Disclosure of Invention
In order to overcome the defects, the invention aims to provide a chassis structure of a cleaning robot and the cleaning robot, which are more compact in structure, can adapt to the cleaning action of a complex road surface and improve the cleaning effect of the complex road surface.
In order to achieve the above purpose, one of the technical schemes adopted by the invention is that a chassis structure of a cleaning robot comprises:
A bottom plate;
the travelling mechanism is arranged at the lower end of the bottom plate and comprises a driving wheel set, a first universal wheel set and a second universal wheel set, wherein the first universal wheel set and the second universal wheel set are positioned at two sides of the driving wheel set;
The dust collection mechanism comprises a dust collection assembly positioned between the first universal wheel set and the driving wheel set, the dust collection assembly comprises a dust collection head which moves up and down under the action of a first driving piece, and the dust collection head is in floating connection with the first driving piece;
The mopping mechanism is positioned between the second universal wheel set and the driving wheel set, and comprises a second driving piece, a mopping swing arm and a mopping part, wherein one end of the mopping swing arm is pivoted on the bottom plate, the other end of the mopping swing arm is in floating connection with the second driving piece, the middle part of the upper end of the mopping part is pivoted on the mopping swing arm, the lower end of the mopping part is used for contacting the ground, and the second driving piece is used for driving the mopping swing arm to swing so as to enable the mopping part to lift.
The chassis structure of the cleaning robot has the beneficial effects that:
1. Firstly, the running stability of the cleaning robot can be enhanced through the arrangement of a plurality of driving wheel sets and a first universal wheel set and a second universal wheel set in the running mechanism, then, a dust collection assembly is arranged between the first universal wheel set and the driving wheel set, and a mopping mechanism is arranged between the second universal wheel set and the driving wheel set, so that the dust collection assembly and the mopping mechanism can be mounted by effectively utilizing the space existing between the wheel sets, the reasonable layout of the space is realized, and the purpose of compacter chassis structure is achieved;
2. In the dust collection mechanism, the dust collection head can be lowered to contact the ground when in operation and can be lifted to leave the ground when in non-operation by lifting and driving the dust collection head through the first driving piece, so that the contact with the ground when the dust collection head is not in operation is reduced, and the service life of the dust collection head is prolonged;
3. In the mopping mechanism, the mopping swing arm is driven by the second driving piece to swing, so that the mopping part pivoted on the mopping swing arm can achieve the lifting function in the process of swinging the mopping swing arm, the mopping part can be lowered to contact with the ground in operation and can be lifted to leave the ground in non-operation, so that the ventilation property of the mopping part in non-operation is ensured, the drying property of the lower end of the mopping part is facilitated, the mopping swing arm can have the function of floating up and down relative to the second driving piece through the floating connection of the mopping swing arm and the second driving piece, the mopping part pivoted on the mopping swing arm can also have the function of floating up and down so as to adapt to the uneven ground, and the middle part of the upper end of the mopping part is pivoted on the mopping swing arm so that the mopping part can perform self-adaptive swinging along with the gradient change of the ground, the cleaning effect of the uneven complex road surface is improved.
Furthermore, the floor mopping mechanism further comprises a second elastic piece, wherein the second elastic piece is arranged in an inclined mode, the high end of the second elastic piece is connected to the floor mopping swing arm, the low end of the second elastic piece is connected to the bottom plate through the connecting frame, and the second elastic piece is always in a stretching state so as to apply downward-inclined pulling force to the floor mopping swing arm.
When the cleaning robot walks, the floor mopping part receives frictional resistance on the floor due to the contact of the floor mopping part and the floor, at the moment, the second elastic piece can form a pulling force in the walking direction on the floor mopping swing arm and the floor mopping part through the oblique pulling force of the second elastic piece, so that the frictional resistance of the floor to the floor mopping part is counteracted, the floor mopping swing arm and the floor mopping part can walk synchronously with the cleaning robot, and meanwhile, the second elastic piece can form a downward force on the floor mopping swing arm and the floor due to the oblique arrangement of the second elastic piece, so that the floor mopping part can form a downward force on the floor, the state that a human hand is pressed on the floor mopping part is simulated, and the cleaning effect of the floor mopping is enhanced.
In addition, the second elastic piece is connected to the floor mopping swing arm instead of being directly connected to the floor mopping part, because the pulling force of the second elastic piece can be transmitted to the floor mopping part through the floor mopping swing arm, the influence of the second elastic piece when the floor mopping part swings along with the gradient change of the ground can be avoided, and the free swing of the floor mopping part is ensured.
Further, a second waist-shaped hole is formed in one end, close to the second driving piece, of the floor mopping swing arm, the second driving piece is arranged in an inclined mode, the high end of the second driving piece is pivoted on the bottom plate, the low end of the second driving piece is connected with a second pin shaft capable of penetrating through the second waist-shaped hole in the horizontal direction, and the second pin shaft can move along the second waist-shaped hole. The second driving piece is arranged in an inclined mode, so that the second driving piece can form an inclined lifting path when driving the mopping swing arm to swing, and the transverse space between the second universal wheel set and the driving wheel set can be fully utilized, so that the vertical space occupied by the second universal wheel set is saved as much as possible, and further lifting and moving of the mopping part are guaranteed to be in place in a limited space. The driving force of the second driving piece can be transmitted to the mopping swing arm through the cooperation of the second pin shaft and the second waist-shaped hole, and the mopping swing arm can float relative to the second driving piece when being extruded by the mopping part.
Further, when the floor mopping portion contacts the ground, the length direction of the second waist-shaped hole is vertical, and a gap is reserved between the second pin shaft and two ends of the second waist-shaped hole in the length direction.
Furthermore, the floor mopping mechanism further comprises a leveling part fixedly connected to the lower end of the bottom plate and located above the floor mopping part, and a leveling surface for the floor mopping part to butt against is arranged at the lower end of the leveling part.
The leveling part is arranged to limit the ascending position of the mopping part and inhibit the horizontal swing of the mopping part at the highest position so as to avoid the phenomenon that the cleaning robot cannot normally walk due to the swing of the mopping part in a non-working state, and the leveling part can keep the mopping part on a horizontal plane when the mopping part descends to contact the ground, thereby being beneficial to the full contact between the mopping part and the ground.
Further, a guide wheel set for contacting the ground is connected to the dust collection head, and the guide wheel set is located at the front side of the dust collection head along the travelling direction of the travelling mechanism. Because the dust absorption head is the brush with the one end of ground contact, and the rigidity of brush is relatively poor, if ground when becoming high suddenly, the dust absorption head can not directly upwards float, but can lead to the brush to warp crookedly because of the extrusion of ground to the brush, at this moment, can be earlier the change in height on dust absorption head perception ground through the setting of direction wheelset, and then can be through the jacking of ground to the direction wheelset for the dust absorption head can be upwards floated for first driving piece, so as to avoid the brush to be out of shape by the ground extrusion, and then improve the life of brush. When the ground becomes low, the guide wheel set can drive the dust collection head to float downwards under the action of dead weight so that the brush is contacted with the ground again.
Furthermore, the dust collection head comprises a dust collection head body with a dust collection opening facing downwards, one end of the dust collection head body is provided with a dust collection head swing arm pivoted with the bottom plate, the other end of the dust collection head body is provided with a dust collection head connecting plate in floating connection with the first driving piece, the first driving piece is obliquely arranged, the high end of the first driving piece is pivoted on the bottom plate, and the low end of the first driving piece is in floating connection with the dust collection head connecting plate.
Through setting up of dust absorption head swing arm, dust absorption head body and dust absorption head connecting plate make the dust absorption head can form the lift route of slant under the drive of first driving piece, set up like this and can make full use of the first universal wheelset and drive the horizontal space between the wheelset to save the vertical space that needs occupy as far as possible, and then guarantee in the limited space that the lift of dust absorption head removes in place.
Furthermore, the dust collection assembly further comprises a first elastic piece which is obliquely arranged, the first elastic piece is located on one side, away from the first driving piece, of the dust collection head, the low end of the first elastic piece is connected to the bottom plate through the connecting frame, the high end of the first elastic piece is connected to the dust collection head body, and the first elastic piece is always in a stretching state.
Because the dust collection head is connected with the guide wheel set, the first elastic piece stretches obliquely to the dust collection head body, so that downward force can be formed on the dust collection head body, and the guide wheel set can be driven to always contact the ground.
Furthermore, the driving wheel group comprises two symmetrically arranged driving wheel parts, each driving wheel part comprises a driving wheel with a built-in hub motor, and the driving wheels are arranged on the bottom plate through elastic cantilevers. The driving wheel with the built-in hub motor not only ensures the independent driving of the driving wheel parts, but also saves the installation space of the two driving wheel parts, so as to reserve enough space as much as possible for installing the dust suction mechanism and the mopping mechanism, and the up-and-down floating of the driving wheel can be realized through the arrangement of the elastic cantilever, so as to adapt to the uneven ground.
The second technical scheme adopted by the invention is that the cleaning robot comprises any chassis structure. The cleaning robot disclosed by the invention is more compact in structure, can adapt to the cleaning action of a complex road surface, and improves the cleaning effect on the complex road surface.
Drawings
FIG. 1 is a schematic view of a chassis structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of the dust collection mechanism and the floor cleaning mechanism according to the embodiment of the present invention;
FIG. 3 is a schematic view of a walking mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of a driving wheel unit according to an embodiment of the present invention;
FIG. 5 shows a dust suction mechanism according to an embodiment of the present invention a schematic structural diagram of the mopping mechanism when contacting the ground;
FIG. 6 is a schematic view of a dust suction mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of a dust suction mechanism according to another embodiment of the present invention;
FIG. 8 is a schematic view of a floor mopping mechanism according to an embodiment of the present invention mounted on a base plate;
FIG. 9 is a schematic diagram of a floor mopping mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a floor swing arm according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a leveling unit according to an embodiment of the present invention.
In the figure:
1-a bottom plate, 11-a connecting frame;
2-travelling mechanism, 21-driving wheel set, 211-driving wheel, 212-cantilever vertical rod, 213-cantilever spring, 214-cantilever mounting plate, 22-first universal wheel set and 23-second universal wheel set;
3-dust collection mechanism, 31-first driving piece, 311-first pin shaft, 32-dust collection head, 321-dust collection head body, 322-dust collection head swing arm, 323-dust collection head connecting plate, 3231-first waist-shaped hole, 33-dust storage box, 34-fan, 35-dust collection pipe, 36-guide wheel set and 37-first elastic piece;
4-mopping mechanism, 41-second driving piece, 411-second pin shaft, 42-mopping swing arm, 421-second waist-shaped hole, 422-swing arm plate body, 423-bending plate, 43-mopping part, 431-mopping fixing plate, 432-mop, 44-second elastic piece, 45-leveling part, 451-leveling surface, 452-leveling frame and 46-second hinging piece.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Examples
Referring to fig. 1, 2 and 5, the chassis structure of the cleaning robot of the present invention includes a base plate 1, a travelling mechanism 2, a dust suction mechanism 3 and a mopping mechanism 4, wherein the travelling mechanism 2 is installed at the lower end of the base plate 1, and includes a driving wheel set 21, and a first universal wheel set 22 and a second universal wheel set 23 located at two sides of the driving wheel set 21. The dust collection mechanism 3 comprises a dust collection assembly positioned between the first universal wheel set 22 and the driving wheel set 21, the dust collection assembly comprises a dust collection head 32 which moves up and down under the action of a first driving piece 31, and the dust collection head 32 is in floating connection with the first driving piece 31. The floor mopping mechanism 4 is located between the second universal wheel set 23 and the driving wheel set 21, and comprises a second driving piece 41, a floor mopping swing arm 42 and a floor mopping part 43, wherein one end of the floor mopping swing arm 42 is pivoted on the bottom plate 1, and the other end of the floor mopping swing arm is in floating connection with the second driving piece 41. The upper middle part of the mopping part 43 is pivoted on the mopping swing arm 42, and the lower end is used for contacting the ground. The second driving member 41 is used for driving the swing arm 42 to swing so as to lift and move the floor mopping portion 43.
In the travelling mechanism 2, the stability of the cleaning robot walking can be enhanced through the arrangement of the driving wheel set 21, the first universal wheel set 22 and the second universal wheel set 23, then the dust collection assembly is arranged between the first universal wheel set 22 and the driving wheel set 21, the mopping mechanism 4 is arranged between the second universal wheel set 23 and the driving wheel set 21, the dust collection assembly and the mopping mechanism 4 can be mounted by effectively utilizing the space existing between the wheel sets, so that the reasonable layout of the space is realized, and the purpose of compacter chassis structure is achieved.
In the dust collection mechanism 3, the dust collection head 32 can be lowered to contact the ground when in operation and can be lifted to leave the ground and keep a suspended state when in non-operation through the lifting driving of the first driving piece 31, so that the contact between the dust collection head 32 and the ground when in non-operation is reduced, the service life of the dust collection head 32 is prolonged, and the dust collection head 32 can have the function of floating up and down relative to the first driving piece 31 when in contact with the ground through the floating connection of the dust collection head 32 and the first driving piece 31, so as to adapt to the uneven ground.
In the mopping mechanism 4, the second driving piece 41 drives the mopping swing arm 42 to swing, so that the mopping part 43 pivoted on the mopping swing arm 42 can achieve the lifting function in the process of swinging the mopping swing arm 42, further the mopping part 43 can descend to contact the ground when in work and can ascend to leave the ground and keep a suspended state when in non-work, ventilation of the mopping part 43 when in non-work is guaranteed, the drying performance of the lower end of the mopping part 43 is facilitated, the mopping swing arm 42 can have the function of floating up and down relative to the second driving piece 41 through floating connection of the mopping swing arm 42 and the second driving piece 41, further the mopping part 43 pivoted on the mopping swing arm 42 can also have the function of floating up and down so as to adapt to the uneven ground, and the middle part of the upper end of the mopping part 43 can adaptively swing along with the change of the ground so as to better contact an uneven complex road surface, and further the cleaning effect of the complex road surface is improved.
In some embodiments, referring to fig. 3, the driving wheel set 21 is disposed at the lower middle of the base plate 1, and includes two driving wheel parts symmetrically disposed in a direction perpendicular to the traveling direction of the cleaning robot, each of which includes a driving wheel 211 having an in-wheel motor built therein, and the driving wheel 211 is mounted on the base plate 1 through an elastic cantilever. The driving wheel 211 with the built-in hub motor not only ensures the independent driving of the driving wheel parts, but also saves the installation space of the two driving wheel parts, so as to reserve enough space as far as possible to install the dust collection mechanism 3 and the mopping mechanism 4, and simultaneously, the up-and-down floating of the driving wheel 211 can be realized through the arrangement of the elastic cantilever, so as to adapt to the uneven ground.
Further, referring to fig. 4, the elastic cantilever includes a cantilever vertical rod 212, a cantilever spring 213 and a cantilever mounting plate 214, at least one cantilever vertical rod 212 is disposed along the moving direction of the cleaning robot, one end of each cantilever vertical rod 212 is fixedly connected to the bottom plate 1, and the other end is suspended. All the cantilever vertical rods 212 are sleeved with cantilever mounting plates 214 for mounting the driving wheels 211. The cantilever springs 213 are arranged in one-to-one correspondence with the cantilever vertical rods 212, and the cantilever springs 213 are sleeved on the corresponding cantilever vertical rods 212. One end of the cantilever spring 213 is connected to the base plate 1, the other end is connected to the cantilever mounting plate 214, and the cantilever spring 213 is always in a compressed state to apply a downward force to the cantilever mounting plate 214, so that the driving wheel 211 mounted on the cantilever mounting plate 214 is always flexibly pressed against the ground. And the driving wheel 211 can float up and down to adapt to the fluctuation of the ground due to the elastic action of the cantilever spring 213. Illustratively, the boom vertical bar 212 is provided with two.
Along the cleaning robot direction of travel, first universal wheelset 22, second universal wheelset 23 lay respectively in the both sides of drive wheelset 21, and it all includes along the universal wheel that sets up in the perpendicular to cleaning robot direction of travel symmetry, and the universal wheel passes through the wheel body mounting panel rigid coupling at the lower extreme of bottom plate 1. Through the cooperation of first universal wheelset 22, second universal wheelset 23 and drive wheelset 21, evenly laid 6 wheels (two drive wheels 211 and four universal wheels) on bottom plate 1 to guarantee the stability of cleaning robot chassis walking, and 6 wheels distribute in the edge of bottom plate as far as possible, so that the bottom plate lower part can reserve sufficient space and install dust absorption subassembly and mopping mechanism.
It should be noted that, referring to fig. 1, the dust collection mechanism 3 further includes a dust storage box 33 and a fan 34, where the dust storage box 33 and the fan 34 are generally disposed inside the cleaning robot (i.e. above the base plate 1), and the fan 34 is communicated with the dust collection assembly through a dust collection tube 35 penetrating through the base plate 1 to provide power for adsorbing dust to the dust collection assembly, and the dust storage box 33 is used for storing dust inhaled by the dust collection assembly. Since the present application is intended to improve the chassis structure of the cleaning robot, only the specific structure of the dust collection assembly located under the floor panel 1 will be described hereinafter with respect to the dust collection mechanism.
In some embodiments, referring to fig. 5, 6 and 7, the cleaning head 32 includes a cleaning head body 321 with a cleaning opening facing downward, one end of the cleaning head body 321 is provided with a cleaning head swing arm 322 pivotally connected to the base plate 1, and the other end is provided with a cleaning head connecting plate 323 floatingly connected to the first driving member 31. The dust collection head body 321, the dust collection head swing arm 322 and the dust collection head connecting plate 323 are integrally formed. The first driving member 31 is disposed obliquely, and its high end is pivotally connected to the base plate 1, and its low end is connected to the cleaning head connecting plate 323 in a floating manner. The suction head 32 can swing and lift along the bottom plate 1 under the action of the first driving member 31 by pivoting the suction head swing arm 322 with the bottom plate, so as to form an oblique lifting path. The arrangement ensures the lifting requirement of the dust collection head 32 and can fully utilize the transverse space below the bottom plate 1 so as to reduce the vertical space occupied by the dust collection head 32 and the first driving piece 31 in the layout process as much as possible.
Referring to fig. 6, a first waist-shaped hole 3231 is formed in the dust collection head connecting plate 323, a first pin shaft 311 penetrating through the first waist-shaped hole 3231 in the horizontal direction is arranged on the first driving member 31, and the first pin shaft 311 can move along the first waist-shaped hole 3231 to realize floating of the dust collection head connecting plate 323 relative to the first driving member 31.
When the dust collection head 32 descends to the lowest position, the length direction of the first waist-shaped hole 3231 is vertical, and gaps are reserved between the two ends of the first pin shaft 311 and the two ends of the first waist-shaped hole 3231 along the length direction, so that the dust collection head 32 can float up and down when contacting the ground.
Still further, the first pin shaft 311 includes a shaft body penetrating the first waist-shaped hole 3231, two ends of the shaft body are coaxially provided with shaft ends capable of being abutted on the dust collection head connecting plate 323, a radial dimension of the shaft ends is larger than a width of the first waist-shaped hole 3231, and a radial dimension of the shaft body is smaller than the width of the first waist-shaped hole 3231. The first pin shaft 311 is prevented from slipping from the first waist-shaped hole 3231 through the arrangement of the shaft end, and the shaft rod body and the first waist-shaped hole 3231 are limited in width dimension, so that a certain displacement space can be reserved for the shaft rod body in the width direction of the first waist-shaped hole 3231, and the swing requirement of the dust collection head connecting plate 323 is met.
Since the end of the dust collection head body 321 facing the ground is usually provided with the brush or the adhesive tape, and the rigidity of the brush or the adhesive tape is poor, when the ground suddenly becomes high, the extrusion of the brush or the adhesive tape by the ground cannot directly drive the dust collection head 32 to float upwards relative to the first driving member 31, but can cause deformation and bending of the brush or the adhesive tape. To solve this problem, in some embodiments, referring to fig. 6 and 7, a guide wheel set 36 for contacting the floor is fixedly connected to the cleaning head body 321, and the guide wheel set 36 is disposed at a front side of the cleaning head body 321 along a traveling direction of the cleaning robot. When the guide wheel set 36 contacts the ground, the brush or the adhesive tape can contact the ground, and the brush or the adhesive tape is not pressed by the ground. Further, the guiding wheel set 36 includes two guiding wheels disposed at two sides of the first driving member 31, the guiding wheels are fixedly connected to the cleaning head body 321 through a connecting rod, and when the cleaning head 32 descends to the lowest position, the guiding wheels can abut against the ground, and at this time, the brush and the adhesive tape at the lower end of the cleaning head 32 can contact the ground, but are not affected by the ground force.
When the ground suddenly becomes high, the guiding wheel set 36 can contact the raised ground before the dust collection head 32, at this time, the guiding wheel set 36 can receive the lifting force of the ground and apply an upward lifting force to the dust collection head 32 connected with the guiding wheel set 36, the dust collection head body 321 can realize upward floating through the floating connection between the dust collection head connecting plate 323 and the first driving piece 31, further, the brush or the adhesive tape is prevented from being extruded and deformed by the ground, and the service life of the brush or the adhesive tape is prolonged.
When the floor becomes lower, the guide wheel set 36 can drive the dust collection head 32 to float downwards under the action of dead weight, so that the brush or the adhesive tape contacts the lower floor. However, in practical application, there is a possibility that the brush or the adhesive tape cannot timely contact the ground due to the fact that the guide wheel set 36 is not timely floated downward.
Based on this, in some embodiments, referring to fig. 5 and 6, the dust collection assembly further includes a first elastic member 37 disposed obliquely, the first elastic member 37 is located on a side of the dust collection head 32 away from the first driving member 31, the lower end of the first elastic member 37 is connected to the base plate 1 through the connecting frame 11, the upper end is connected to the dust collection head body 321, and the first elastic member 37 is always in a stretched state. The connecting frame 11 is fixedly connected to the middle part of the lower end of the bottom plate 1.
During the walking process of the cleaning robot, the first elastic piece 37 can always apply an oblique downward pulling force to the dust collection head 32, so that the guide wheel set 36 always abuts against the ground, and the contact between the brush or the adhesive tape and the ground is maintained. When the ground surface is higher, the lifting force of the ground surface against the guide wheel set 36 can make the guide wheel set 36 and the dust collection head body 321 overcome the tensile force of the first elastic element 37 and float upwards, and when the ground surface is lower, the guide wheel set 36 can float downwards under the self gravity and the tensile force of the first elastic element 37 until the guide wheel set 36 is abutted against the ground surface again. During this process, the brush or strip can remain in contact with the ground but is not subjected to ground forces.
Further, the first elastic member 37 includes two first springs arranged in parallel, the lower ends of the two first springs are connected to the connecting frame 11, and the upper ends of the two first springs are connected to the cleaning head body 321.
In some embodiments, the first driving member 31 and the second driving member 41 may each be an electric push rod capable of moving linearly. The working principle of the electric push rod is the prior art, and the embodiment is not repeated.
In some embodiments, referring to fig. 8 and 9, a second waist-shaped hole 421 is formed at one end of the floor-cleaning swing arm 42 near the second driving member 41, the second driving member 41 is disposed along an oblique direction, the high end of the second driving member is pivoted on the bottom plate 1, the low end of the second driving member is connected with a second pin 411 capable of penetrating the second waist-shaped hole 421 along a horizontal direction, and the second pin 411 is capable of moving along the second waist-shaped hole 421. Through the slant setting of the second driving piece 41, when the second driving piece 41 drives the floor mopping swing arm 42 to swing, the floor mopping swing arm 42 and the floor mopping part 43 can form a slant lifting path, so that the setting can ensure the lifting requirement of the floor mopping part 43, and can fully utilize the transverse space below the bottom plate 1, so as to reduce the vertical space occupied by the second driving piece 41, the floor mopping swing arm 42 and the floor mopping part 43 as much as possible, and further ensure the lifting movement of the floor mopping part 43 in place in a limited space. The cooperation of the second pin shaft 411 and the second waist-shaped hole 421 can not only transmit the driving force of the second driving member 41 to the floor mopping swing arm 42, but also float relative to the second driving member 41 when the floor mopping swing arm 42 is pressed by the floor mopping portion 43.
Further, when the floor mopping portion 43 contacts the ground, the length direction of the second waist-shaped hole 421 is vertical, and a gap is left between the second pin 411 and two ends of the second waist-shaped hole 421 in the length direction. It should be noted that, the cooperation between the second waist-shaped hole 421 and the second pin 411 may refer to the cooperation between the first waist-shaped hole 3231 and the first pin 311, which is not described herein.
In some embodiments, referring to fig. 10, the floor mopping swing arm 42 includes a swing arm plate body 422, two ends of the swing arm plate body 422 are respectively bent to form a bending plate 423, one end of the pair of bending plates 423 near the swing arm plate body 422 is jointly pivoted on the base plate 1 through a first hinge, and the other end is respectively provided with a second waist-shaped hole 421. The second pin 411 is disposed through the second driving member 41 (electric push rod), and two ends thereof respectively pass through the second waist-shaped holes 421 on the bending plate 423.
When the second driving member 41 extends out, the second driving member 41 can push the second pin shaft 411 to enable the second pin shaft 411 to apply force to the second waist-shaped hole 421, the floor mopping swing arm 42 swings downwards immediately to enable the floor mopping portion 43 to descend to contact the ground, when the second driving member 41 retracts, the second driving member 41 can pull the second pin shaft 411, the second pin shaft 411 can pull the second waist-shaped hole 421 immediately, and the floor mopping swing arm 42 swings upwards immediately to enable the floor mopping portion 43 to ascend to leave the ground.
In some embodiments, referring to fig. 8, the floor mopping mechanism 4 further includes a second elastic member 44, where the second elastic member 44 is disposed in an oblique direction, and has a high end connected to the floor swing arm 42 and a low end connected to the base plate 1 through the connection frame 11. The second elastic member 44 is always in a stretched state to apply a downward-inclined pulling force to the floor mopping swing arm 42.
When the cleaning robot walks, the floor mopping part 43 receives frictional resistance of the floor due to the contact of the floor mopping part 43 and the floor, at this time, the second elastic member 44 can form a pulling force in the walking direction on the floor mopping swing arm 42 and the floor mopping part 43 by the oblique pulling force of the second elastic member 44, so as to offset the frictional resistance of the floor to the floor mopping part 43, so that the floor mopping swing arm 42 and the floor mopping part 43 can walk synchronously with the cleaning robot, and meanwhile, the second elastic member 44 can form a downward force on the floor mopping swing arm 42 and the floor 43, so that the floor mopping part 43 can form a downward force to simulate the state of pressing a human hand on the floor mopping part 43, and the cleaning effect of mopping is enhanced.
In addition, the second elastic member 44 is connected to the floor mopping swing arm 42 instead of being directly connected to the floor mopping portion 43, because the pulling force of the second elastic member 44 can be transmitted to the floor mopping portion 43 through the floor mopping swing arm 42, and the floor mopping portion 43 can be prevented from being affected by the second elastic member 44 when the floor mopping portion 43 swings along with the gradient change of the floor, so that the free swing of the floor mopping portion 43 is ensured.
Further, the second elastic member 44 includes a pair of second springs arranged in parallel, the high ends of the pair of second springs are respectively connected to two sides of the floor mopping swing arm 42, and the low ends of the pair of second springs are connected to the connecting frame 11. The second elastic member 44 is provided with a pair of second springs to make the tension distribution of the floor mopping swing arm 42 more uniform.
In order to avoid interference with the cleaning robot traveling caused by the swing of the floor section 43 in a suspended state. In some embodiments, referring to fig. 8 and 11, the floor mopping mechanism 4 further includes a leveling portion 45, where the leveling portion 45 is fixedly connected to the lower end of the base plate 1 and is located above the floor mopping portion 43, and a leveling surface 451 is provided at the lower end of the leveling portion 45 for the floor mopping portion 43 to abut. Specifically, the leveling part 45 includes a leveling frame 452 fixedly connected to the base plate 1, and a leveling surface 451 disposed in a horizontal direction is provided at a lower end of the leveling frame 452.
When the floor mopping portion 43 is abutted to the leveling surface 451, the floor mopping portion 43 is located at the highest moving position, at this time, the leveling surface 451 can limit the floor mopping portion 43 and inhibit the floor mopping portion 43 from swinging left and right, so that the interference of the floor mopping portion 43 on the walking of the cleaning robot caused by swinging in the highest position is avoided, and meanwhile, the floor mopping portion 43 is leveled by the abutment of the leveling surface 451, so that the floor mopping portion 43 can be kept on the leveled horizontal plane in the descending process, and the floor mopping portion 43 is in horizontal direction when contacting with the ground.
In addition, since the limit position (the highest position or the lowest position) of the swing arm 42 driven by the second driving element 41 is fixed, the leveling surface 451 can limit the highest position of the floor mopping portion 43, and therefore, when the swing arm 42 swings to the highest position, the matching position of the second waist-shaped hole 421 and the second pin 411 is also fixed, so that the matching position of the second waist-shaped hole 421 and the second pin 411 is limited, and the requirement of the gap between the second pin 411 and the second waist-shaped hole 421 when the floor mopping portion 43 and the floor mopping swing arm 42 float up and down is met.
In some embodiments, referring to fig. 9, the floor mopping unit 43 includes a floor mopping fixing plate 431, and an upper end of the floor mopping fixing plate 431 is pivotally connected to the floor mopping swing arm 42 by a second hinge 46, and a lower end is detachably connected to a mop cloth 432.
The second hinge 46 includes a second shaft body and two second hinge seats, and the two second hinge seats are fixedly connected to the middle part of the upper end of the floor mopping fixing plate 431 and are respectively located at two sides of the floor mopping swing arm 42. The second shaft body penetrates through the floor mopping swing arm 42 along the horizontal direction, and two ends of the second shaft body are respectively connected to the two second hinging seats. The second hinge 46 enables the floor-mopping fixing plate 431 to swing relative to the floor-mopping swing arm 42, so that the floor-mopping portion 43 can swing adaptively along with the gradient change of the ground.
The invention also provides a cleaning robot, which comprises the chassis structure of any one of the above. The cleaning action of complicated road surface can be adapted to through the improvement of chassis structure, and then the cleaning effect to complicated road surface is promoted.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.