Cleaning robot

Abstract

A cleaning robot relates to the technical field of bed cleaning equipment and comprises a machine body, a cleaning assembly and a walking module are arranged on the machine body, and the walking module comprises a movable seat which is movably connected with the machine body and can deflect up and down relative to the machine body. The movable seat is provided with a roller used for making contact with a bed surface and a driving device used for driving the roller to rotate so that the machine can walk on the bed surface, and an elastic reset part is arranged between the movable seat and the machine body and used for promoting the movable seat to automatically reset after the movable seat deflects upwards. The cleaning robot is provided with the movable seat and the reset component, so that the rollers can adapt to the softness and unevenness of the bed surface. According to the structure, when the rolling wheels meet uneven places of the bed surface, the angle and pressure of the rolling wheels in contact with the bed surface are adjusted through up-down deflection of the movable seat, and therefore the walking stability of the robot on the soft bed surface is improved.

Description

Technical Field

[0001] This utility model relates to the field of bed cleaning equipment technology, and in particular to a cleaning robot. Background Technology

[0002] Bed cleaning robots need to move on beds with soft surfaces such as mattresses and blankets, which is very different from moving on hard surfaces such as floors or glass. Traditional fixed-structure rollers are difficult to maintain stability on soft beds due to their lack of adaptability. To adapt to the softness and unevenness of bed surfaces, most existing bed cleaning robots use a suspension structure with vertical rebound characteristics, and the robot's wheels are mounted on the suspension structure. However, this structure still lacks stability when moving on soft beds. Utility Model Content

[0003] The purpose of this invention is to provide a cleaning robot with better stability when walking on soft bed surfaces.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a cleaning robot, comprising a body, wherein a cleaning component and a walking module are provided on the body, the walking module comprising a movable seat movably connected to the body and capable of tilting up and down relative to the body, the movable seat being equipped with rollers for contacting the bed surface and a drive device for driving the rollers to rotate so that the robot can walk on the bed surface, and an elastic reset component being provided between the movable seat and the body for automatically resetting the movable seat after it tilts upward.

[0005] Furthermore, one end of the movable seat is movably mounted on a fixed seat located on the machine body via a rotating shaft.

[0006] Furthermore, the driving device includes a motor fixed on a movable base, and the roller is rotatably mounted on the movable base and driven by the motor through a first gear mechanism.

[0007] Furthermore, the output shaft of the motor is equipped with an output gear, and the first gear mechanism includes a first concentric gear coaxially disposed on a roller, and a first reduction gear set connected between the first concentric gear and the output gear, the first reduction gear set being mounted on a movable seat.

[0008] Furthermore, the first reduction gear set includes a first reduction gear meshing with the output gear, a first synchronous gear coaxially disposed on the first reduction gear, a second reduction gear meshing with the first synchronous gear, a second synchronous gear coaxially disposed on the second reduction gear, a third reduction gear meshing with the second synchronous gear, a fourth reduction gear meshing with the third reduction gear, a fourth synchronous gear coaxially disposed on the fourth reduction gear, and the fourth synchronous gear meshing with the first concentric gear.

[0009] Furthermore, the driving device includes a motor fixed on a movable base, a drive wheel mounted on the output shaft of the motor, a roller rotatably mounted on the movable base and a synchronous pulley coaxially arranged thereon, and the synchronous pulley and the drive wheel are connected by a synchronous belt.

[0010] Furthermore, the driving device includes a motor fixed on a movable base, and the roller is rotatably mounted on the movable base and connected to the motor via a transmission belt mechanism and a second gear mechanism.

[0011] Furthermore, the transmission belt mechanism includes a drive pulley coaxially mounted on the output shaft of the motor, a driven pulley mounted on the movable seat, and a transmission belt mounted on the drive pulley and the driven pulley. The second gear mechanism includes a fifth synchronous gear coaxially mounted on the driven pulley and a second concentric gear coaxially mounted on the roller, and a second reduction gear set connected between the fifth synchronous gear and the second concentric gear. The second reduction gear set is mounted on the movable seat.

[0012] Furthermore, the second reduction gear set includes a sixth reduction gear meshing with the fifth synchronous gear, a sixth synchronous gear coaxially disposed on the sixth reduction gear, a seventh reduction gear meshing with the sixth synchronous gear, a seventh synchronous gear coaxially disposed on the seventh reduction gear, and the seventh synchronous gear meshing with the second concentric gear.

[0013] Furthermore, the transmission belt and the drive pulley and driven pulley are connected by friction transmission or meshing transmission, preferably meshing transmission.

[0014] Furthermore, the elastic reset component is a spring, such as a compression spring or a tension spring, preferably a compression spring.

[0015] Furthermore, the cleaning components include a roller brush and a vacuuming module.

[0016] The cleaning robot of this invention features a movable seat and a reset component, allowing the rollers to adapt to the softness and unevenness of the bed surface. This structure allows the rollers to adjust the angle and pressure of contact with the bed surface when encountering uneven areas, through the up-and-down deflection of the movable seat, thereby improving the robot's walking stability on soft beds. Because the movable seat can deflect up and down relative to the body, the robot can better maintain its balance when encountering uneven support from soft materials such as mattresses and blankets during movement, reducing walking obstacles caused by the rollers getting stuck in soft materials. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the cleaning robot in Example 1. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the cleaning robot in Example 1. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the drive device in Example 1. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the drive device in Example 1. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the drive device in Example 1. Figure 3 ;

[0022] Figure 6 Disassembly of the drive device in Example 1 Figure 1 ;

[0023] Figure 7 Disassembly of the drive device in Example 1 Figure 2 ;

[0024] Figure 8 This is a schematic diagram of the cleaning robot in Example 2. Figure 1 ;

[0025] Figure 9 This is a schematic diagram of the cleaning robot in Example 2. Figure 2 ;

[0026] Figure 10 This is a schematic diagram of the drive device in Example 2. Figure 1 ;

[0027] Figure 11 This is a schematic diagram of the drive device in Example 2. Figure 2 ;

[0028] Figure 12This is a schematic diagram of the drive device in Example 2. Figure 3 ;

[0029] Figure 13 Disassembly of the drive device in Example 2 Figure 1 ;

[0030] Figure 14 Disassembly of the drive device in Example 2 Figure 2 .

[0031] In the picture:

[0032] 1 - Body; 2 - Walking Module; 2a - Movable Seat

[0033] 2b – Roller; 2c – Drive unit; 2c1 – Motor

[0034] 2c2 — Output gear; 2c3 — First concentric gear

[0035] 2c4 – First reduction gear; 2c4a – First synchronization gear

[0036] 2c5 – Second reduction gear; 2c5a – Second synchronization gear

[0037] 2c6 – Third reduction gear; 2c7 – Fourth reduction gear

[0038] 2c7a – Fourth synchronizing gear; 2c8 – Drive pulley

[0039] 2c9 – Driven pulley; 2c10 – Drive belt

[0040] 2c11 – Fifth synchronizing gear; 2c12 – Second concentric gear

[0041] 2c13 – Sixth reduction gear; 2c13a – Sixth synchronization gear

[0042] 2c14 – Seventh reduction gear; 2c14a – Seventh synchronization gear

[0043] 3 - Reset component; 4 - Rotating shaft; 5 - Fixed base

[0044] 6 - Roller brush; 7 - Vacuuming module. Detailed Implementation

[0045] In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. The term "multiple" means two or more (including two).

[0046] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, the following description, in conjunction with embodiments and accompanying drawings, will provide a further explanation. Example 1

[0047] like Figure 1 , 2 As shown, the cleaning robot in this embodiment mainly consists of the following parts: body 1, cleaning components, and walking module 2. Specifically: body 1 forms the main frame of the robot, providing support for other components. The cleaning components include a roller brush 6 and a vacuuming module 7. The roller brush 6 is used to physically clean the bed surface, removing dust and dirt; the vacuuming module 7 is responsible for absorbing the dirt or dust cleaned by the roller brush 6, ensuring cleaning effectiveness. The walking module 2 is responsible for driving the robot to move on the bed surface, enabling the robot to cover all areas of the bed surface and achieve comprehensive cleaning. Body 1 can be composed of a bottom shell (such as...) Figure 1 , 2 The robot consists of a bottom shell (shown in the figure) and a top shell (not shown in the figure). The cleaning components and the walking module 2 are installed on the bottom shell, and the top shell is installed on the bottom shell. Of course, a boundary detection mechanism can also be set around the body 1 to identify and monitor the bed boundary to prevent the machine from falling off the bed during operation. In addition, the basic structure and working principle of the cleaning robot in this embodiment are similar to those of existing bed cleaning robots, and will not be described in detail here.

[0048] To address the limitations of traditional bed cleaning robots with their vertically spring-loaded rollers (i.e., the robot's walking rollers are mounted on a suspension structure that exhibits vertical spring-loaded characteristics), this embodiment improves the walking module 2. By incorporating a movable seat 2a and a reset component 3, the rollers 2b can adapt to the softness and unevenness of the bed surface. Specifically, as... Figure 1-7As shown, a set of walking modules 2 are provided on each side of the robot body 1. Each walking module 2 includes a movable seat 2a, which is movably connected to the robot body 1 and can deflect vertically relative to the robot body 1 to adapt to the unevenness of the bed surface. For example, one end of the movable seat 2a is movably mounted on a fixed seat 5 provided on the robot body 1 via a rotating shaft 4, so that the movable seat 2a can deflect vertically relative to the robot body 1 about the axis of rotation of the rotating shaft 4. The fixed seat 5 is integrally connected to the robot body 1. A rotatable roller 2b is installed on the movable seat 2a, which is used to contact the bed surface, and a drive device 2c is used to drive the roller 2b to rotate, so that the robot can walk on the bed surface. In order to ensure that the movable seat 2a can automatically return to its original position after deflecting upward, a reset component 3 is provided between the movable seat 2a and the robot body 1 to cause the movable seat 2a to deflect downward and return to its initial position. The reset component 3 is an elastic component, such as a compression spring or a tension spring. Compression springs are preferred due to their stability and reliability. Taking a compression spring as an example, one end of the compression spring is fixed to the upper end of the movable seat 2a, and the other end is fixed to the top shell (this part is omitted in the figure). This arrangement allows the spring to store energy when the movable seat 2a deflects upward, and to release energy when the movable seat 2a needs to be reset, pushing the movable seat 2a (and the roller 2b on the movable seat 2a) to deflect downward back to its original position.

[0049] In this embodiment, as Figure 3-7 As shown, the drive device 2c includes a motor 2c1 fixed on the movable seat 2a. The motor 2c1 is connected to the roller 2b via a first gear mechanism, enabling the roller 2b to rotate. The roller 2b is rotatably mounted on the movable seat 2a, ensuring contact and movement with the bed surface. The motor 2c1, roller 2b, and first gear mechanism are all mounted on the movable seat 2a, allowing these components to rotate vertically relative to the machine body 1 along with the movable seat 2a to adapt to unevenness of the bed surface. This embodiment primarily uses a single gear mechanism to achieve power transmission between the motor 2c1 and the roller 2b.

[0050] In this design, motor 2c1 can directly drive roller 2b to rotate. While this direct-drive method is simple in structure, it also has significant drawbacks, primarily that roller 2b rotates too fast and is difficult to control precisely. To solve this problem, a reduction gear can be added between roller 2b and motor 2c1 to reduce the rotational speed of roller 2b and improve the accuracy of speed control. Specifically, as follows... Figure 4-7As shown, the output shaft of motor 2c1 is fixedly mounted with a coaxial output gear 2c2. The first gear mechanism includes a first concentric gear 2c3 and a first reduction gear set. The first concentric gear 2c3 is coaxially mounted on the roller 2b and can rotate synchronously with it (e.g., by fixing them together or by limiting them with a limiting mechanism). The first reduction gear set is connected between the first concentric gear 2c3 and the output gear 2c2. The first reduction gear set is responsible for transmitting the power of motor 2c1 (output gear 2c2) to roller 2b (first concentric gear 2c3) and controlling the rotational speed of roller 2b by reducing its speed. The entire first reduction gear set is mounted on the movable base 2a.

[0051] Furthermore, the first reduction gear set can be used to reduce the speed of the output shaft of motor 2c1 to meet the rotational requirements of roller 2b. For example... Figure 4-7 As shown, the first reduction gear set consists of a series of meshing gears, specifically including: a first reduction gear 2c4 meshing with the output gear 2c2, with a first synchronous gear 2c4a coaxially (fixedly connected) on its front end face; a second reduction gear 2c5 meshing with the first synchronous gear 2c4a, with a second synchronous gear 2c5a coaxially (fixedly connected) on its rear end face; a third reduction gear 2c6 meshing with the second synchronous gear 2c5a; a fourth reduction gear 2c7 meshing with the third reduction gear 2c6, with a fourth synchronous gear 2c7a coaxially (fixedly connected) on its front end face; finally, the fourth synchronous gear 2c7a meshes with the first concentric gear 2c3 to complete the power transmission. The power of the motor 2c1 is output through the output gear 2c2, and then transmitted to the first concentric gear 2c3 via these reduction gears and synchronous gears. The first concentric gear 2c3 then drives the roller 2b to rotate synchronously. Additionally, a third synchronous gear can be coaxially (fixedly connected) on the end face of the third reduction gear 2c6, meshing with the fourth reduction gear 2c7. All of these reduction gears are rotatably mounted (e.g., via shafts and bearings) on the movable seat 2a, and they are arranged in a ring around the first concentric gear 2c3. Furthermore, the roller 2b can be made into a cylindrical housing with a built-in cavity, housing these gear components within the cavity, resulting in a compact structure.

[0052] The aforementioned drive unit 2c not only converts the high-speed rotation of motor 2c1 into the low-speed rotation required by roller 2b, but also provides stable torque output, ensuring the effective movement of roller 2b on the bed surface. Furthermore, the multi-stage gear reduction design helps reduce noise and wear, improving the overall lifespan and reliability of the drive system.

[0053] In summary, the cleaning robot of this embodiment, by incorporating a movable seat 2a and a reset component 3, allows the rollers 2b to adapt to the softness and unevenness of the bed surface. This structure allows the rollers 2b to adjust the angle and pressure of contact with the bed surface when encountering uneven areas, through the vertical deflection of the movable seat 2a, thereby improving the robot's walking stability on soft bed surfaces. Because the movable seat 2a can deflect vertically relative to the body 1, the robot can better maintain its balance when encountering uneven support from soft materials such as mattresses and blankets during movement, reducing walking obstacles caused by the rollers 2b getting stuck in soft materials.

[0054] Moreover, compared to traditional straight-up-and-down spring-loaded rollers, the up-and-down deflection rollers used in this embodiment have better adaptability to soft surfaces. When encountering a soft bed surface, spring-loaded rollers, due to their structural limitations, cannot effectively adjust the contact angle with the bed surface, causing the robot to easily sink or slip on uneven surfaces, affecting walking stability. In contrast, up-and-down deflection rollers can adapt to the unevenness of the bed surface through deflection, maintaining better contact and grip. When walking on soft surfaces, spring-loaded rollers, due to their lack of sufficient adjustment capability, may frequently encounter walking obstacles, such as the rollers sinking into the mattress, causing the robot to stop or deviate from the predetermined path. Up-and-down deflection rollers adjust the contact method with the bed surface through the deflection of the movable seat 2a, reducing the risk of sinking and improving walking stability. Example 2

[0055] The difference between this embodiment and Embodiment 1 is that the driving device 2c is different. Specifically, as follows: Figure 8-14 As shown, the drive device 2c in this embodiment includes a motor 2c1 fixed on a movable base 2a, and a roller 2b rotatably mounted on the movable base 2a. The roller 2b and the motor 2c1 are connected by a transmission belt mechanism and a second gear mechanism. The motor 2c1, roller 2b, transmission belt mechanism, and second gear mechanism are all mounted on the movable base 2a, allowing these components to rotate vertically relative to the machine body 1 along with the movable base 2a to adapt to unevenness of the bed surface. This embodiment mainly achieves power transmission between the motor 2c1 and the roller 2b through a combination of the transmission belt mechanism and the gear mechanism.

[0056] Among them, such as Figure 10-14 As shown, the transmission belt mechanism includes a drive pulley 2c8 coaxially mounted (fixedly connected) on the output shaft of the motor 2c1, a driven pulley 2c9 rotatably mounted on the movable seat 2a, and a transmission belt 2c10 mounted on the drive pulley 2c8 and the driven pulley 2c9. The transmission belt 2c10 can be connected to the drive pulley 2c8 and the driven pulley 2c9 via friction or meshing transmission; meshing transmission is preferred for better stability.

[0057] The second gear mechanism includes a fifth synchronous gear 2c11, a second concentric gear 2c12, and a second reduction gear set. The fifth synchronous gear 2c11 is coaxially mounted (fixedly connected) on the rear end face of the driven pulley 2c9. The second concentric gear 2c12 is coaxially mounted on the roller 2b and can rotate synchronously with it (e.g., by fixing them together or by limiting and fixing them through a limiting mechanism). The second reduction gear set is connected between the fifth synchronous gear 2c11 and the second concentric gear 2c12. The entire second reduction gear set is mounted on the movable seat 2a.

[0058] Furthermore, the second reduction gear set can be used to reduce the speed of the output shaft of motor 2c1 to meet the rotational requirements of roller 2b. For example... Figure 11-14 As shown, the second reduction gear set consists of a series of meshing gears, specifically including: a sixth reduction gear 2c13 meshing with the fifth synchronous gear 2c11, with a sixth synchronous gear 2c13a coaxially (fixedly connected) on its front end face; a seventh reduction gear 2c14 meshing with the sixth synchronous gear 2c13a, with a seventh synchronous gear 2c14a coaxially (fixedly connected) on its rear end face; finally, the seventh synchronous gear 2c14a meshes with the second concentric gear 2c12 to complete the power transmission. The power of the motor 2c1 is output through the drive pulley 2c8, transmitted through the transmission belt 2c10 to the driven pulley 2c9, the driven pulley 2c9 drives the fifth synchronous gear 2c11 to rotate synchronously, the fifth synchronous gear 2c11 then transmits the power through these reduction gears and synchronous gears to the second concentric gear 2c12, the second concentric gear 2c12 then drives the roller 2b to rotate synchronously. All of the reduction gears mentioned above are rotatably mounted on the movable seat 2a (e.g., movably mounted via shafts and bearings).

[0059] The other parts of this embodiment are basically the same as those in Embodiment 1, and will not be described again here. Example 3

[0060] The difference between this embodiment and Embodiment 1 lies in the drive device 2c. Specifically, the drive device 2c in this embodiment includes a motor 2c1 fixed on the movable seat 2a. A drive wheel is mounted on the output shaft of the motor 2c1. A roller 2b is rotatably mounted on the movable seat 2a and coaxially (fixedly connected) to a synchronous pulley. The synchronous pulley and the drive wheel are connected by a synchronous belt. The motor 2c1, roller 2b, and synchronous belt mechanism are all mounted on the movable seat 2a, allowing these components to rotate vertically relative to the machine body 1 along with the movable seat 2a to adapt to unevenness of the bed surface. This embodiment primarily uses a single synchronous belt mechanism to achieve power transmission between the motor 2c1 and the roller 2b. The synchronous belt, synchronous pulley, and drive wheel can be connected by friction or meshing transmission; meshing transmission is preferred for better stability.

[0061] The synchronous belt mechanism in this embodiment is similar to the transmission belt mechanism in Embodiment 2, and their structures and principles are basically the same. Furthermore, compared to Embodiment 2, this embodiment only omits the reduction gear mechanism; the other structures remain essentially the same.

[0062] The other parts of this embodiment are basically the same as those in Embodiment 1, and will not be described again here.

[0063] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A cleaning robot, comprising a body (1), characterized in that: The machine body (1) is provided with a cleaning component and a walking module (2). The walking module (2) includes a movable seat (2a) that is movably connected to the machine body (1) and can deflect up and down relative to the machine body (1). The movable seat (2a) is equipped with a roller (2b) for contacting the bed surface and a drive device (2c) for driving the roller (2b) to rotate so that the machine can walk on the bed surface. An elastic reset component (3) is provided between the movable seat (2a) and the machine body (1) to cause the movable seat (2a) to automatically reset after it deflects upward.

2. The cleaning robot according to claim 1, characterized in that: One end of the movable seat (2a) is movably mounted on the fixed seat (5) located on the body (1) via a rotating shaft (4).

3. The cleaning robot according to claim 1, characterized in that: The drive device (2c) includes a motor (2c1) fixed on a movable seat (2a), and the roller (2b) is rotatably mounted on the movable seat (2a) and connected to the motor (2c1) via a first gear mechanism.

4. The cleaning robot according to claim 3, characterized in that: The output shaft of the motor (2c1) is equipped with an output gear (2c2). The first gear mechanism includes a first concentric gear (2c3) coaxially disposed on a roller (2b), and a first reduction gear set connected between the first concentric gear (2c3) and the output gear (2c2). The first reduction gear set is mounted on a movable seat (2a).

5. The cleaning robot according to claim 4, characterized in that: The first reduction gear set includes a first reduction gear (2c4) meshing with the output gear (2c2), a first synchronous gear (2c4a) coaxially disposed on the first reduction gear (2c4), a second reduction gear (2c5) meshing with the first synchronous gear (2c4a), a second synchronous gear (2c5a) coaxially disposed on the second reduction gear (2c5), a third reduction gear (2c6) meshing with the second synchronous gear (2c6), a fourth reduction gear (2c7) meshing with the third reduction gear (2c6), a fourth synchronous gear (2c7a) coaxially disposed on the fourth reduction gear (2c7), and the fourth synchronous gear (2c7a) meshing with the first concentric gear (2c3).

6. The cleaning robot according to claim 1, characterized in that: The drive device (2c) includes a motor (2c1) fixed on a movable seat (2a), a drive wheel is mounted on the output shaft of the motor (2c1), the roller (2b) is rotatably mounted on the movable seat (2a) and a synchronous wheel is coaxially arranged thereon, and the synchronous wheel and the drive wheel are connected by a synchronous belt.

7. The cleaning robot according to claim 1, characterized in that: The drive unit (2c) includes a motor (2c1) fixed on a movable seat (2a), and the roller (2b) is rotatably mounted on the movable seat (2a) and connected to the motor (2c1) via a transmission belt mechanism and a second gear mechanism.

8. The cleaning robot according to claim 7, characterized in that: The transmission belt mechanism includes a drive pulley (2c8) coaxially mounted on the output shaft of the motor (2c1), a driven pulley (2c9) mounted on the movable seat (2a), and a transmission belt (2c10) mounted on the drive pulley (2c8) and the driven pulley (2c9). The second gear mechanism includes a fifth synchronous gear (2c11) coaxially mounted on the driven pulley (2c9) and a second concentric gear (2c12) coaxially mounted on the roller (2b), and a second reduction gear set connected between the fifth synchronous gear (2c11) and the second concentric gear (2c12). The second reduction gear set is mounted on the movable seat (2a).

9. The cleaning robot according to claim 8, characterized in that: The second reduction gear set includes a sixth reduction gear (2c13) meshing with the fifth synchronous gear (2c11). A sixth synchronous gear (2c13a) is coaxially arranged on the sixth reduction gear (2c13). A seventh reduction gear (2c14) meshes with the sixth synchronous gear (2c13a). A seventh synchronous gear (2c14a) is coaxially arranged on the seventh reduction gear (2c14). The seventh synchronous gear (2c14a) meshes with the second concentric gear (2c12).

10. The cleaning robot according to claim 8, characterized in that: The transmission belt (2c10), the drive pulley (2c8), and the driven pulley (2c9) are connected by friction or meshing transmission.

Images