Cleaning assembly linkage driving mechanism and self-moving robot

Abstract

The utility model relates to the field of automatic cleaning equipment, in particular to a cleaning component linkage driving mechanism and a self-moving robot, which comprise a driving module (1), a cleaning piece (2) and a baffle bracket (3). The driving module comprises a driving piece (11), a first transmission part (12) and a second transmission part (13) which are in transmission connection in sequence. The cleaning piece is in transmission connection with the first transmission part so as to be driven to be switched between a lifting state and a descending state. The baffle support is arranged at one end of the cleaning piece, is in transmission connection with the second transmission part and is fixedly connected with a baffle (31) covering the radial outer side of the cleaning piece. When the cleaning piece is driven to be in a lifting state, the baffle is driven to cover a shielding position at the bottom of the cleaning piece; when the cleaning piece is driven to be in the descending state, the baffle is driven to the exposed position where the bottom of the cleaning piece is exposed. According to the linkage driving mechanism, the cleaning piece and the baffle are simultaneously driven to move through the single driving piece, and the cost and space for arranging additional driving pieces are saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic cleaning equipment field, concretely relates to a cleaning assembly linkage drive mechanism. BACKGROUND

[0002] With the continuous development of smart home and automation technology, the sweeping robot has become an important tool for household cleaning. In order to improve the cleaning efficiency and reduce the labor, the sweeping robot gradually develops towards multifunctional and intelligent direction. In addition to the basic dust collection function, many sweeping robots also carry the floor wiping function, obstacle crossing ability, etc., striving to provide more efficient and convenient services in various cleaning environments.

[0003] Compared with the traditional dust collection mode, the roller mop has excellent cleaning effect, and has higher cleaning ability and cleaning efficiency compared with other types of cleaning pieces, so it becomes the standard configuration of more and more sweeping robots. But as a cleaning piece, the roller mop has a large volume, and in the scene where the sweeping robot needs to cross the obstacle, it will block the movement of the sweeping robot. At the same time, when the roller mop is wet, the water on it will drop during the movement of the sweeping robot, which may wet and dirty the floor or carpet. In order to avoid the above problems, it is necessary to avoid the direct contact of the roller mop with the ground through structural design, and to set up isolation measures around the roller mop to prevent the water on it from dropping to the ground.

[0004] In order to solve the above technical problems, some existing sweeping robots are equipped with roller mop lifting mechanism, which can avoid the contact of the roller with the ground or carpet by controlling the lifting of the roller, and can lift and fold the roller mop when the sweeping robot crosses the obstacle, so as to avoid the block of the sweeping robot. At the same time, the prior art also provides a sweeping robot with a turnover baffle capable of covering the roller mop, which is used to protect the roller or block the contact of the roller or water on the roller with the ground in specific operation. The problem is that the lifting of the roller and the turnover of the baffle need a driving part to drive, and the additional driving part not only increases the manufacturing cost of the sweeping robot, but also occupies the internal space of the sweeping robot, which affects the internal mechanical structure design of the sweeping robot.

[0005] The movement mode of the roller assembly is lifting in the vertical direction, and the movement mode of the baffle is rotating around the center of the roller assembly. The different movement modes of the roller assembly and the baffle cause design difficulties, so at least two driving parts are usually used to drive the roller assembly and the baffle in the prior art.

[0006] Therefore, how to provide a driving mechanism capable of driving the lifting of the cleaning piece and the turnover of the baffle at the same time has become a technical problem to be solved. Utility model content

[0007] The utility model aims at overcoming how to provide a kind of drive mechanism that can drive cleaning piece lifting and baffle overturning simultaneously with the prior art problem, provide a kind of cleaning assembly linkage drive mechanism, the drive mechanism can drive cleaning piece lifting and drive baffle overturning simultaneously.

[0008] To achieve the above-mentioned purpose, the utility model provides a kind of cleaning assembly linkage drive mechanism, it includes:

[0009] Drive module, the drive module includes drive piece and the first transmission part and the second transmission part respectively with the drive piece transmission connection;

[0010] Cleaning piece, the cleaning piece is transmissionally connected to the first transmission part, to be driven to switch between lifting state and descending state;

[0011] Baffle support, the baffle support is set to one end of cleaning piece and transmissionally connected to the second transmission part, and the baffle support is fixedly connected with the baffle of cover in the radial outer side of cleaning piece.

[0012] When cleaning piece is driven to lifting state, baffle is driven to cover the shielding position of the bottom of cleaning piece;When cleaning piece is driven to descending state, baffle is driven to rotate from shielding position to make the bottom of cleaning piece expose the exposure position.

[0013] In some embodiments, the second transmission part is transmissionally connected to the first transmission part to be able to be transmissionally connected with drive piece.

[0014] In some embodiments, the first transmission part and the second transmission part are arranged as follows: when cleaning piece is driven to lifting state, baffle is just driven to shielding position.

[0015] In some embodiments, the first transmission part and the second transmission part are arranged as follows: when cleaning piece is driven to descending state, baffle is just driven to exposure position.

[0016] In some embodiments, the first transmission part and the second transmission part are arranged as follows: in the process that baffle is driven to rotate from exposure position to shielding position, after cleaning piece is driven to the height greater than the thickness of baffle from ground, baffle is driven to rotate to shielding position.

[0017] In some embodiments, the first transmission part and the second transmission part are arranged as follows: in the process that cleaning piece is driven to descend from lifting state to descending state, when baffle is driven to expose the lowest point of the bottom of cleaning piece, cleaning piece is driven to the height less than the thickness of baffle from ground.

[0018] In some embodiments, the cleaning assembly further comprises a lifting module, the lifting module comprising a driven part in transmission connection with the first transmission part, and the cleaning part is fixedly connected with the lifting module to be driven by the first transmission part to switch between a lifting state and a lowering state.

[0019] In some embodiments, the first transmission part comprises a first bevel gear in transmission connection with the driving part, and a first spur gear rigidly coaxially connected with the first bevel gear, and the driven part is provided as a rack, and the first spur gear is in meshing with the rack to enable the driving part to drive the lifting module by driving the first bevel gear.

[0020] In some embodiments, the second transmission part comprises a second bevel gear in meshing with the first bevel gear, and a transmission assembly in transmission connection with the baffle support, the transmission assembly comprising a gear transmission mechanism and / or a belt transmission mechanism for transmitting power received by the second bevel gear to the baffle support.

[0021] In some embodiments, the driving part comprises a driving motor, a power output shaft connected to the driving motor and a driving bevel gear in meshing with the first bevel gear, the driving bevel gear being arranged coaxially opposite to the second bevel gear.

[0022] In some embodiments, the lifting module comprises a lifting support fixedly connected with the cleaning part, and the rack is fixedly provided on the lifting support, and in the process that the rack is driven by the first spur gear to reciprocate, the lifting support is lifted or lowered.

[0023] In some embodiments, the lifting module further comprises a fixed support fixedly installed, and the lifting support is fixedly provided with a lifting slide rail extending at least partially inclined relative to the vertical direction, and the fixed support is installed with a sliding block in sliding cooperation with the lifting slide rail, so that when the lifting support is driven by the first spur gear to horizontally reciprocate with the rack, the lifting support is guided to be lifted or lowered.

[0024] The utility model discloses a second aspect provides a kind of self-moving robot, it includes the cleaning assembly linkage driving mechanism described above.

[0025] Through the above setting, the linkage driving mechanism can drive the lifting of cleaning and the rotation of baffle simultaneously, so as to avoid using multiple sets of driving mechanisms to drive respectively, to save the space inside the equipment to which the linkage driving mechanism is installed.

[0026] The driving module in the present application has a first transmission part 12 drivingly connected to the cleaning member 2 and a second transmission part 13 drivingly connected to the baffle support 3, and the first transmission part 12 and the second transmission part 13 are respectively drivingly connected to the driving member 11, so that the driving member 11 can drive the first transmission part 12 and the second transmission part 13 at the same time, and drive the cleaning member 2 and the baffle support 3 to move, and then drive the baffle 31 connected to the baffle support 3 to move, that is, only one driving member 11 can drive the cleaning member 2 and the baffle 31 at the same time. The first transmission part can include a plurality of transmission members, for example, a gear set composed of a plurality of gears, and the plurality of gears are connected by a transmission shaft to be able to cooperate with the corresponding transmission members on the driving member and the cleaning member, and transmit the power of the driving member to the cleaning member.

[0027] The second driving part can include a plurality of transmission members, for example, a gear set composed of a plurality of gears, which includes a first gear drivingly connected to the driving member, a second gear fixedly connected to the baffle support, and a third gear drivingly connected between the first gear and the second gear, so that when the first gear is driven to rotate, the power can be transmitted to the second gear through one or more third gears, so that the second gear drives the baffle support to rotate, thereby switching between the shielding position and the exposed position.

[0028] By adjusting the transmission ratio of the first driving part and the second driving part, the corresponding relationship between the state of the cleaning member and the state of the baffle when the driving member drives the cleaning member and the baffle at the same time can be adjusted. For example, by respectively setting the first driving part and the second driving part to include a gear set composed of a plurality of gears, and by adjusting the gear ratio between the plurality of gears in the above-mentioned gear set, the transmission ratio of the first driving part and the second driving part can be adjusted respectively. The corresponding relationship between the state of the cleaning member and the state of the baffle can be adjusted so that when the cleaning member moves to the raised position, the baffle moves to the shielding position; and when the cleaning member moves to the lowered state, the baffle moves to the exposed position.

[0029] When the cleaning member moves to the raised position, the cleaning member stops working and is shielded by the baffle to be isolated from the external environment; when the cleaning member moves to the lowered position, the cleaning member can perform cleaning work, and the baffle can be stowed to prevent it from interfering with the work of the cleaning member.

[0030] By the transmission module, the cleaning member and the baffle support linked in the above-mentioned manner, the present linkage driving mechanism can drive the cleaning member and the baffle at the same time by using only one driving member, so that the cleaning member can be switched between the stowed raised state and the lowered state capable of working, thereby saving the internal space and cost of the device in which the present linkage driving mechanism is installed. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0032] Figure 1 is a schematic diagram of the overall structure of an embodiment provided by the present application;

[0033] Figure 2 is Figure 1 is a schematic diagram of the partial enlarged structure of the embodiment in

[0034] Figure 3 is another schematic diagram of the overall structure of an embodiment provided by the present application;

[0035] Figure 4 is a schematic diagram of the top view structure of an embodiment provided by the present application;

[0036] Figure 5 is a schematic diagram of the top view structure of an embodiment provided by the present application after removing the fixed support;

[0037] Figure 6 is another schematic diagram of the overall structure of an embodiment provided by the present application;

[0038] Figure 7 is a schematic diagram of the front view structure of an embodiment provided by the present application after removing the fixed support and mirror image inversion;

[0039] Figure 8 is a schematic diagram of the cross-sectional structure of the cleaning element in the lifting state in an embodiment provided by the present application;

[0040] Figure 9 is a schematic diagram of the cross-sectional structure of the cleaning element in the descending state in an embodiment provided by the present application.

[0041] Explanation of reference signs

[0042] 1, drive module; 11, driving piece; 12, first transmission part; 121, first bevel gear; 122, first spur gear; 13, second transmission part; 131, second bevel gear; 2, cleaning piece; 3, baffle support; 31, baffle; 4, lifting module; 41, driven piece; 42, lifting support; 421, lifting slide rail; 422, sliding block; 43, fixed support. DETAILED DESCRIPTION

[0043] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The detailed description of the following examples and drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, and the present application can be realized in many different forms, not limited to the specific examples disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0044] The present application provides these embodiments in order to make the present application thorough and complete, and fully express the scope of the present application to those skilled in the art. It should be noted that: unless otherwise specified, the relative arrangement of components and steps, the composition of materials, numerical expressions and values set forth in these examples should be interpreted as merely exemplary, and not as limiting.

[0045] It should be noted that, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is greater than or equal to two; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] In addition, the "first", "second" and similar words used in the present application do not represent any order, quantity or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0047] It should also be noted that, in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. When it is described that a specific device is located between a first device and a second device, there can be an intermediate device between the specific device and the first device or the second device, or there can be no intermediate device.

[0048] All terms used in the present utility model have the same meanings as understood by those of ordinary skill in the art to which the present utility model pertains, unless otherwise specifically defined. It should also be understood that terms defined in such general dictionaries as the Merriam-Webster's Collegiate Dictionary should be interpreted to have meanings that are consistent with their meanings in the context of the relevant art and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0049] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered part of the specification as appropriate.

[0050] To achieve the above object, the present utility model provides a first aspect of a cleaning assembly linkage driving mechanism, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , which comprises:

[0051] a driving module 1, the driving module 1 comprising a driving member 11 and a first transmission part 12 and a second transmission part 13 respectively in transmission connection with the driving member 11;

[0052] a cleaning member 2, the cleaning member 2 in transmission connection with the first transmission part 12 to be driven to switch between a raised state and a lowered state;

[0053] a baffle bracket 3, the baffle bracket 3 being provided at one end of the cleaning member 2 and in transmission connection with the second transmission part 13, the baffle bracket 3 being fixedly connected with a baffle 31 covering the radial outer side of the cleaning member 2.

[0054] When the cleaning member 2 is driven to the raised state, the baffle 31 is driven to a shielding position covering the bottom of the cleaning member 2; when the cleaning member 2 is driven to the lowered state, the baffle 31 is driven to rotate from the shielding position to an exposed position so that the bottom of the cleaning member 2 is exposed.

[0055] The driving module in the present application has the first transmission part 12 in transmission connection with the cleaning member 2 and the second transmission part 13 in transmission connection with the baffle bracket 3, and the first transmission part 12 and the second transmission part 13 are respectively in transmission connection with the driving member 11, so that the driving member 11 can drive the first transmission part 12 and the second transmission part 13 at the same time, and drive the cleaning member 2 and the baffle bracket 3 to move, and further drive the baffle 31 connected with the baffle bracket 3 to move, that is, only one driving member 11 can be used to drive the cleaning member 2 and the baffle 31 at the same time.

[0056] The driving member 11 can be any driving component capable of bidirectional power output, such as a motor capable of forward rotation and reverse rotation, so as to drive the first transmission part 12 and the second transmission part 13, and drive the cleaning member 2 to switch between the raised state and the lowered state, and drive the baffle 31 to switch between the shielding state and the exposed state.

[0057] The driving member 11 can be connected to the first transmission part 12 and the second transmission part 13 through any transmission member capable of simultaneously driving the first transmission part 12 and the second transmission part 13. For example, a bevel gear coaxially rigidly connected to the driving member 11 is provided, and meshes with the gears in the first transmission part 12 and the second transmission part 13, respectively, so as to simultaneously drive the first transmission part 12 and the second transmission part 13 when the bevel gear rotates.

[0058] The first transmission part 12 can include a plurality of transmission members, such as a gear set composed of a plurality of gears, which are connected to each other in transmission, so as to cooperate with the corresponding transmission members of the driving member 11 and the cleaning member 2, and transmit the power of the driving member 11 to the cleaning member 2.

[0059] The second transmission part 13 can include a plurality of transmission members, such as a gear set composed of a plurality of gears, which include a first gear connected to the driving member 11, a second gear fixedly connected to the baffle support 3, and a third gear connected in transmission between the first gear and the second gear, so that when the first gear is driven to rotate, the power can be transmitted to the second gear through one or more third gears, and the second gear drives the baffle support 3 to rotate, thereby switching between the shielding position and the exposed position.

[0060] By adjusting the transmission ratios of the first transmission part 12 and the second transmission part 13, the corresponding relationship between the states of the cleaning member 2 and the baffle 31 when the driving member 11 simultaneously drives the cleaning member 2 and the baffle 31 can be adjusted. When the transmission ratio needs to be adjusted, the transmission ratio of each transmission component in the first transmission part 12 and the second transmission part 13 can be adjusted. For example, by respectively providing a gear set composed of a plurality of gears in the first transmission part 12 and the second transmission part 13, and adjusting the gear ratios between the plurality of gears in the gear sets, the transmission ratios of the first transmission part 12 and the second transmission part 13 can be adjusted, respectively. The corresponding relationship between the states of the cleaning member 2 and the baffle 31 can be adjusted such that when the cleaning member 2 moves to the raised position, the baffle 13 moves to the shielding position; and when the cleaning member 2 moves to the lowered state, the baffle 31 moves to the exposed position.

[0061] When the cleaning member 2 moves to the raised position, the cleaning member 2 stops working and is shielded by the baffle 31 to be isolated from the external environment; when the cleaning member 2 moves to the lowered position, the cleaning member 2 can perform cleaning work, and the baffle 31 can be stowed to prevent it from interfering with the cleaning member 2 to clean the surface to be cleaned.

[0062] The cleaning member 2 can be any cleaning component capable of performing a cleaning task when close to or in contact with the ground, such as a cylindrical mop. The cleaning member 2 has a cleaning surface on the ground opposite to the cleaning member 2, and the cleaning member 2 is capable of cleaning the ground in the cleaning surface when the cleaning member 2 is in the lowered position and performing a cleaning task.

[0063] The baffle support 3 can be arranged at any position on either side of the cleaning member 2, and the projection of the baffle support 3 on the ground is arranged to prevent the baffle support 3 from hindering the cleaning member 2 from performing a cleaning task when in the lowered position. For example, when the cleaning member 2 is arranged as a cylindrical mop, the baffle support 3 can be arranged at any axial end of the cleaning member 2.

[0064] The baffle 31 can be arranged in any shape capable of completely covering the cleaning member 2 from the ground when in the covering position, and capable of exposing the cleaning member 2 when in the exposing position. For example, when the cleaning member 2 is arranged as a cylindrical mop, the baffle 31 can be arranged as a cylindrical wall segment coaxial with the cylindrical mop and having a larger radius than the cylindrical mop.

[0065] When the baffle 31 is moved to the covering position, the projection of the baffle 31 on the ground is capable of completely covering the projection of the cleaning member 2 on the ground, thereby preventing the cleaning member 2 and the dirt on the cleaning member 2 from contacting the ground, for example, preventing the water on the cleaning member 2 from dripping onto the ground.

[0066] When the baffle 31 is moved to the exposing position, the projection of the baffle 31 on the ground does not coincide with the cleaning surface of the cleaning member 2 on the ground, thereby preventing the baffle 31 from hindering the cleaning member 2 from moving to the lowered position and cleaning the ground.

[0067] By the driving module 1, the cleaning member 2 and the baffle support 3 being arranged in linkage as described above, the linkage driving mechanism is capable of simultaneously driving the cleaning member 2 and the baffle 31 using only one driving member 11, and the cleaning member 2 is capable of switching between the lifted position of being stored and the lowered position of being capable of performing a cleaning task, thereby saving the internal space and cost of the device in which the linkage driving mechanism is installed.

[0068] In some embodiments, as shown in FIG. 1, the second transmission part 13 is directly connected to the driving member 11. Figure 1

[0069] When the driving member 11 drives the first transmission part 12, the first transmission part 12 is capable of transmitting the power of the driving member 11 to the second transmission part 13, so that the driving member 11 is capable of simultaneously driving the first transmission part 12 and the second transmission part 13 when driving the first transmission part 12, thereby simultaneously driving the cleaning member 2 and the baffle 31.​

[0070] In some embodiments, the first transmission part 12 and the second transmission part 13 are configured such that the baffle 31 is driven to the shielding position just when the cleaning member 2 is driven to the lifted state. By configuring the cleaning member 2 and the baffle 31 to move synchronously to the lifted state and the shielding position respectively, the stowing process of the cleaning member 2 can be faster, and the cleaning member 2 can not be in the lifted state while the baffle 31 is still moving to the shielding position, or the baffle 31 can not be in the shielding position while the cleaning member 2 is still moving to the lifted state, so that the cleaning member 2 can be stowed quickly, and the device equipped with the linkage driving mechanism can continue other tasks.

[0071] In some embodiments, the first transmission part 12 and the second transmission part 13 are configured such that the baffle 31 is driven to the exposing position just when the cleaning member 2 is driven to the lowered state. By configuring the cleaning member 2 and the baffle 31 to move synchronously to the lowered state and the exposing position respectively, the stowing process of the cleaning member 2 can be faster, and the cleaning member 2 can not be in the lowered state while the baffle 31 is still moving to the exposing position, or the baffle 31 can not be in the exposing position while the cleaning member 2 is still moving to the lowered state, so that the cleaning member 2 can be stowed quickly, and the device equipped with the linkage driving mechanism can start the cleaning task quickly.

[0072] In some embodiments, the first transmission part 12 and the second transmission part 13 are configured such that, during the process of driving the baffle 31 to rotate from the exposing position to the shielding position, the cleaning member 2 is driven to a height greater than the thickness of the baffle 31 from the ground before the baffle 31 is driven to rotate to the shielding position.

[0073] When the baffle 31 rotates from the exposing position to the shielding position, the cleaning member 2 is synchronously driven to the lifted state. Since the baffle support 3 is connected to the cleaning member 2, and the baffle 31 is connected to the baffle support 3, the baffle 31 rises and falls synchronously with the cleaning member 2 during the lifting and lowering process of the cleaning member 2. When the height of the cleaning member 2 is lower than the thickness of the baffle 31, if the baffle 31 moves to the lowest point on its movement track, i.e. moves to the position directly below the cleaning member 2, the distance between the cleaning member 2 and the ground is less than the thickness of the baffle 31, and the baffle 31 will be blocked by the ground when passing through the lowest point, so that the baffle 31 cannot move to the shielding position and may collide with the ground and be damaged. After the cleaning member 2 is driven to a height greater than the thickness of the baffle 31 from the ground, the baffle 31 has enough space to pass through the lowest point on its movement track, so that the baffle 31 can move to the shielding position smoothly and shield the cleaning member 2 rising to the lifted state.

[0074] In some embodiments, the first transmission part 12 and the second transmission part 13 are configured such that, during the process of driving the cleaning member 2 from the raised state to the lowered state, the cleaning member 2 is driven to a height from the ground that is less than the thickness of the baffle 31 after the baffle 31 is driven to expose the lowest point of the bottom of the cleaning member 2.

[0075] When the baffle 31 rotates from the shielding position to the exposing position, the cleaning member 2 is synchronously driven to the lowered state. The baffle 31 and the cleaning member 2 are synchronously raised and lowered, and when the cleaning member 2 is lowered to a distance from the ground that is equal to the thickness of the baffle 31, if the baffle 31 has not yet passed the lowest point on its movement track, i.e., directly below the cleaning member 2, at this time the cleaning member 2 continues to be lowered, and the baffle 31 covering the lowest point below the cleaning member 2 will come into contact with the ground before the cleaning member 2, causing frictional resistance between the ground and the outer surface of the baffle 31, damaging the baffle 31 and preventing the baffle 31 from moving to the exposing position, so that the cleaning member 2 is blocked by the baffle 31 and cannot clean the ground. Before the cleaning member 2 is driven to a height from the ground that is less than the thickness of the baffle 31, the baffle 31 still has enough space to pass the lowest point on its movement track at this time, and if the baffle 31 can pass the lowest point on its movement track, the baffle 31 can smoothly move to the exposing position, and the cleaning member 2 can clean the ground in the lowered position.

[0076] In some embodiments, as shown in Figure 1 and Figure 5 , the lifting module 4 further comprises a driven part 41 in transmission connection with the first transmission part 12, and the cleaning member 2 is fixedly connected to the lifting module 4 to be driven by the first transmission part 12 to switch between the raised state and the lowered state.

[0077] The driven part 41 in the lifting module 4 can include one or more arbitrary driven components. For example, the driven part 41 can be a driven gear in transmission connection with the first transmission part 12, and a hinge having one end fixed to the driving gear and the other end fixed to the driven gear, so that the driving gear can retract or release the hinge by forward rotation or reverse rotation, thereby controlling the lifting distance of the lifting module 4 in the vertical direction by controlling the length of the hinge, and further controlling the cleaning member 2 fixed to the lifting module 4 to switch between the raised state and the lowered state.

[0078] In some embodiments, as shown in Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the first transmission part 12 comprises a first bevel gear 121 transmissionally connected to the driving member 11, and a first spur gear 122 rigidly coaxially connected to the first bevel gear 121, and the driven member 41 is provided as a rack, and the first spur gear 122 is engaged with the rack, so that the driving member 11 can drive the lifting module 4 by driving the first bevel gear 121.

[0079] The first bevel gear 121 is rigidly connected to the first spur gear 122, so that when the driving member 11 drives the first bevel gear 121 to rotate, the first spur gear 122 can be driven to rotate synchronously with the first bevel gear 121. Through the rack engaged with the first spur gear 122, the driving member 11 can directly drive the lifting module 4.

[0080] In some embodiments, the rack in the lifting module 4 can be provided to extend in the vertical direction and be engaged with the first spur gear 122, so that the first spur gear 122 can drive the lifting module 4 provided with the rack and drive it to reciprocatingly lift and lower in the vertical direction relative to the first spur gear 122. When the first transmission part 12 is fixedly provided on the device to which the present linkage driving mechanism is mounted, the first spur gear 122 is fixed, so that the lifting module 4 can reciprocatingly lift and lower in the vertical direction relative to the device, thereby enabling the cleaning member 2 to be driven to switch between the lifted state and the lowered state.

[0081] In some embodiments, as shown in Figure 1 、 Figure 2 、 Figure 6 and Figure 7 , the second transmission part 13 comprises a second bevel gear 131 engaged with the first bevel gear 121, and a transmission assembly transmissionally connected to the baffle bracket 3, and the transmission assembly comprises a gear transmission mechanism and / or a belt transmission mechanism for transmitting the power received by the second bevel gear 131 to the baffle bracket 3.

[0082] The transmission assembly can be composed of any transmission member as long as it can transmissionally connect the second bevel gear 131 and the baffle bracket 3 and drive the baffle bracket 3 to rotate, for example, composed of a plurality of gears engaged with each other. Further, the transmission assembly can also be composed of a combination of a plurality of transmission members, for example, composed of a plurality of gears and a transmission belt connecting the gears. The transmission members of the transmission assembly can be selected according to the device to which the present linkage driving mechanism is mounted, the driving needs of the driving member 11 and other external factors, and those skilled in the art can select the most suitable driving member to compose the above-mentioned transmission assembly through simple selection.

[0083] The second transmission part 13 can be driven by the driving member 11 through the first bevel gear 121 by the second bevel gear 131, wherein the transmission assembly transmission connected to the second bevel gear 131 can be transmission to the shutter support, so that the shutter support 3 can be driven to rotate, thereby driving the shutter 31 fixedly connected to the shutter support 3 to rotate between the shielding position and the exposed position, thereby enabling the driving member 11 to drive the first bevel gear 121 to drive the shutter 31 to switch between the shielding position and the exposed position while driving the cleaning member 2 to switch between the lifting position and the lowering position.

[0084] In some embodiments, as shown in Figure 1 、 Figure 2 and Figure 7 , the driving member 11 includes a driving motor and a driving bevel gear connected to the power output shaft of the driving motor and engaged with the first bevel gear 121, the driving bevel gear is opposite to the second bevel gear 131 and arranged coaxially with each other.

[0085] The driving bevel gear, the first bevel gear 121 and the second bevel gear 131 are arranged on different sides of the first bevel gear 121, and the axes of the driving bevel gear, the first bevel gear 121 and the second bevel gear 131 intersect at a point, so that the first bevel gear 121 can be engaged with the driving bevel gear and the second bevel gear 131 respectively.

[0086] The driving bevel gear, the first bevel gear 121 and the second bevel gear 131 are arranged and engaged with each other, so that the driving member 11 can drive the first bevel gear 121 and the second bevel gear 131 by driving the driving bevel gear, to drive the cleaning member 2 and the shutter 31 at the same time.

[0087] Meanwhile, by adjusting the gear ratio of the driving bevel gear, the first bevel gear 121 and the second bevel gear 131, the transmission ratio of the driving bevel gear to the first bevel gear 121 and the second bevel gear 131 can be adjusted, so that the corresponding relationship when the cleaning member 2 and the shutter 31 are driven by the driving member 11 to move to a specific position can be adjusted, that is, when the cleaning member 2 moves to the lifting state, the shutter 31 can correspondingly move to the shielding state; when the cleaning member 2 moves to the lowering state, the shutter 31 can correspondingly move to the exposed state.

[0088] In some embodiments, as shown in Figure 5 and Figure 6 , the lifting module 4 includes a lifting support 42 fixedly connected with the cleaning member 2, and a rack is fixedly arranged on the lifting support 42, during the reciprocating movement of the rack driven by the first spur gear 122, the lifting support 42 is lifted or lowered.

[0089] In some embodiments, the rack can be fixedly arranged on the lifting bracket 42 along the vertical direction, so that the lifting bracket 42 can be driven to ascend or descend by the first spur gear 122, thereby driving the cleaning member 2 mounted on the lifting bracket 42 to be driven to reciprocate in the vertical direction, so as to switch between the lifted state and the lowered state.

[0090] In some embodiments, as shown in Figure 3 、 Figure 4 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 , the lifting module 4 further comprises a fixed bracket 43 fixedly mounted, and the lifting bracket 42 is fixedly arranged with a lifting rail 421 extending at least partially inclined relative to the vertical direction, and the fixed bracket 43 is mounted with a sliding block 422 slidingly matched with the lifting rail 421, so that when the lifting bracket 42 is driven to horizontally reciprocate by the rack being driven by the first spur gear 122, the lifting bracket 42 is guided to ascend or descend.

[0091] Since the sliding block 422 on the lifting rail 421 is fixedly connected with the fixed bracket 43, and the sliding block 422 is slidingly matched with the lifting rail 421, when the lifting rail 421 moves relative to the sliding block 422, the sliding block 422 can generate a force on the lifting rail 421, and guide the movement of the lifting rail 421 to be in accordance with the shape of the lifting rail 421. When the lifting bracket 42 is driven to move in the horizontal direction, the lifting rail 421 arranged inside the lifting bracket 42 moves in the horizontal direction, and since the lifting rail 421 extends at least partially inclined relative to the vertical direction, the movement track of the lifting rail 421 is limited to be inclined in the vertical direction by the guidance of the sliding block 422, further making the lifting bracket 42 reciprocate in the vertical direction. For the reciprocation inclined in the vertical direction, the movement track has a highest point and a lowest point. By setting the inclination degree and length of the lifting rail 421, the lifting bracket 42 can drive the cleaning member 2 fixedly connected thereon to the lifted state at the highest point and to the lowered state at the lowest point when moving in accordance with the shape of the lifting rail 421.

[0092] For the lifting support 42 driven to reciprocate in the vertical direction, the lifting track thereof is a straight line in the vertical direction, thus the driving member 11 needs to be able to output a force equivalent to the gravity of the lifting support 42 when driving the lifting support through the first transmission part 12, and in the case that the lifting support 42 is heavier, a driving member 11 outputting a larger force needs to be set, thus causing the cost of the driving member 11 to increase. Through the lifting slide rail 421, the sliding block 422 and the fixed support 43 set as above, the movement track of the lifting support 42 in the vertical direction can be converted into a movement track inclined relative to the vertical direction, and through the track of the lifting movement inclined to the horizontal plane, it is possible to adopt a driving member 11 outputting a smaller force to drive the lifting support 42 to move when driving the lifting support 42 to lift, thus saving the cost of the driving member 11. Since the driving member 11 outputting a smaller force usually occupies a smaller space, the above setting can also save the floor space of the driving member 11, thus facilitating the installation of other components in the device to which the present linkage driving mechanism is installed.

[0093] At least one lifting slide rail 421 and at least one sliding block corresponding to the lifting slide rail can be set in one lifting support. Through the setting of multiple lifting slide rails 421 and sliding blocks 422, the multiple sliding blocks 422 fixed to the fixed support 43 act on the multiple lifting slide rails 421 when the lifting support 42 is guided to lift or descend, so that the lifting support 42 can be stably driven to rise and descend by multiple-point force to stably drive the cleaning member 2 to switch between the lifted state and the descended state. In this way, it can be avoided that the lifting support 42 cannot keep balance in the movement process when the lifting support 42 is guided by one lifting slide rail 421 and one sliding block 422, which causes the cleaning member 2 connected thereto to be unbalanced on both sides when moving, so that the cleaning member 2 cannot be completely shielded by the baffle 31 in the lifted state and cannot contact the ground on both sides in the descended state.

[0094] The lifting slide rail 421 has two ends, which are divided into a first end at the highest point and a second end at the lowest point, as shown in Figure 8 and Figure 9 , wherein Figure 8 is a cross-sectional structure diagram of the present linkage driving mechanism when the cleaning member 2 moves to the lifted state, Figure 9Fig. 3 is a sectional view of the linkage driving mechanism when the cleaning member 2 is in the lowered state. When the slider 422 moves to the first end relative to the lifting slide rail 421, the cleaning member 2 is in the lowered state; when the slider 422 moves to the second end relative to the lifting slide rail 421, the cleaning member 2 is in the raised state. The first end and the second end can be arranged to be at least partially parallel to the horizontal plane, so that when the slider 422 moves to the first end or the second end relative to the lifting slide rail 421, the slider 422 can be smoothly parked at the first end or the second end, without the need for the driving member 11 to continuously output and maintain the slider 422 at the first end or the second end to keep the cleaning member 2 in the lowered state or the raised state. With the above arrangement of the first end and the second end, the cleaning member 2 does not need to be continuously output by the driving member 11 when it is in the first end or the second end, thereby prolonging the service life of the driving member 11 in the linkage driving mechanism and reducing the energy consumption cost of starting the driving member 11.

[0095] The second aspect of the utility model provides a self-moving robot, which comprises the linkage driving mechanism of the cleaning assembly.

[0096] By installing the linkage driving mechanism, the cleaning member 2 in the self-moving robot has a stopped working and stowed raised state and a cleaning working lowered state, and when the cleaning member 2 is in the raised state, the baffle 31 in the shielding state completely shields the cleaning member 2; when the cleaning member 2 is in the lowered state, the baffle 31 in the exposed state completely exposes the cleaning member 2.

[0097] In the raised state, the baffle 31 can isolate the cleaning member 2 and the ground, preventing the cleaning member 2 and the sewage thereon from contacting the ground. The raised cleaning member 2 can also prevent the cleaning member 2 from interfering with the obstacle crossing process and being damaged due to bumping during the obstacle crossing process. In the lowered state, the cleaning member 2 can normally perform the cleaning function without being blocked by the baffle 31.

[0098] The self-moving robot uses only one driving member 11 in the linkage driving mechanism, which not only automatically controls the movement of the cleaning member 2 and the baffle 31 simultaneously without affecting the function of the self-moving robot, but also saves the cost of setting an additional driving member 11 and the space inside the self-moving robot, thereby making the self-moving robot more cost-effective and providing more space for arranging other components.

[0099] Thus, the embodiments of the utility model have been described in detail. In order to avoid obscuring the concept of the utility model, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0100] Although some specific embodiments of the present application have been described in detail by examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced by equivalents without departing from the scope and spirit of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way.

Claims

1. A linkage drive mechanism for a cleaning assembly, the linkage drive mechanism comprising: The utility model relates to a cleaning device, including: a driving module (1) comprising a driving member (11) and a first transmission part (12) and a second transmission part (13) respectively in transmission connection with the driving member (11); a cleaning member (2) in transmission connection with the first transmission part (12) and driven to switch between a lifting state and a lowering state; and a baffle support (3) arranged at one end of the cleaning member (2) and in transmission connection with the second transmission part (13), the baffle support (3) being fixedly connected with a baffle (31) covering the radial outer side of the cleaning member (2), when the cleaning member (2) is driven to the lifting state, the baffle (31) is driven to a shielding position covering the bottom of the cleaning member (2); when the cleaning member (2) is driven to the lowering state, the baffle (31) is driven to rotate from the shielding position to an exposing position so that the bottom of the cleaning member (2) is exposed.

2. The cleaning assembly linkage drive mechanism of claim 1, wherein, The second transmission part (13) is in transmission connection with the first transmission part (12) to be in transmission connection with the driving member (11).

3. The cleaning assembly linkage drive mechanism of claim 1, wherein, The first transmission part (12) and the second transmission part (13) are arranged such that when the cleaning member (2) is driven to the lifting state, the baffle (31) is just driven to the shielding position.

4. The cleaning assembly linkage drive mechanism of claim 1, wherein, The first transmission part (12) and the second transmission part (13) are arranged such that when the cleaning member (2) is driven to the lowering state, the baffle (31) is just driven to the exposing position.

5. The cleaning assembly linkage drive mechanism of claim 1, wherein, The first transmission part (12) and the second transmission part (13) are arranged such that during the rotation of the baffle (31) from the exposing position to the shielding position, after the cleaning member (2) is driven to a height greater than the thickness of the baffle (31) from the ground, the baffle (31) is driven to rotate to the shielding position.

6. The cleaning assembly linkage drive mechanism of claim 1, wherein, The first transmission part (12) and the second transmission part (13) are arranged such that during the lowering of the cleaning member (2) from the lifting state to the lowering state, after the baffle (31) is driven to expose the lowest point of the bottom of the cleaning member (2), the cleaning member (2) is driven to a height less than the thickness of the baffle (31) from the ground.

7. The cleaning assembly linkage drive mechanism of claim 1, wherein, Further comprising a lifting and lowering module (4) comprising a driven member (41) in transmission connection with the first transmission part (12), the cleaning member (2) being fixedly connected with the lifting and lowering module (4) to be driven by the first transmission part (12) to switch between the lifting state and the lowering state.

8. The cleaning assembly linkage drive mechanism of claim 7, wherein, The first transmission part (12) comprises a first bevel gear (121) in transmission connection with the driving member (11) and a first spur gear (122) rigidly coaxially connected with the first bevel gear (121), the driven member (41) being arranged as a rack, the first spur gear (122) being in mesh with the rack so that the driving member (11) can drive the lifting and lowering module (4) by driving the first bevel gear (121).

9. The cleaning assembly linkage drive mechanism of claim 8, wherein, The second transmission part (13) comprises a second bevel gear (131) engaged with the first bevel gear (121), and a transmission assembly drivingly connected to the baffle support (3), which comprises a gear transmission mechanism and / or a belt transmission mechanism for transmitting power received by the second bevel gear (131) to the baffle support (3).

10. The cleaning assembly linkage drive mechanism of claim 9, wherein, The driving member (11) comprises a driving motor and a driving bevel gear connected to a power output shaft of the driving motor and engaged with the first bevel gear (121), which is arranged opposite to the second bevel gear (131) and coaxially with each other.

11. The cleaning assembly linkage drive mechanism of claim 8, wherein, The lifting module (4) comprises a lifting support (42) fixedly connected with the cleaning member (2), and the rack is fixedly arranged on the lifting support (42), so that the lifting support (42) is lifted or lowered when the rack is driven to reciprocate by the first spur gear (122).

12. The cleaning assembly linkage drive mechanism of claim 11, wherein, The lifting module (4) further comprises a fixed support (43) fixedly installed, and the lifting support (42) is fixedly provided with a lifting slide rail (421) extending obliquely relative to the vertical direction, and the fixed support (43) is installed with a sliding block (422) slidingly matched with the lifting slide rail (421), so that the lifting support (42) is guided to be lifted or lowered when the lifting support (42) is driven to horizontally reciprocate by the first spur gear (122) along with the rack.

13. A self-moving robot, characterized in that, The cleaning assembly linkage driving mechanism comprises the cleaning assembly linkage driving mechanism according to any one of claims 1-12.

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