CN114652206B - Cleaning robot - Google Patents

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a cleaning robot. The cleaning robot includes: a box body; a delivery pipe mechanism; a suction nozzle mechanism including a fixed plate assembly, a front side plate and a deflection plate. The plate assembly and the fixed plate assembly jointly form a first concave cavity with an opening facing the ground; the deflection plate is obliquely arranged in the first concave cavity and is rotatably connected with the fixed plate assembly, and a suction hole is formed on the deflection plate; volume adjustment mechanism It includes a first drive assembly, a hook, a first transmission assembly and a lifting assembly. The front end of the hook is fixed on the front side plate, and the rear end of the hook is connected to the first drive assembly and can be fixed relative to the plate assembly. Rotation; the upper end of the lifting assembly is driven and connected to the first drive assembly, and the lower end of the lifting assembly extends into the first cavity and is connected with the deflection plate. The cleaning robot has the advantages that the volume of the suction nozzle can be changed, which improves the cleaning robot's suction efficiency.

Description

cleaning robot

technical field

The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background technique

In recent years, with the development of the social economy and the improvement of the level of science and technology, street sanitation cleaning has gradually entered the era of intelligence and mechanization. The sanitation cleaning robot that emerged as the times require can liberate the cleaning staff from the sanitation cleaning work and effectively reduce the cleaning time. Reduce the workload of personnel in sanitation and cleaning, and relieve the fatigue of cleaning personnel in the process of sanitation and cleaning. However, the volume of the suction nozzle of the existing cleaning robot is fixed, and it can only pick up garbage of a certain volume. For example, the suction nozzle with a small volume can only absorb garbage with low density and small volume, but cannot absorb garbage with a large length or volume. (such as mineral water bottles), making the suction efficiency of the cleaning robot low and the cleaning effect poor.

Contents of the invention

The object of the present invention is to provide a cleaning robot, which has the advantages of variable suction nozzle volume and improved suction efficiency of the cleaning robot.

In order to achieve the above object, the present invention provides a cleaning robot, which includes:

box;

Conveying pipe mechanism;

The suction nozzle mechanism includes a fixed plate assembly, a front side plate and a deflection plate. The front side plate is rotatably arranged at the front end of the fixed plate assembly and together with the fixed plate assembly forms a first concave cavity with an opening facing the ground; the deflection plate is arranged obliquely In the first concave cavity and rotatably connected to the front side of the fixed plate assembly, the deflector plate is formed with a suction hole communicating with the delivery pipe mechanism and the box body;

The volume adjustment mechanism includes a first drive assembly, a hook, a first transmission assembly, and a lifting assembly. The front end of the hook is fixed on the front side plate, and the rear end of the hook is connected to the first drive assembly and can be driven. Rotate relative to the fixed plate assembly; the upper end of the lifting assembly is drivingly connected with the first driving assembly, and the lower end of the lifting assembly extends into the first cavity and is connected with the deflection plate.

In an embodiment of the present invention, the suction nozzle mechanism further includes an elastic extruding plate, which is obliquely arranged in the first cavity, and the inclination direction of the elastic extruding plate is opposite to the inclination direction of the deflection plate, and the inclination direction of the deflection plate The rear end leans against the elastic extrusion plate.

In an embodiment of the present invention, the cleaning robot also includes a height adjustment mechanism arranged between the box body and the suction nozzle mechanism. The height adjustment mechanism includes a connecting seat, a telescopic shaft and a spring. The connecting seat is arranged under the box body, and the telescopic shaft It can be moved up and down at the bottom of the connecting seat and connected with the suction nozzle mechanism. A second cavity is formed on the connecting seat. The upper end of the spring is against the top of the second cavity, and the lower end of the spring is against the top of the telescopic shaft. .

In an embodiment of the present invention, the cleaning robot further includes a second drive assembly with a first spur gear at the drive end, and a second spur gear for meshing with the first spur gear is provided on the outer peripheral wall of the telescopic shaft.

In an embodiment of the present invention, the cleaning robot further includes a rotation limiting mechanism. The rotation limiting mechanism includes a third spur gear and a screw pin that are drivingly connected to the second drive assembly. The screw pin is arranged in the horizontal direction, and the third straight The gear is sheathed on the screw pin and is threadedly connected with the screw pin, and the telescopic shaft is vertically provided with a U-shaped groove for inserting the screw pin.

In an embodiment of the present invention, the conveying pipe mechanism includes a first conveying pipe, a second conveying pipe and a connecting assembly, the first conveying pipe is arranged under the box body and communicates with the first conveying pipe, and the second conveying pipe is arranged at the second In a cavity and the lower end of the second delivery pipe communicates with the suction hole, the connecting assembly includes a detachably connected upper flange and a lower flange, the upper flange is arranged at the lower end of the first delivery pipe and communicates with the first delivery pipe , the lower flange is located below the upper flange and communicates with the second delivery pipe.

In an embodiment of the present invention, the connecting assembly further includes a connecting column arranged at the bottom of the upper flange, and the lower flange is provided with a connecting hole for inserting the connecting column, and the lower end of the connecting column is provided with a plurality of To expand or retract the bifurcated board.

In an embodiment of the present invention, the connecting post has a hollow inner cavity, the lower end of the forked plate is rotatably connected to the connecting post, and the peripheral wall of the connecting post is provided with a return groove for accommodating the forked plate. A telescopic rod is arranged in the cavity, and the telescopic end of the telescopic rod is connected with the upper end of the bifurcated plate through a stay wire.

In an embodiment of the present invention, the connection assembly further includes an elastic rubber pad disposed between the upper flange and the lower flange.

In an embodiment of the present invention, the cleaning robot further includes a press-down mechanism, the press-down mechanism includes a lifting assembly arranged below the box body and drivingly connected to the second drive assembly, the lower end of the lifting assembly is provided with a first electromagnet, and the upper method A second electromagnet matched with the first electromagnet is arranged on the blue.

Through the above technical solution, the cleaning robot is provided with a box body, a conveying pipe mechanism, a suction nozzle mechanism, and a volume adjustment mechanism. The suction nozzle mechanism includes a fixed plate assembly, which is rotatably arranged at the front end of the fixed plate assembly and forms an opening together with the fixed plate assembly. The front side plate of the first cavity facing the ground, and the deflection plate which is obliquely arranged in the first cavity and can be deflected, the garbage picked up can pass through the suction hole on the deflection plate and enter the box through the conveying pipe mechanism In the storage cavity; the volume adjustment mechanism includes a first driving assembly, a hook, a first transmission assembly arranged in the horizontal direction, and a lifting assembly arranged in the vertical direction. The front end of the hook is clamped on the front side plate, The first driving assembly simultaneously drives the first transmission assembly, the hook member and the lifting assembly, so that the front side plate and the deflection plate deflect up and down, thereby changing the volume of the suction nozzle mechanism, so as to enhance the suction ability and suction capacity of the suction nozzle mechanism for garbage. Pick up efficiency, expand the scope of application of cleaning robots, and improve the overall performance of cleaning robots.

Description of drawings

Fig. 1 is the first structure schematic diagram of the suction nozzle mechanism in the embodiment of the present invention;

Fig. 2 is the second structural schematic view of the suction nozzle mechanism in the embodiment of the present invention (extended state of the telescopic element);

Fig. 3 is a second structural schematic diagram of the suction nozzle mechanism in the embodiment of the present invention (the retracted state of the telescopic element);

Fig. 4 is a schematic structural view of a volume adjustment mechanism in an embodiment of the present invention;

Fig. 5 is a partial structural schematic diagram of the pressing mechanism in the embodiment of the present invention;

Fig. 6 is a schematic structural view of the connecting column in the embodiment of the present invention (the bifurcated plate expanded state);

Fig. 7 is a schematic structural view of the connecting column in the embodiment of the present invention (the bifurcated plate is folded);

Fig. 8 is a schematic structural view of a pressing mechanism in an embodiment of the present invention;

Fig. 9 is a structural schematic diagram of the height adjustment mechanism and the rotation limit mechanism in the embodiment of the present invention;

Fig. 10 is a schematic structural view (bottom view) of the moving mechanism in an embodiment of the present invention;

Fig. 11 is a schematic structural view (view) of the moving mechanism in the embodiment of the present invention.

Explanation of reference signs

1 Box body 2 Conveying pipe mechanism

201 First delivery tube 202 Second delivery tube

203 Connection assembly 2031 Upper flange

2032 Lower flange 2033 Connecting post

2034 Split Plate 2035 Telescoping Rod

2036 Elastic Rubber Pad 3 Nozzle Mechanism

301 Fixed plate assembly 3011 Upper top plate

3012 rear side panel 302 front side panel

303 deflection plate 304 elastic extrusion plate

305 Rubber plate 4 Volume adjustment mechanism

401 First drive assembly 4011 Fourth spur gear

402 Hook piece 403 First drive assembly

4031 Fifth spur gear 4032 First rack

4033 First Rail 404 Lifting Assembly

4041 Second rack 4042 Second rail

4043 Connection block 4044 Telescopic piece

405 Second transmission assembly 4051 First bevel gear

4052 Second bevel gear 4053 Third bevel gear

4054 Fourth bevel gear 4055 Sixth spur gear

4056 First connecting shaft 4057 Second connecting shaft

5 Height adjustment mechanism 501 Connecting seat

502 Telescoping shaft 503 Spring

504 Second spur gear 505 Ferrule

6 Second drive assembly 601 First spur gear

602 Second motor 7 rotation limit mechanism

701 The third spur gear 702 Screw pin

703 Mounting seat for screw pin 704 Fifth bevel gear

705 sixth bevel gear 706 seventh spur gear

707 Eighth spur gear 708 Third connecting shaft

709 The fourth connecting shaft 8 press-down mechanism

801 Lifting assembly 8011 Guide seat

8012 Guide rod 8013 Connecting arm

8014 The first screw seat 8015 The first screw

8016 1st screw nut 8017 2nd screw nut

9 Travel Mechanism 901 Lateral Rail Assembly

9011 First cross rail 9012 Second cross rail

902 Longitudinal rail 903 Telescopic rod for lateral movement

904 Longitudinal movement of telescopic rod 905 Third electromagnet

906 Fifth electromagnet

Detailed ways

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

A new type of cleaning robot is provided in the embodiments of the present invention. The cleaning robot in this embodiment is a sanitation cleaning robot. As shown in Figure 1-11, the cleaning robot includes a box body 1, a delivery pipe mechanism 2, and a suction nozzle mechanism 3 and a volume adjustment mechanism 4, wherein a storage cavity for storing garbage is formed in the box body 1; the conveying pipe mechanism 2 is used to transport the garbage picked up by the suction nozzle mechanism 3 into the storage cavity; the suction nozzle mechanism 3 includes a fixed plate Assembly 301, front side plate 302 and deflection plate 303, fixed plate assembly 301 includes upper top plate 3011, rear side plate 3012, left side plate and right side plate, upper top plate 3011 is arranged along the horizontal direction, rear side plate 3012 is arranged along the vertical direction It is arranged on the rear side of the upper top plate 3011, and the left side plate and the right side plate are respectively arranged on the left and right sides of the assembly formed by the upper top plate 3011 and the rear side plate 3012; the front side plate 302 is rotatably arranged on the fixed plate assembly 301 The front end and the fixed plate assembly 301 jointly form a first concave cavity with an opening facing the ground. The upper end of the front side plate 302 is rotatably connected to the front end of the fixed plate assembly 301. When the front side plate 302 rotates, its lower end deflects around the upper end. The first concave cavity The internal volume of the cavity becomes larger; the deflection plate 303 is obliquely arranged in the first cavity and is rotatably connected with the front side of the fixed plate assembly 301, that is, the front end of the deflection plate 303 and the front side of the fixed plate assembly 301 are hinged together, The deflection plate 303 is formed with a suction hole that communicates with the storage chamber of the box body 1 through the delivery pipe mechanism 2, and a suction hole for picking up garbage is formed between the deflection plate 303, the front side plate 302, the left side plate and the right side plate. Picking chamber, after the suction chamber contains the garbage, the cleaning robot sucks the garbage, and the garbage enters the storage chamber through the suction hole and the conveying pipe mechanism 2; the volume adjustment mechanism 4 includes a first drive assembly 401, a hook piece 402, the first transmission assembly 403 arranged in the horizontal direction and the lifting assembly 404 arranged in the vertical direction, the first drive assembly 401 is the first motor arranged on the first motor mount, and the first motor mount is arranged on the Above the top plate 3011, the output end of the first motor is provided with a fourth spur gear 4011, and the first transmission assembly 403 includes a fifth spur gear 4031, a first rack 4032 and a first guide rail 4033, and the fifth spur gear 4031 is simultaneously connected with the first guide rail 4033 The four spur gears 4011 and the first rack 4032 mesh, and the first guide rail 4033 is arranged on the upper top plate 3011 along the horizontal direction and has a first guide groove for moving and guiding the first rack 4032; the front end of the hook member 402 Fastened on the front side plate 302, the rear end of the hook member 402 is formed with a first fulcrum and a second fulcrum, the first fulcrum is rotatably connected to the fixed plate assembly 301, the second fulcrum is located above the front side of the first fulcrum and Connected to the front end of the first transmission assembly 403, the hook 402 is L-shaped, one side of the L-shaped hook 402 is fixed to the front side plate 302, and the rear end of the other side (that is, close to the first transmission assembly) One end) is formed with a first fulcrum and a second fulcrum, and the top of the upper top plate 3011 is also provided with a hook supporting seat, a supporting seat and a second fulcrum One point is rotationally connected, the second fulcrum is connected to the front end of the first rack 4032 through a pull wire, the rear end of the first transmission assembly 403 is drivingly connected to the first drive assembly 401, the first rack 4032 and the fifth spur gear 4031 meshing, when the first motor rotates, it transmits the power to the hook 402 through the fourth spur gear 4011, the fifth spur gear 4031 and the first rack 4032 in turn, and the hook 402 as a whole takes the first fulcrum as the rotation center Rotate, and then drive the front side plate 302 to deflect forward; the upper end of the lifting assembly 404 is drivingly connected with the first driving assembly 401, and the lower end of the lifting assembly 404 extends into the first cavity and is connected with the deflection plate 303, specifically, the volume The adjustment mechanism 4 also includes a second transmission assembly 405. The second transmission assembly 405 includes a first bevel gear 4051, a second bevel gear 4052, a third bevel gear 4053, a fourth bevel gear 4054, a sixth spur gear 4055, a first connection Shaft 4056 and the second connecting shaft 4057, the first bevel gear 4051 wheel is also arranged on the output end of the first motor, the second bevel gear 4052 wheel is arranged on the first end of the first connecting shaft 4056, the third bevel gear 4053 wheel is arranged At the second end of the first connecting shaft 4056, the fourth bevel gear 4054 wheel is arranged on the first end of the second connecting shaft 4057 and meshes with the third bevel gear 4053, and the sixth spur gear 4055 is arranged on the second connecting shaft 4057 The second end of the second end; the lifting assembly 404 includes a second rack 4041, a second guide rail 4042 and a connecting block 4043, the second rack 4041 is arranged vertically and its upper end engages with the sixth spur gear 4055, and the connecting block 4043 is arranged on Above the rear end of the deflection plate 303, the lower end of the second rack 4041 extends into the first cavity and is hinged with the top of the connecting block 4043. The second rail 4042 is above the upper top plate 3011 and is formed with The bar 4041 is the second guide slot for moving and guiding. When the first motor rotates, it passes power through the first bevel gear 4051, the second bevel gear 4052, the first connecting shaft 4056, the third bevel gear 4053, and the fourth bevel gear in sequence. The gear 4054, the second connecting shaft 4057, the sixth spur gear 4055, the second rack 4041 and the connecting block 4043 are transmitted to the deflection plate 303, so that the deflection plate 303 as a whole rotates upward around the hinge point at its front end. When the first motor in the motor rotates in the first preset direction, it can simultaneously drive the front side plate 302 and the deflection plate 303 to rotate, thereby making the volume of the pick-up chamber larger. At this time, the pick-up chamber can accommodate more quantities and/or Larger volumes of garbage (such as mineral water bottles), thereby improving the cleaning efficiency of the cleaning robot; when the first motor rotates in the second preset direction (the second preset direction is opposite to the first preset direction), it can simultaneously drive the front side The plate 302 and the deflection plate 303 rotate, and then the volume of the suction cavity becomes smaller, and at this time, the suction force in the suction cavity is stronger, and heavy garbage can be picked up.

In one embodiment of the present invention, the lifting component 404 is a telescopic member 4044 (such as an air rod or a cylinder), and the telescopic end of the telescopic member 4044 extends into the first cavity and is hinged to the connecting block 4043 .

In one embodiment of the present invention, the suction nozzle mechanism 3 further includes an elastic extruding plate 304, and the elastic extruding plate 304 is obliquely arranged in the first cavity, and the inclination direction of the elastic extruding plate 304 is the same as that of the deflection plate 303. The direction is opposite, that is, the upper end of the elastic extrusion plate 304 is connected to the rear end of the upper top plate 3011, and the lower end of the elastic extrusion plate 304 is inclined forward. The suction nozzle mechanism 3 also includes a rubber plate 305 located below the elastic extrusion plate 304. Arranged in the vertical direction, the rear end of the deflection plate 303 leans against the elastic extrusion plate 304, and when the rear end of the deflection plate 303 deflects from bottom to top, it will extrude the rubber plate 305 or the elastic extrusion plate 304 to the rear side plate 3012 is close to avoiding that garbage enters the space above the deflector 303 from the gap between the deflector 303 and the rear side plate 3012 and cannot be picked up successfully.

In one embodiment of the present invention, the cleaning robot also includes a height adjustment mechanism 5 arranged between the box body 1 and the suction nozzle mechanism 3 and used to adjust the height of the suction nozzle mechanism 3. The height adjustment mechanism 5 includes a connecting seat 501, a telescopic The shaft 502 and the spring 503, the connection seat 501 is arranged under the box body 1, and the telescopic shaft 502 can be arranged on the bottom of the connection seat 501 up and down and connected with the suction nozzle mechanism 3. The cleaning robot in this embodiment also includes a third The drive assembly, the third drive assembly is driven and connected to the telescopic shaft 502. When the telescopic shaft 502 is extended, the suction nozzle mechanism 3 moves downward; when the telescopic shaft 502 shortens, the suction nozzle mechanism 3 moves upward; the height adjustment mechanism 5 also includes a sleeve The ferrule 505 that is cylindrical in the outer side of the connection seat 501, the upper end of the telescopic shaft 502 can be connected with the lower end of the ferrule 505 movable up and down, the second concave cavity is formed on the connection seat 501, and the upper end of the spring 503 Abut against the top of the second cavity, the lower end of the spring 503 abuts against the top of the telescopic shaft 502, when the suction nozzle mechanism 3 passes through a higher terrain, the suction nozzle mechanism 3 can rely on the ground support force to compress the spring 503 so that the spring 503 retracts, and at this time the suction nozzle mechanism 3 realizes self-adaptive lifting within a certain height range; when the suction nozzle mechanism 3 passes through a low-lying road surface, the suction nozzle mechanism 3 falls to the ground due to its own gravity, and the spring 503 stretches Long, the suction nozzle mechanism 3 realizes self-adaptive descent within a certain range.

In the embodiment of the present invention, the cleaning robot also includes a second drive assembly 6 with a first spur gear 601 at the drive end, and a second spur gear for meshing with the first spur gear 601 is provided on the outer peripheral wall of the telescopic shaft 502 504. The second driving assembly 6 in this embodiment is movably arranged at the bottom of the box body 1, and the second driving assembly 6 includes a second motor 602 arranged in the vertical direction and a first motor 602 arranged at the driving end of the second motor 602. When the spur gear 601 and the second motor 602 rotate, the power is transmitted to the telescopic shaft 502 through the first spur gear 601 and the second spur gear 504 in turn, and then the telescopic shaft 502, that is, the suction nozzle mechanism 3 below the telescopic shaft 502, is driven to rotate. It is beneficial to expand the pick-up range of the suction nozzle mechanism 3. In addition, when the cleaning robot is cleaning on a narrow road and it is inconvenient to turn around, it can be controlled to directly reverse (as shown in Figure 2). Rotate the suction nozzle mechanism 3 by 180 degrees. After the suction nozzle mechanism 3 rotates, it can also control its front side plate 302 to deflect correspondingly in the direction of retreat, so that the airflow can enter the suction cavity to enhance the suction effect on garbage, so that the cleaning Even when the robot is reversing, it can perform cleaning tasks normally without affecting cleaning efficiency.

In one embodiment of the present invention, the cleaning robot also includes a moving mechanism 9 for changing the position of the second drive assembly 6. The moving mechanism 9 includes a transverse guide rail assembly 901, a longitudinal guide rail 902, a laterally movable telescopic rod 903 and a longitudinally movable telescopic rod. 904, the longitudinal guide rail 902 is located below the transverse guide rail assembly 901 and can move along the axial direction of the transverse guide rail assembly 901, specifically, the transverse guide rail assembly 901 includes first transverse guide rails 9011 which are all located below the box body 1 and arranged at intervals along the horizontal direction and the second transverse guide rail 9012, one end of the longitudinal guide rail 902 is arranged on the first transverse guide rail 9011, and the other end of the longitudinal guide rail 902 is arranged on the second transverse guide rail 9012; the second motor 602 is movably arranged in the vertical direction On the guide rail 902, the horizontally moving telescopic rod 903 is arranged below the box body 1 along the horizontal direction (that is, horizontally) and is located between the first horizontal guide rail 9011 and the second horizontal guide rail 9012 in the longitudinal direction, and the telescopic end of the laterally moving telescopic rod 903 is set There is a third electromagnet 905, and a fourth electromagnet is provided on the second motor 602. When it is necessary to change the position of the second motor 602 in the lateral direction, first control the lateral movement of the telescopic rod 903 to stretch and make its end touch the second motor 602 , and then energize the third electromagnet 905 and the fourth electromagnet to make them attract each other, and then control the lateral movement of the telescopic rod 903 to expand and contract again until it reaches the horizontal preset position, and the second motor 602 moves to the horizontal preset position to make The third electromagnet 905 and the fourth electromagnet can be powered off. In this process, the longitudinal guide rail 902 and the second motor 602 move synchronously; The fifth electromagnet 906 is provided at the telescopic end of the longitudinally moving telescopic rod 904. When it is necessary to change the position of the second motor 602 in the longitudinal direction, first control the longitudinally moving telescopic rod 904 to expand and contract so that the end touches the second motor 602. The motor 602, then energizes the fifth electromagnet 906 and the fourth electromagnet to make them attract each other, and then controls the longitudinal movement of the telescopic rod 904 to stretch again until it reaches the longitudinal preset position, and the second motor 602 moves to the longitudinal preset position Finally, the fifth electromagnet 906 and the fourth electromagnet are powered off. In this embodiment, when the second motor 602 is at the first preset position, the first spur gear 601 meshes with the second spur gear 504 . Further, both ends of the longitudinal guide rail 902 cooperate with the first transverse guide rail 9011 and the second transverse guide rail 9012 through a dovetail mechanism, which enhances the connection stability between the longitudinal guide rail 902 and the first transverse guide rail 9011 and the second transverse guide rail 9012, and can Prevent the longitudinal guide rail 902 from falling; similarly, the dovetail mechanism cooperates between the second motor 602 and the longitudinal guide rail 902, which enhances the connection stability between the longitudinal guide rail 902 and the second motor 602 and prevents the second motor 602 from falling.

In the embodiment of the present invention, the cleaning robot further includes a rotation limiting mechanism 7, and the rotation limiting mechanism 7 includes a third spur gear 701 and a screw pin 702 drivingly connected with the second drive assembly 6, and the screw pin 702 is horizontally direction setting, the third spur gear 701 is sleeved on the screw pin 702 and is threadedly connected with the screw pin 702, and the telescopic shaft 502 is vertically provided with a U-shaped groove for the screw pin 702 to be inserted. Specifically, the rotation limiting mechanism 7 includes a third spur gear 701, a screw pin 702, a screw pin mounting seat 703, a fifth bevel gear 704, a sixth bevel gear 705, a seventh spur gear 706, and an eighth spur gear 707. , the third connecting shaft 708 and the fourth connecting shaft 709, the screw bolt mounting seat 703 is cylindrical and arranged below the box body 1 along the horizontal direction, the third spur gear 701 is arranged vertically on the screw bolt mounting One end of the seat 703, one end of the screw pin 702 is passed through the third spur gear 701 and forms an internal thread connection with the third spur gear 701, and the ferrule 505 is provided with a jack for inserting the screw pin 702. The position of the hole corresponds to the position of the U-shaped groove (the U-shaped groove is arranged along the vertical direction), and the other end of the screw mandrel bolt 702 can pass through the screw mandrel bolt mounting seat 703, the socket and extend into the U-shaped groove; the seventh The spur gear 706 is arranged on one end of the third connecting shaft 708 and meshes with the third spur gear 701, the fifth bevel gear 704 is arranged on the other end of the third connecting shaft 708, and the sixth bevel gear 705 is arranged on the fourth connecting shaft 709. One end is engaged with the fifth bevel gear 704, and the eighth spur gear 707 is arranged on the other end of the fourth connecting shaft 709 and can be engaged with the first spur gear 601. Specifically, when the second motor 602 moves to the second preset position , the third spur gear 701 and the first spur gear 601 mesh together, and at this time the second motor 602 can drive the screw pin 702 to move along its axial direction to insert or withdraw from the U-shaped groove. In addition, when the screw pin 702 is inserted into During the U-shaped groove, the suction nozzle mechanism 3 can only be adjusted in height and cannot be rotated.

In one embodiment of the present invention, the delivery tube mechanism 2 includes a first delivery tube 201, a second delivery tube 202 and a connecting assembly 203, both of the first delivery tube 201 and the second delivery tube 202 are retractable corrugated tubes, and the second delivery tube 201 is a flexible bellows. A conveying pipe 201 is arranged below the box body 1 and the upper end of the first conveying pipe 201 communicates with the storage chamber, the second conveying pipe 202 is arranged in the first cavity and the lower end of the second conveying pipe 202 communicates with the suction hole, The connection assembly 203 includes an upper flange 2031 and a lower flange 2032 that are detachably connected and communicated with each other. The upper flange 2031 is arranged at the lower end of the first delivery pipe 201 and communicates with the first delivery pipe 201. The upper flange 2031 is connected by the lower method. The flange 2032 communicates with the upper end of the second conveying pipe 202. When the suction nozzle mechanism 3 is in working condition, the upper flange 2031 and the lower flange 2032 are connected together, and the rubbish to be sucked up passes through the suction hole, the second conveying pipe in turn. 202, the lower flange 2032, the upper flange 2031 and the first delivery pipe 201 enter the storage cavity again.

In one embodiment of the present invention, the connecting assembly 203 also includes a connecting column 2033 arranged at the bottom of the upper flange 2031, the lower flange 2032 is provided with a connecting hole for the connecting column 2033 to be inserted, and the lower end of the connecting column 2033 is provided with multiple A bifurcated plate 2034 that can be expanded or folded along the circumference of the connecting column 2033, when the upper flange 2031 and the lower flange 2032 need to be connected together, first control the bifurcated plate 2034 to be in a retracted state, so that the connecting column 2033 can be connected from the When the connecting column 2033 stretches into the connecting hole and the bifurcated plate 2034 is located below the connecting hole, then control the bifurcated plate 2034 to be in the unfolded state, so that the bifurcated plate 2034 is stuck under the connecting hole to realize the upper The connection between the flange 2031 and the lower flange 2032; when the upper flange 2031 and the lower flange 2032 need to be separated, first control the bifurcation plate 2034 from the expanded state to the folded state, and then make the connecting column 2033 withdraw from the connecting hole That's it.

In one embodiment of the present invention, the connecting post 2033 has a hollow inner cavity, the connecting post 2033 includes a cylindrical portion and an inverted conical portion located below the cylindrical portion, the lower end of the fork plate 2034 is rotatably connected to the connecting post 2033, That is, the lower end of the bifurcated plate 2034 is hinged to the inverted conical part, and the circumferential wall of the connecting column 2033 is provided with a bifurcated plate return groove for accommodating the bifurcated plate 2034. On the circumferential wall of the shape part, a retractable pull rod is provided in the inner cavity, and the telescopic end of the pull rod is connected with the upper end of the bifurcation plate 2034 by a backguy, and one end of the backguy is connected with the upper end of the bifurcation plate 2034, and the other end of the backguy is It is connected with the telescopic end of the pull rod, and the pull rod is driven and connected with the third driving assembly (not shown in the figure) of the cleaning robot. When the pull rod is in an extended state, the pull cord is in a relaxed state, and the bifurcated plate 2034 is toppled over due to gravity. But in the unfolded state, the bifurcated plate 2034 is stuck below the connecting hole, and the upper flange 2031 and the lower flange 2032 are connected together; The bifurcated plate 2034 is gathered inwardly in the bifurcated plate return slot along the circumferential direction, and at this time the connecting column 2033 can move upwards and exit the connecting hole, so that the upper flange 2031 and the lower flange 2032 are separated.

In one embodiment of the present invention, the connection assembly 203 further includes an elastic rubber pad 2036 disposed between the upper flange 2031 and the lower flange 2032, specifically, the elastic rubber pad 2036 and the upper flange 2031 are connected together and have For the first through hole for garbage to pass through, the elastic rubber pad 2036 is also provided with a second through hole for the connecting column 2033 to pass through. When the upper flange 2031 and the lower flange 2032 need to be connected together, the upper flange 2031 is applied The downward pressure compresses the elastic rubber pad 2036 so that the upper flange 2031 moves downward and makes the connecting column 2033 pass through the connecting hole on the lower flange 2032. The pressure on the upper flange 2031, at this time, the elastic rubber pad 2036 changes from a compressed state to an extended state, and then drives the connecting column 2033 to move upward, so that the bifurcated plate 2034 is tightly stuck under the lower flange 2032, further strengthening the upper flange. The tightness of the connection between the flange 2031 and the lower flange 2032.

In one embodiment of the present invention, the cleaning robot further includes a press-down mechanism 8, and the press-down mechanism 8 includes a lifting assembly 801 arranged below the box body 1 and drivingly connected with the second drive assembly 6. The lower end of the lifting assembly 801 is provided with For the first electromagnet, a second electromagnet matching with the first electromagnet is provided on the upper flange 2031 . Specifically, the lifting assembly 801 includes a guide base 8011, a guide rod 8012, a connecting arm 8013, a first screw base 8014, a first screw 8015 (in this embodiment, the first screw 8015 is a T-shaped screw), a first The screw nut 8016 and the second screw nut 8017, the guide seat 8011 is arranged on the bottom of the box body 1 and has a first guide groove for guiding the movement of the guide rod 8012, the guide rod 8012 is arranged in the vertical direction and guides The upper end of the rod 8012 is clamped in the first guide groove, and the first screw rod seat 8014 is vertically arranged below the box body 1 and has a second guide groove for guiding the first screw rod 8015. The upper end of the screw mandrel 8015 extends into the second guide groove, the outer peripheral wall of the first screw mandrel 8015 is fixed with a first screw nut 8016 that can mesh with the first straight gear 601, and the second screw nut 8017 is sleeved on the second guide groove. Threaded connection is formed on the threaded rod 8015 and the second screw nut 8017, the connecting arm 8013 is arranged in the horizontal direction and fixed together with the second screw nut 8017 and the guide rod 8012; the top of the upper flange 2031 is provided with a guide The upper and lower positions of the rod 8012 correspond to the connecting ears, the sixth electromagnet is arranged above the connecting ear, and the seventh electromagnet is arranged below the guide rod 8012; after the second motor 602 rotates, the second motor 602 drives the first straight gear 601 in turn , the first screw nut 8016, the first screw 8015 rotate, the first screw 8015 drives the second screw nut 8017 to move up and down along the first screw 8015, at this time the connecting arm 8013 and the guide rod 8012 also move vertically Move up and down in a straight direction. When it is necessary to connect the upper flange 2031 and the lower flange 2032, control the sixth electromagnet and the seventh electromagnet to energize, and then make the second motor 602 drive the connecting arm 8013 and the guide rod 8012 to move downward, so that the connecting column 2033 Insert it into the connection hole; when the suction nozzle mechanism 3 needs to be rotated, the electrical connection between the sixth electromagnet and the seventh electromagnet should be disconnected, and then the upper flange 2031 and the lower flange 2032 should be separated to avoid the first conveying The tube 201 is twisted and deformed; when the suction nozzle mechanism 3 is in a normal working state, the electrical connection between the sixth electromagnet and the seventh electromagnet should be disconnected and the guide rod 8012 should be moved upwards to avoid affecting the first delivery tube 201 stretching. In addition, when the second motor 602 moves to the third preset position, the first screw nut 8016 and the first spur gear 601 mesh together.

The invention provides a cleaning robot, which is provided with a box body, a conveying pipe mechanism, a suction nozzle mechanism and a volume adjustment mechanism. The front side plate of the first concave cavity with the opening facing the ground, and the deflecting plate obliquely arranged in the first concave cavity and capable of deflecting, the garbage picked up can pass through the suction hole on the deflecting plate and enter the box through the conveying pipe mechanism In the storage cavity of the body; the volume adjustment mechanism includes a first drive assembly, a hook piece, a first transmission assembly arranged along the horizontal direction, and a lifting assembly arranged along the vertical direction, and the front end of the hook piece is fixed on the front side plate , the first driving assembly drives the first transmission assembly, the hook member and the lifting assembly at the same time, so that the front side plate and the deflection plate deflect up and down, thereby changing the volume of the suction nozzle mechanism, so as to enhance the ability of the suction nozzle mechanism to pick up garbage and Pick up efficiency, expand the scope of application of cleaning robots, and improve the overall performance of cleaning robots.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, including the combination of each specific technical feature in any suitable manner. Not otherwise stated. However, these simple modifications and combinations should also be regarded as the content disclosed by the present invention, and all belong to the protection scope of the present invention.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, Unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

Although the embodiment of the present invention has been shown and described above, it can be understood that the above embodiment is exemplary and should not be construed as a limitation of the present invention, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A cleaning robot, characterized in that the cleaning robot comprises:

a box body (1);

a delivery pipe mechanism (2);

the suction nozzle mechanism (3) comprises a fixed plate assembly (301), a front side plate (302) and a deflection plate (303), wherein the front side plate (302) is rotatably arranged at the front end of the fixed plate assembly (301) and forms a first cavity with an opening facing the ground together with the fixed plate assembly (301); the deflection plate (303) is obliquely arranged in the first cavity and is rotatably connected with the front side of the fixed plate assembly (301), and a suction pick-up hole for communicating the conveying pipe mechanism (2) with the box body (1) is formed in the deflection plate (303);

the volume adjusting mechanism (4) comprises a first driving assembly (401), a clamping hook member (402), a first transmission assembly (403) and a lifting assembly (404), wherein the front end of the clamping hook member (402) is clamped on the front side plate (302), and the rear end of the clamping hook member (402) is in driving connection with the first driving assembly (401) and can rotate relative to the fixing plate assembly (301); the upper end of the lifting assembly (404) is in driving connection with the first driving assembly (401), and the lower end of the lifting assembly (404) extends into the first cavity and is connected with the deflection plate (303).

2. The cleaning robot according to claim 1, wherein the nozzle mechanism (3) further comprises an elastic pressing plate (304), the elastic pressing plate (304) is obliquely disposed in the first cavity and an inclination direction of the elastic pressing plate (304) is opposite to an inclination direction of the deflection plate (303), and a rear end of the deflection plate (303) abuts on the elastic pressing plate (304).

3. The cleaning robot according to claim 1, further comprising a height adjusting mechanism (5) disposed between the box body (1) and the suction nozzle mechanism (3), wherein the height adjusting mechanism (5) comprises a connecting seat (501), a telescopic shaft (502) and a spring (503), the connecting seat (501) is disposed below the box body (1), the telescopic shaft (502) is movably disposed at the bottom of the connecting seat (501) up and down and connected with the suction nozzle mechanism (3), a second cavity is formed on the connecting seat (501), the upper end of the spring (503) abuts against the top of the second cavity, and the lower end of the spring (503) abuts against the top of the telescopic shaft (502).

4. The cleaning robot as claimed in claim 3, further comprising a second driving assembly (6) having a first spur gear (601) at a driving end thereof, wherein a second spur gear (504) for engaging with the first spur gear (601) is provided on an outer circumferential wall of the telescopic shaft (502).

5. The cleaning robot as claimed in claim 4, further comprising a rotation limiting mechanism (7), wherein the rotation limiting mechanism (7) comprises a third spur gear (701) and a screw rod bolt (702) which are in driving connection with the second driving assembly (6), the screw rod bolt (702) is arranged along a horizontal direction, the third spur gear (701) is sleeved on the screw rod bolt (702) and in threaded connection with the screw rod bolt (702), and a U-shaped groove for the screw rod bolt (702) to insert is formed in the telescopic shaft (502).

6. The cleaning robot according to claim 4, wherein the duct mechanism (2) includes a first duct (201), a second duct (202), and a connecting assembly (203), the first duct (201) being disposed below the case (1) and communicating with the first duct (201), the second duct (202) being disposed in the first cavity and communicating with the suction hole at a lower end of the second duct (202), the connecting assembly (203) including an upper flange (2031) and a lower flange (2032) which are detachably connected, the upper flange (2031) being disposed at a lower end of the first duct (201) and communicating with the first duct (201), the lower flange (2032) being disposed below the upper flange (2031) and communicating with the second duct (202).

7. The cleaning robot as claimed in claim 6, wherein the connection assembly (203) further includes a connection column (2033) disposed at the bottom of the upper flange (2031), a connection hole for inserting the connection column (2033) is disposed on the lower flange (2032), and a plurality of branched plates (2034) which can be unfolded or folded along the circumferential direction of the connection column are disposed at the lower end of the connection column (2033).

8. The cleaning robot according to claim 7, wherein the connecting column (2033) has a hollow inner cavity, the lower end of the forked plate (2034) is rotatably connected to the connecting column (2033), a forked plate return groove for accommodating the forked plate (2034) is provided on the circumferential wall of the connecting column (2033), a telescopic rod (2035) is provided in the inner cavity, and the telescopic end of the telescopic rod (2035) is connected to the upper end of the forked plate (2034) through a pull wire.

9. A cleaning robot according to claim 8, characterized in that the connection assembly (203) further comprises an elastic rubber pad (2036) arranged between the upper flange (2031) and the lower flange (2032).

10. The cleaning robot as claimed in claim 6, further comprising a pressing mechanism (8), wherein the pressing mechanism (8) comprises a lifting assembly (801) disposed below the box body (1) and in driving connection with the second driving assembly (6), a first electromagnet is disposed at a lower end of the lifting assembly (801), and a second electromagnet matched with the first electromagnet is disposed on the upper flange (2031).

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