Rotating speed control type linear action execution device and cleaning equipment

Abstract

The utility model discloses a rotating speed control type linear action executing device which comprises a shell, a damping cylinder is arranged at the top of the shell, a rotatable driving sliding sleeve is arranged at the bottom of the shell, an impeller shaft extending vertically is arranged between the damping cylinder and the driving sliding sleeve, and a rotating shaft is arranged on the impeller shaft. The top end of the impeller shaft extends into the damping cylinder and is provided with an impeller, and a fluid medium is arranged in the damping cylinder; the bottom end of the impeller shaft extends into the driving sliding sleeve, and the driving sliding sleeve can sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder, so that the impeller can stir the fluid medium; an elastic piece is arranged on the impeller shaft, and blades of the impeller are spiral. The utility model further discloses cleaning equipment. The impeller is reasonable in structural design, the rotating speed of the impeller shaft and the axial displacement of the impeller shaft can be in linear relation, and different displacements can be obtained at different rotating speeds.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a speed-controlled linear motion execution device and cleaning equipment. Background Art

[0002] In the field of indoor cleaning robot technology, in order to improve the integration of robots and reduce costs, it is often necessary to implement different actions according to the rotation speed of a certain transmission shaft without adding electrical drive components. For example, when the working shaft rotates, the lifting sleeve action is performed, and when the working shaft stops rotating, the reset sleeve action is performed, thereby realizing the linkage of certain actions with the working shaft. For another example, when the working shaft rotates at a low speed, action one is performed, when it rotates at a high speed, action two is performed, when it stops rotating, action three is performed, and so on. Specifically in the field of cleaning robots, a speed-controlled linear motion device is needed to link the rotation of the cleaning brush or cleaning disc with its lifting action, so that the cleaning brush or cleaning disc automatically descends when it rotates at the working speed and automatically lifts when it stops rotating. Utility Model Content

[0003] The purpose of the utility model is to provide a speed-controlled linear motion execution device and a cleaning device, so as to realize the execution of different actions according to the speed of a certain transmission shaft without adding electrical drive components.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present utility model provides a speed-controlled linear motion actuator, including a shell, a damping cylinder is provided at the top of the shell, a rotatable driving sleeve is provided at the bottom of the shell, a vertically extending impeller shaft is provided between the damping cylinder and the driving sleeve, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and a fluid medium is provided inside the damping cylinder; the bottom end of the impeller shaft extends into the interior of the driving sleeve, and the driving sleeve can drive the impeller shaft and the impeller to rotate relative to the damping cylinder in turn so that the impeller can stir the fluid medium; the top end of the impeller shaft is axially slidingly matched with the damping cylinder, and the bottom end of the impeller shaft is axially slidingly matched with the driving sleeve, an elastic member is provided on the impeller shaft, and the blades of the impeller are spiral-shaped, so that when the speed of the driving sleeve changes, the cooperation between the impeller and the elastic member can realize axial linear motion of the impeller shaft relative to the damping cylinder and the driving sleeve.

[0005] Furthermore, one end of the elastic member acts on the impeller or the impeller shaft, and the other end of the elastic member acts on the driving sleeve or the housing. The elastic member can be used to apply axial elastic force to the impeller shaft.

[0006] Furthermore, the elastic member is located inside the driving sleeve, the top end of the elastic member acts on the driving sleeve, and the bottom end of the elastic member acts on the impeller shaft.

[0007] Furthermore, a cylinder is provided at the bottom end of the impeller shaft, the diameter of the cylinder is larger than the diameter of the impeller shaft, and the bottom end of the elastic member acts on the cylinder.

[0008] Furthermore, the outer circumference of the cylinder is provided with a plurality of sliding keys, the inner wall of the driving sleeve is provided with a plurality of sliding grooves, and the plurality of sliding keys are respectively axially slidably matched with the plurality of sliding grooves.

[0009] Furthermore, the damping cylinder has a cylindrical inner cavity, and the impeller shaft, the impeller and the cylindrical inner cavity of the damping cylinder are coaxially arranged; the elastic member is a spring, and the spring is sleeved on the impeller shaft.

[0010] Furthermore, an opening is provided at the bottom of the driving sleeve, and the bottom end of the impeller shaft can pass through the opening; a vertical hole is provided at the top end of the damping cylinder, and the top end of the impeller shaft is axially slidably engaged with the vertical hole.

[0011] Furthermore, the fluid medium is any one of air, oil, grease, and water.

[0012] Furthermore, the damping cylinder is fixed to the inner top surface of the shell, the bottom wall of the shell is provided with a rotation hole, and the driving sleeve is rotatably assembled in the rotation hole.

[0013] The present utility model also provides a cleaning device, comprising a cleaning device body, and also comprising a speed-controlled linear motion execution device as described in any of the above technical solutions, wherein the speed-controlled linear motion execution device is mounted on the cleaning device body.

[0014] In summary, the technical solution of the present invention has the following beneficial effects: the structural design of the present invention is reasonable, (1) by including a shell, a damping cylinder is provided on the top of the shell, a rotatable driving sleeve is provided on the bottom of the shell, a vertically extending impeller shaft is provided between the damping cylinder and the driving sleeve, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and the interior of the damping cylinder is provided with a fluid medium; the bottom end of the impeller shaft extends into the interior of the driving sleeve, and the driving sleeve can sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder, so that the impeller can stir the fluid medium; since the driving sleeve is a power input component or an active component, the rotation of the driving sleeve can be used to sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder. When the impeller rotates in the damping cylinder, it is subjected to a damping torque opposite to the relative rotation direction under the action of the fluid medium, and the magnitude of the damping torque is proportional to the rotation speed. (2) The top end of the impeller shaft is axially slidably matched with the damping cylinder, and the bottom end of the impeller shaft is axially slidably matched with the driving sleeve. An elastic member is provided on the impeller shaft, and the impeller blades are spiral-shaped, so that when the speed of the driving sleeve changes, the impeller and the elastic member can realize the axial linear motion of the impeller shaft relative to the damping cylinder and the driving sleeve; thus, in the initial state, under the action of the elastic force of the elastic member, the impeller and the impeller shaft are pushed to one end point of its sliding stroke, called the zero position, and because the impeller blades are spiral-shaped, under the action of the spiral angle, the impeller converts a part of the damping torque it receives during its forward rotation into an axial thrust, and the direction of the thrust is opposite to the direction of its return to the zero position (i.e., the initial position), and different speeds obtain different displacements, thereby realizing the axial linear motion of the impeller shaft relative to the damping cylinder and the driving sleeve. From the above analysis, it can be seen that the utility model can establish a linear relationship between the speed of the impeller shaft and its axial displacement, and different speeds obtain different displacements, providing a speed-controlled linear motion actuator for realizing the switching of different action logics according to different speed states. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the cross-sectional structure of the impeller of the present invention when the impeller axially leaves the zero position;

[0016] Figure 2 This is a schematic diagram of the cross-sectional structure of the impeller of the utility model when the impeller axis returns to zero position downward;

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of the impeller of the utility model;

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 5 This is a schematic diagram of the three-dimensional structure of the utility model from another perspective;

[0020] Figure 6It is a schematic diagram of the three-dimensional structure of the upper side of the shell of the utility model;

[0021] Figure 7 This is a schematic diagram of the three-dimensional structure of the utility model without the upper side of the shell;

[0022] Figure 8 It is a schematic diagram of the three-dimensional structure of the lower side of the shell of the utility model;

[0023] Figure 9 This is a schematic diagram of the three-dimensional structure of the utility model without the lower side of the shell;

[0024] Figure 10 This is a schematic diagram of the three-dimensional structure of the drive sleeve of the utility model;

[0025] Figure 11 This is a schematic diagram of the three-dimensional structure of the utility model without the driving sleeve;

[0026] Explanation of reference numerals: 1-housing, 2-damping cylinder, 3-driving sleeve, 4-impeller shaft, 5-impeller, 6-fluid medium, 7-elastic member.

[0027] 101-rotating hole, 102-vertical hole, 301-sliding groove, 302-opening, 401-cylinder, 402-sliding key. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention, but this does not constitute a limitation on the protection scope of the present invention.

[0029] In this utility model, for a clearer description, the following explanation is made: the observer faces the Figure 1 For observation, the upper side of the observer is defined as "up" and the lower side of the observer is defined as "down". It should be noted that the terms "front end", "rear end", "left side", "right side", "middle", "upper", "lower", etc. in this document indicate directions or positional relationships based on the directions or positional relationships set in the accompanying drawings. They are only used to facilitate the clear description of the present invention and do not indicate or imply that the structure or component referred to must have a specific direction or be constructed in a specific direction. Therefore, they should not be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are used only for the purpose of clarity or simplification of description and should not be understood as indicating or implying relative importance or quantity.

[0030] See also Figures 1 to 11The present embodiment provides a speed-controlled linear motion actuator, comprising a shell 1, a damping cylinder 2 is provided at the top of the shell 1, a rotatable driving sleeve 3 is provided at the bottom of the shell 1, a vertically extending impeller shaft 4 is provided between the damping cylinder 2 and the driving sleeve 3, the top end of the impeller shaft 4 extends into the interior of the damping cylinder 2 and is provided with an impeller 5, and the interior of the damping cylinder 2 is provided with a fluid medium 6; the bottom end of the impeller shaft 4 extends into the interior of the driving sleeve 3, and the driving sleeve 3 can drive the impeller shaft 4 and the impeller 5 to rotate relative to the damping cylinder 2 in turn, so that the impeller 5 can stir the fluid medium 6; the top end of the impeller shaft 4 is axially slidingly matched with the damping cylinder 2, and the bottom end of the impeller shaft 4 is axially slidingly matched with the driving sleeve 3, and an elastic member 7 is provided on the impeller shaft 4, and the blades of the impeller 5 are spiral-shaped, so that when the speed of the driving sleeve 3 changes, the impeller 5 cooperates with the elastic member 7 to realize axial linear motion of the impeller shaft 4 relative to the damping cylinder 2 and the driving sleeve 3. Function: (1) It includes a shell, a damping cylinder is provided on the top of the shell, a rotatable driving sleeve is provided on the bottom of the shell, a vertically extending impeller shaft is provided between the damping cylinder and the driving sleeve, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and the interior of the damping cylinder is provided with a fluid medium; the bottom end of the impeller shaft extends into the interior of the driving sleeve, and the driving sleeve can sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder, so that the impeller can stir the fluid medium; since the driving sleeve is a power input component or an active component, the rotation of the driving sleeve can be used to sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder. When the impeller rotates in the damping cylinder, it is subjected to a damping torque opposite to the relative rotation direction under the action of the fluid medium, and the magnitude of the damping torque is proportional to the rotation speed. (2) The top end of the impeller shaft is axially slidably matched with the damping cylinder, and the bottom end of the impeller shaft is axially slidably matched with the driving sleeve. An elastic member is provided on the impeller shaft, and the impeller blades are spiral-shaped, so that when the speed of the driving sleeve changes, the impeller and the elastic member can realize the axial linear motion of the impeller shaft relative to the damping cylinder and the driving sleeve; thus, in the initial state, under the action of the elastic force of the elastic member, the impeller and the impeller shaft are pushed to one end point of its sliding stroke, called the zero position, and because the impeller blades are spiral-shaped, under the action of the spiral angle, the impeller converts a part of the damping torque it receives during its forward rotation into an axial thrust, and the direction of the thrust is opposite to the direction of its return to the zero position (i.e., the initial position), and different speeds obtain different displacements, thereby realizing the axial linear motion of the impeller shaft relative to the damping cylinder and the driving sleeve. From the above analysis, it can be seen that the utility model can establish a linear relationship between the speed of the impeller shaft and its axial displacement, and different speeds obtain different displacements, providing a speed-controlled linear motion actuator for realizing the switching of different action logics according to different speed states.

[0031] Specifically, one end of the elastic member 7 acts on the impeller 5 or impeller shaft 4, and the other end of the elastic member 7 acts on the drive sleeve 3 or housing 1. The elastic member 7 can be used to apply an axial elastic force to the impeller shaft 4. Function: The function of the elastic member is to apply an axial elastic force to the impeller and impeller shaft. Its arrangement can be various, and the corresponding function can also be achieved by adding transition parts.

[0032] Specifically, the elastic member 7 is located inside the drive sleeve 3, with the top end of the elastic member 7 acting on the drive sleeve 3 and the bottom end of the elastic member 7 acting on the impeller shaft 4. This effectively ensures that the direction of the thrust generated by the impeller (upward) is opposite to the direction of the elastic force exerted by the elastic member (downward).

[0033] Specifically, a cylinder 401 is provided at the bottom end of the impeller shaft 4. The diameter of the cylinder 401 is larger than that of the impeller shaft 4. The bottom end of the elastic member 7 acts on the cylinder 401. Function: The cylinder 401 can support the elastic member 7.

[0034] Specifically, the outer circumference of the cylinder 401 is provided with a plurality of sliding keys 402, and the inner wall of the drive sleeve 3 is provided with a plurality of sliding grooves 301. The plurality of sliding keys 402 respectively slide axially with the plurality of sliding grooves 301. Function: Because the impeller shaft is connected to the drive sleeve via the sliding keys, its rotational motion is driven by the drive sleeve, and its rotational speed is the same as that of the drive sleeve. When the drive sleeve is driven to rotate in the forward direction at a certain speed, the driving torque is transmitted to the impeller shaft via the sliding keys, thereby driving the impeller to rotate in the damping cylinder. The impeller shaft and the drive sleeve are coaxially mounted via the sliding keys. There is no relative rotation between them, but they can slide relative to each other axially. When the drive sleeve is driven to rotate in the forward direction, the impeller and impeller shaft rotate together with the drive sleeve, causing the impeller and impeller shaft to produce an axial displacement that is linearly related to the rotational speed.

[0035] Specifically, the damping cylinder 2 has a cylindrical inner cavity, and the impeller shaft 4 and impeller 5 are coaxially arranged with the cylindrical inner cavity of the damping cylinder 2. The elastic member 7 is a spring that is sleeved on the impeller shaft 4. Function: The impeller is installed in the cylindrical inner cavity of the damping cylinder and can rotate around the axis of the cylindrical inner cavity.

[0036] Specifically, the bottom of the drive sleeve 3 is provided with an opening 302, through which the bottom end of the impeller shaft 4 can pass. The top of the damping cylinder 2 is provided with a vertical hole 102, into which the top end of the impeller shaft 4 axially slides. Function: The impeller shaft and impeller are fixed, and both have a certain range of linear motion freedom relative to the drive sleeve and damping cylinder along the axis. For convenience, this linear motion range is referred to as the sliding stroke. The provision of opening 302 and vertical hole 102 facilitates the movement of the impeller shaft during the sliding stroke.

[0037] Specifically, the fluid medium 6 is any one of air, oil, grease, and water. Function: The damping cylinder is filled with a fluid medium, which can be air, oil, grease, water, or other liquids.

[0038] Specifically, the damping cylinder 2 is fixed to the inner top surface of the housing 1. The bottom wall of the housing 1 is provided with a rotation hole 101, into which the drive sleeve 3 is rotatably assembled. Function: The housing serves as the mounting base for the entire actuator, with the damping cylinder fixed to the housing. The drive sleeve is mounted on the housing and can be driven to rotate, but has no axial freedom of movement relative to the housing.

[0039] Comparison of several states:

[0040] In the initial state, the drive sleeve is not driven to rotate, and the impeller does not rotate relative to the damping cylinder. Under the action of the elastic force of the elastic member, the impeller and the impeller shaft are pushed to one end of their sliding stroke, which is called the zero position. When the impeller and the impeller shaft are at the zero position, the elastic member has a certain initial deformation, also called pre-deformation. This pre-deformation provides a certain pre-pressure for the impeller shaft. Figure 2 .

[0041] When the impeller speed is low, the axial thrust it receives is also small. When the axial thrust is less than or equal to the preload provided by the elastic member, the impeller and the impeller shaft have no axial displacement and remain at the zero position of the sliding stroke. The impeller speed when the axial thrust is equal to the preload of the elastic member is called the critical speed. Figure 2 .

[0042] When the impeller speed is greater than the critical speed, the damping torque increases with the speed, and the axial thrust also increases, and is greater than the preload of the elastic member, thereby pushing the impeller and the impeller shaft away from the zero position and moving toward the other end of its sliding stroke, generating a linear displacement. The deformation of the elastic member also increases accordingly. After reaching a steady state, the elastic force and the axial thrust reach a new balance. As a result, the impeller and the impeller shaft generate an axial linear displacement that is linearly related to the speed, see Figure 1 .

[0043] When the driving sleeve is converted from the forward rotating state to the stopped state, the impeller is also converted from the forward rotating state to the stopped state, its speed relative to the damping cylinder becomes zero, the damping torque changes to zero, and the axial thrust also becomes zero. The impeller shaft returns to the zero position under the action of the elastic force of the elastic member, see Figure 2 .

[0044] The present invention also provides a cleaning device, comprising a cleaning device body and a speed-controlled linear motion actuator according to any of the above-mentioned technical solutions, wherein the speed-controlled linear motion actuator is assembled on the cleaning device body. Function: In the field of cleaning robots (cleaning devices), if the working shaft (impeller shaft) serves as the motion axis of the cleaning brush, the cleaning brush can be lowered when rotating and raised when it stops rotating, thereby achieving the action logic requirements of the cleaning brush in the absence of electrical actuators such as motors. The present invention has broad application prospects in mechanical transmission systems, especially small robot transmission systems.

[0045] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A speed-controlled linear motion actuator, comprising a housing (1), characterized in that: The top of the housing (1) is provided with a damping cylinder (2), the bottom of the housing (1) is provided with a rotatable driving sleeve (3), a vertically extending impeller shaft (4) is provided between the damping cylinder (2) and the driving sleeve (3), the top end of the impeller shaft (4) extends into the interior of the damping cylinder (2) and is provided with an impeller (5), and the interior of the damping cylinder (2) is provided with a fluid medium (6); the bottom end of the impeller shaft (4) extends into the interior of the driving sleeve (3), and the driving sleeve (3) can sequentially drive the impeller shaft (4) and the impeller (5) relative to the damping cylinder The cylinder (2) rotates so that the impeller (5) can stir the fluid medium (6); the top end of the impeller shaft (4) is axially slidingly matched with the damping cylinder (2), and the bottom end of the impeller shaft (4) is axially slidingly matched with the driving sleeve (3); an elastic member (7) is provided on the impeller shaft (4), and the blades of the impeller (5) are spiral-shaped, so that when the rotation speed of the driving sleeve (3) changes, the impeller (5) and the elastic member (7) can realize the axial linear motion of the impeller shaft (4) relative to the damping cylinder (2) and the driving sleeve (3).

2. A speed-controlled linear motion actuator according to claim 1, characterized in that: One end of the elastic member (7) acts on the impeller (5) or the impeller shaft (4), and the other end of the elastic member (7) acts on the drive sleeve (3) or the housing (1). The elastic member (7) can be used to apply an axial elastic force to the impeller shaft (4).

3. The speed-controlled linear motion actuator according to claim 2, characterized in that: The elastic member (7) is located inside the driving sleeve (3), the top end of the elastic member (7) acts on the driving sleeve (3), and the bottom end of the elastic member (7) acts on the impeller shaft (4).

4. A speed-controlled linear motion actuator according to claim 3, characterized in that: A cylinder (401) is provided at the bottom end of the impeller shaft (4), the diameter of the cylinder (401) is larger than the diameter of the impeller shaft (4), and the bottom end of the elastic member (7) acts on the cylinder (401).

5. The speed-controlled linear motion actuator according to claim 4, characterized in that: The outer circumference of the cylinder (401) is provided with a plurality of sliding keys (402), the inner wall of the driving sleeve (3) is provided with a plurality of sliding grooves (301), and the plurality of sliding keys (402) are respectively axially slidably matched with the plurality of sliding grooves (301).

6. The speed-controlled linear motion actuator according to any one of claims 1 to 5, characterized in that: The damping cylinder (2) has a cylindrical inner cavity, and the impeller shaft (4), the impeller (5) and the cylindrical inner cavity of the damping cylinder (2) are coaxially arranged; the elastic member (7) is a spring, and the spring is sleeved on the impeller shaft (4).

7. The speed-controlled linear motion actuator according to any one of claims 1 to 5, characterized in that: The bottom of the driving sleeve (3) is provided with an opening (302), and the bottom end of the impeller shaft (4) can pass through the opening (302); the top end of the damping cylinder (2) is provided with a vertical hole (102), and the top end of the impeller shaft (4) is axially slidably engaged with the vertical hole (102).

8. The speed-controlled linear motion actuator according to any one of claims 1 to 5, characterized in that: The fluid medium (6) is any one of air, oil, grease, and water.

9. The speed-controlled linear motion actuator according to any one of claims 1 to 5, characterized in that: The damping cylinder (2) is fixed to the inner top surface of the housing (1); a rotation hole (101) is provided on the bottom wall of the housing (1); and the driving sleeve (3) is rotatably assembled in the rotation hole (101).

10. A cleaning device, comprising a cleaning device body, characterized in that: It also includes the rotation speed controlled linear motion actuator according to any one of claims 1 to 9, wherein the rotation speed controlled linear motion actuator is assembled on the cleaning device body.

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