized in that: The walking mechanism (200) comprises: Two rotating shafts (210) arranged in parallel, the rotating shafts (210) being rotatably connected between the two side plates (120), and ends of the rotating shafts (210) protruding from the outer sides of the side plates (120); a driving roller (220) detachably fixedly connected to the end of the rotating shaft (210); and A driving motor (230) drivingly connected to any one of the rotating shafts (210); Wherein, the two rotating shafts (210) are connected via a belt transmission.

3. The fixing mechanism of the cleaning robot according to claim 1, characterized in that: The driving mechanism (310) comprises: A rotating shaft (311) is fixedly connected to the rotating arm (300), and the rotating shaft (311) is rotatably disposed on the side plate (120); and A rotating motor (312) is located inside the vehicle body (100) and is fixedly connected to the side plate (120); Wherein, the rotating motor (312) and the rotating shaft (311) are drivingly connected.

4. The fixing mechanism of the cleaning robot according to claim 2, characterized in that: The driving mechanism (310) comprises: A rotating shaft (311) is fixedly connected to the rotating arm (300), and the rotating shaft (311) is rotatably disposed on the driving roller (220); and A rotating motor (312) is located inside the vehicle body (100) and is fixedly connected to the side plate (120); Wherein, the rotating motor (312) and the rotating shaft (311) are drivingly connected.

5. The fixing mechanism of the cleaning robot according to claim 4, characterized in that: The rotating shaft (311) is coaxially arranged with the rotating shaft (210), the axis of the rotating shaft (210) is hollow, and the rotating shaft (311) is located at the axis of the rotating shaft (210).

6. The fixing mechanism of the cleaning robot according to claim 3 or 4, characterized in that: A first gear (313) is fixedly connected to the end of the rotating shaft (311), and a second gear (314) is fixedly connected to the main shaft of the rotating motor (312); Wherein, the first gear (313) and the second gear (314) are meshed.

7. The fixing mechanism of the cleaning robot according to claim 1, characterized in that: The two groups of rotating arms (300) are symmetrically arranged along the center line of the vehicle body (100).

8. The fixing mechanism of the cleaning robot according to claim 1, characterized in that: The suction cup mechanism (320) further comprises a shell (322), wherein the shell (322) is hinged to the end of the rotating arm (300), and comprises an opening (3220) on the shell (322); Wherein, the suction cup (321) is located in the opening (3220).

9. A cleaning robot, characterized in that: A fixing mechanism for a cleaning robot comprising any one of claims 1 to 8.

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