CN-117071482-B - Self-adaptive adjusting mechanism and cleaning device

CN117071482BCN 117071482 BCN117071482 BCN 117071482BCN-117071482-B

Abstract

The application provides a self-adaptive adjusting mechanism and a cleaning device, which comprise a hairbrush assembly, a driving mechanism, a counterweight module and a guide rail assembly, wherein the hairbrush assembly is arranged on the driving mechanism and can realize lifting movement through the driving mechanism, the driving mechanism and the counterweight module are slidably arranged on the guide rail assembly through a support bracket of the counterweight module, a movable counterweight block is arranged in the counterweight module, and the counterweight block is pressed on the driving mechanism to apply pressure to the hairbrush assembly. According to the application, the flatness of the ground is measured through the measuring unit on the winder, and the position of the hairbrush is adaptively adjusted according to the flatness of the ground and the motor and the linear electric cylinder, so that when the flatness of the road surface changes, the adhesive force of the hairbrush assembly is the same, the cleaning efficiency is improved, and the manufacturing cost is reduced.

Inventors

SUN TAO
CHENG HONGCHUAN
WU PEIPEI
XU JIANGUO
YANG FENG
DENG RUONAN
WANG YUANDING

Assignees

上海空间推进研究所

Dates

Publication Date: 20260512
Application Date: 20230817

Claims (8)

1. The self-adaptive adjusting mechanism is characterized by comprising a hairbrush assembly, a driving mechanism, a counterweight module and a guide rail assembly; The brush assembly is arranged on the driving mechanism and can realize lifting movement through the driving mechanism, the driving mechanism and the counterweight module are slidably arranged on the guide rail assembly through a supporting bracket (330) of the counterweight module, a movable counterweight block (341) is arranged in the counterweight module, and the counterweight block (341) is pressed on the driving mechanism to apply pressure to the brush assembly; Wherein, the The driving mechanism comprises a four-bar mechanism (320), a connecting rod assembly and a driving module; The two ends of the connecting rod assembly are provided with the four-bar mechanism (320), the brush assembly is arranged on the supporting bracket (330) through the four-bar mechanism (320), and the driving module is arranged on the four-bar mechanism (320) and realizes the lifting movement of the brush assembly by driving the four-bar mechanism (320) to deform; the counterweight module also includes a reel (342) and a motor (343); The balancing weight (341) is connected with the winder (342) through a traction rope, the winder (342) is connected with the output end of the motor (343), and the motor (343) drives the winder (342) to drive the balancing weight (341) to press or separate from the supporting bracket (330); The guide rail component comprises a sliding block (351), a limiting plate (352) and a guide rail (353); The sliding block (351) is fixedly connected with the supporting bracket (330), the sliding block (351) is in sliding connection with the guide rail (353), and limiting plates (352) are arranged at two ends of the guide rail (353).
2. The adaptive adjustment mechanism according to claim 1, characterized in that the four-bar linkage (320) comprises a first link (321), a second link (322), a third link (323), and a fourth link (324); the first connecting rod (321), the second connecting rod (322), the third connecting rod (323) and the fourth connecting rod (324) are sequentially connected in a head-to-tail rotation mode to form a quadrilateral frame body; the second connecting rod (322) is fixedly connected with the supporting bracket (330), and the fourth connecting rod (324) is connected with the hairbrush assembly.
3. The adaptive adjustment mechanism of claim 2, wherein the drive module comprises a linear electric cylinder (360); The utility model discloses a brush assembly, including straight-line electric jar (360), first connecting rod (321) and second connecting rod (322), straight-line electric jar (360) one end coaxial rotation connects hinge point of first connecting rod (321) with other end coaxial rotation connects hinge point of third connecting rod (323) with fourth connecting rod (324), when the telescopic length of actuating lever of straight-line electric jar (360), fourth connecting rod (324) are relative second connecting rod (322) elevating displacement and realization the brush assembly is relative support frame (330) elevating displacement.
4. The adaptive adjustment mechanism according to claim 3, wherein the tie rod assembly comprises an upper tie rod (325) and a lower tie rod (326); The two ends of the upper connecting rod (325) are respectively connected with the hinge points of the first connecting rod (321) and the fourth connecting rod (324) of the four-bar mechanism (320) at two sides, and the two ends of the lower connecting rod (326) are respectively connected with the hinge points of the second connecting rod (322) and the third connecting rod (323) of the four-bar mechanism (320) at two sides.
5. An adaptive adjustment mechanism according to any one of claims 2-4, characterized in that the brush assembly comprises a brush (311) and a mounting bracket (312); The hairbrush (311) is mounted on the mounting bracket (312), and the mounting bracket (312) is mounted on the fourth connecting rod (324) through a mounting plate (355).
6. The adaptive adjustment mechanism according to claim 1, characterized in that the motor (343) is mounted on the limit plate (352); the winder (342) is provided with a measuring unit which is connected with a control device, and the control device is connected with the motor (343) and the linear electric cylinder (360) of the driving mechanism.
7. The adaptive adjustment mechanism of claim 1, wherein the support bracket (330) comprises a rear connection plate (3301), a side connection plate (3302), and a bottom connection plate (3303); the rear connecting plate (3301) is connected with the bottom connecting plate (3303), two sides of the rear connecting plate (3301) and the bottom connecting plate (3303) are respectively connected with the side connecting plate (3302) and a second connecting rod (322) of the driving mechanism, and the sliding block (351) is connected to the rear connecting plate (3301); And a limiting groove is formed in the side connecting plate (3302), a limiting pin is arranged in the limiting groove, and the limiting pin is connected with the balancing weight (341).
8. A cleaning device employing the adaptive adjustment mechanism according to any one of claims 1-7, characterized by comprising a dust cover, a self-moving platform (2) and the adaptive adjustment mechanism (3); The self-adaptive adjusting mechanism (3) is arranged on the side face of the self-moving platform (2), and the dust cover is arranged on the outer side of the self-adaptive adjusting mechanism (3); the counterweight module is mounted on the self-moving platform (2) through a guide rail assembly.

Description

Self-adaptive adjusting mechanism and cleaning device Technical Field The invention relates to the technical field of cleaning devices, in particular to a self-adaptive adjusting mechanism and a cleaning device. Background The mobile platform is generally provided with a cleaning component, such as a brush, for cleaning objects and dust on the ground, during working, the position of the brush relative to the vehicle body is unchanged, when the road surface is uneven, the vehicle body fluctuates up and down, the adhesion force between the brush and the ground is constantly changed, the cleaning is not clean easily, and the abrasion of the brush is accelerated. In addition, the existing mobile platform carrying the cleaning assembly does not have a ground flatness measuring function, additional measuring equipment is needed, and cost is increased. As disclosed in patent CN108478119a, a robot for cleaning and sweeping greasy dirt on wooden floor with greasy dirt area judging and detecting characteristics is disclosed, and the first robot adopts double motor rotation for solving the problem of greasy dirt adhesion. And secondly, a cleaning rod with a sponge body and a cotton body is adopted, the sponge is used for absorbing water, cotton fibers are easy to attach to an oil stain layer, and the cotton fibers are converted into a particle form after being attached with oil stains during cleaning. Thirdly, the double water spraying at time intervals is adopted, so that the oil stains on the rear layer correspond to the high-temperature water, the thin-layer oil stains correspond to the low-temperature water, and the problem of floor thermal deformation is avoided. Patent CN216417054U provides a self-adaptation cleaning device of robot sweeps floor, including the mounting bracket of limit brush wheel, elastic component has set firmly in the mounting bracket below, install driving motor on the elastic component, driving motor axle head coaxial coupling has the mounting disc, the mounting disc lower part has set firmly the fixed disk, be equipped with between fixed disk and mounting disc and clean the subassembly, it includes the push ring that the level set up to clean the subassembly, install the brush hair subassembly along vertical direction in push ring bottom, the fixed disk is worn out to the brush hair subassembly lower extreme, be equipped with the actuating mechanism that the drive push ring reciprocated along vertical direction on the mounting disc, be equipped with the distance sensor that detects fixed disk and ground distance at the mounting disc downside, set firmly control module on the fixed disk, actuating mechanism and equal electrical signal connection of distance sensor are in control module. At present, the existing cleaning equipment does not have a ground flatness measuring function, and the problems of uncleanness in cleaning and abrasion acceleration of a brush exist. Therefore, there is a need in the industry for a cleaning device that can adjust the brush position according to the ground flatness, has a good cleaning effect, and is low in cost. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a self-adaptive adjusting mechanism and a cleaning device. The self-adaptive adjusting mechanism comprises a hairbrush assembly, a driving mechanism, a counterweight module and a guide rail assembly; The brush assembly is arranged on the driving mechanism and can realize lifting movement through the driving mechanism, the driving mechanism and the counterweight module are slidably arranged on the guide rail assembly through a supporting bracket of the counterweight module, a movable counterweight block is arranged in the counterweight module, and the counterweight block is pressed on the driving mechanism to apply pressure to the brush assembly. Preferably, the driving mechanism comprises a four-bar mechanism, a connecting rod assembly and a driving module; The brush assembly is installed on the support bracket through the four-bar mechanism, and the driving module is installed on the four-bar mechanism and realizes lifting movement of the brush assembly through driving deformation of the four-bar mechanism. Preferably, the four-bar mechanism comprises a first connecting bar, a second connecting bar, a third connecting bar and a fourth connecting bar; The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected in a head-to-tail rotation mode to form a quadrilateral frame; The second connecting rod is fixedly connected with the supporting bracket, and the fourth connecting rod is connected with the hairbrush assembly. Preferably, the driving module comprises a linear electric cylinder; and one end of the linear electric cylinder is coaxially and rotatably connected with the hinge point of the first connecting rod and the hinge point of the second connecting rod, the other end of the l