A cleaning robot

Abstract

The present invention discloses a cleaning robot, which comprises: a robot body, a first rotating member is arranged at the bottom of the robot body; a sweeping module, the sweeping module comprises a module body detachably connected to the robot body, a cleaning brush rotatably connected to the module body, and a second rotating member capable of transmitting torque to the cleaning brush, wherein the first rotating member and the second rotating member realize coaxial rotation after the module body is connected to the robot body; and a driving device, the driving device is arranged inside the robot body and can drive the first rotating member to rotate. By disassembling and assembling the sweeping module and the robot body, it is convenient to disassemble and assemble the cleaning brush and the robot body.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and more specifically, to a cleaning robot. Background Art

[0002] With the advancement of science and technology and the improvement of living standards, cleaning robots have become more and more popular. The cleaning robot includes a sweeping module, which is used to sweep and clean the floor. The sweeping module includes a cleaning brush, which can clean the floor. In the prior art, the rotating shaft of the cleaning brush is generally fixedly connected to the rotating shaft on the robot body by screws. Such a setting makes it inconvenient to remove the cleaning brush from the robot body. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a cleaning robot for conveniently disassembling and installing a cleaning brush and a robot body.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A cleaning robot, comprising:

[0006] A robot body, wherein a first rotating member is disposed at the bottom of the robot body;

[0007] A sweeping module, the sweeping module comprising a module body detachably connected to the robot body, a cleaning brush rotatably connected to the module body, and a second rotating member capable of transmitting torque to the cleaning brush, wherein the first rotating member and the second rotating member realize coaxial rotation after the module body is connected to the robot body;

[0008] A driving device, wherein the driving device is arranged on the robot body, and the driving device is used to drive the first rotating member to rotate.

[0009] Optionally, in the above cleaning robot, the cleaning brush and the second rotating member are arranged at intervals on the module body.

[0010] Optionally, in the above-mentioned cleaning robot, the sweeping module also includes a third rotating member arranged on the module body, the rotation axis of the third rotating member is parallel to the rotation axis of the second rotating member and has a different position, the third rotating member is transmission-connected to the second rotating member, and the cleaning brush rotates coaxially with the third rotating member.

[0011] Optionally, in the above cleaning robot, torque transmission is achieved between the second rotating member and the third rotating member via a belt, a gear or a rack.

[0012] Optionally, in the above cleaning robot, along the first direction, the rotation axis of the cleaning brush is located in front of the rotation axis of the first rotating member;

[0013] Along the second direction, the rotation axis of the cleaning brush is located in front of the rotation axis of the first rotating member;

[0014] The first direction is the forward moving direction of the cleaning robot;

[0015] The second direction is perpendicular to the forward moving direction of the cleaning robot, and the second direction points to a target side of the robot body, where the target side is a side between the frontmost position and the rearmost position of the robot body along the forward moving direction of the cleaning robot.

[0016] Optionally, the above-mentioned cleaning robot also includes a mopping module, which includes a mopping member and a fourth rotating member connected to the mopping member, and the fourth rotating member is used to be detachably connected to the first rotating member, and after the fourth rotating member is connected to the first rotating member, the two can rotate coaxially.

[0017] Optionally, in the above-mentioned cleaning robot, the end of the first rotating member includes one of a shaft end and a shaft sleeve, and the end of the second rotating member includes the other of the shaft end and the shaft sleeve, and the shaft end and the shaft sleeve are plugged into each other to achieve a detachable connection between the two.

[0018] Optionally, in the above-mentioned cleaning robot, the outer side wall of the shaft end includes a polygonal cylindrical surface, the inner side wall of the shaft sleeve includes a polygonal cylindrical surface, and the polygonal cylindrical surface of the shaft end and the polygonal cylindrical surface of the shaft sleeve are mutually limited to limit the relative rotation of the shaft end and the shaft sleeve.

[0019] Optionally, in the above cleaning robot, a plurality of guide grooves are provided at the mouth end of the sleeve, the guide grooves include two groove walls, the spacing between the two groove walls of the guide grooves gradually decreases from the opening of the sleeve toward the bottom of the sleeve, and the two groove walls of the guide grooves intersect at the side edges of the polygonal prism surface of the sleeve;

[0020] The top end of the shaft end is provided with a plurality of guide surfaces, the guide surfaces include two side edges, the spacing between the two side edges of the guide surfaces gradually increases from the top end of the shaft end to the bottom end of the shaft end, and the side edges of the guide surfaces intersect with the side edges of the polygonal prism surface of the shaft end.

[0021] Optionally, in the above cleaning robot, the cleaning brush is fixedly connected to the second rotating member.

[0022] Optionally, the cleaning brush includes a brush body and bristles arranged on the brush body, and after the sweeping module is connected to the robot body, the cleaning range of the bristles protrudes beyond the edge of the robot body.

[0023] Optionally, in the above cleaning robot, the module body includes a first position and a second position, and there is a preset distance between the first position and the second position;

[0024] At the first position, the module body and the robot body are connected by a connecting structure;

[0025] At the second position, the module body and the robot body are magnetically connected via a magnetic connection structure.

[0026] The cleaning robot of the embodiment of the present invention comprises a robot body, a sweeping module and a driving device. Among them, a first rotating member is arranged at the bottom of the robot body. The sweeping module comprises a module body detachably connected to the robot body, a cleaning brush rotatably connected to the module body and a second rotating member capable of transmitting torque to the cleaning brush. After the module body is connected to the robot body, the first rotating member and the second rotating member realize coaxial rotation, and the driving device is arranged on the robot body. The driving device is used to drive the first rotating member to rotate, so that the first rotating member drives the cleaning brush to rotate by driving the second rotating member, and the rotating cleaning brush can sweep the floor. Since the module body is detachably connected to the robot body, the cleaning brush is rotatably connected to the module body, so that the disassembly and assembly of the cleaning brush and the robot body is realized by the disassembly and assembly of the module body and the robot body. Since the cleaning brush can rotate relative to the robot body and the sweeping module, and the sweeping module does not need to rotate relative to the robot body, the disassembly and assembly of the sweeping module and the robot body facilitates the disassembly and assembly of the cleaning brush and the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 A three-dimensional schematic diagram of a cleaning robot provided by an embodiment of the present invention;

[0029] Figure 2 A bottom view of the robot body provided by an embodiment of the present invention;

[0030] Figure 3 A top view of a sweeping module provided by an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the structure of a sweeping module provided in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of assembling a sweeping module and a robot body provided in an embodiment of the present invention;

[0033] Figure 6 A bottom view of the assembled sweeping module and robot body provided by an embodiment of the present invention;

[0034] Figure 7 A schematic diagram of the structure of the cleaning module and the robot body after being assembled according to an embodiment of the present invention;

[0035] Figure 8 A bottom view of a mopping module provided by an embodiment of the present invention;

[0036] Fig. 9 A top view of a mopping module provided by an embodiment of the present invention;

[0037] Fig.10 A top view of a mopping module provided by another embodiment of the present invention;

[0038] Fig.11 The robot body provided by the embodiment of the present invention and Fig. 9 The assembly diagram of the mopping module in FIG.

[0039] Fig.12 The robot body provided by the embodiment of the present invention and Fig.10 The assembly diagram of the mopping module in FIG.

[0040] Fig.13 A bottom view of a shaft sleeve provided in an embodiment of the present invention;

[0041] Fig.14 A cross-sectional view of a shaft sleeve provided in an embodiment of the present invention;

[0042] Fig.15 A schematic diagram of the structure of a shaft end provided by an embodiment of the present invention;

[0043] Fig.16 A schematic diagram of the assembly of a shaft sleeve and a shaft end provided in an embodiment of the present invention.

[0044] Description of Figure Numbers:

[0045] 100-cleaning robot, 101-robot body, 1011-universal wheel, 1012-dust suction port, 1013-first rotating member, 1014-driving wheel;

[0046] 102-sweeping module, 1021-module body, 1022-cleaning brush, 1023-third rotating member, 1024-second rotating member, 1025-dust inlet, 1026-scraper;

[0047] 103- mopping module, 1031- mopping cloth, 1032- turntable, 1033- fourth rotating member;

[0048] c1-sleeve, c11-guide groove, c0-polygonal surface, c2-shaft end, c21-guide surface.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] At the same time, the meaning of "and / or" or "and / or" appearing in the full text includes three options. Taking "A and / or B" as an example, it includes option A, or option B, or a option in which both A and B are satisfied.

[0053] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] An embodiment of the present invention provides a cleaning robot 100, which can be used to automatically clean the floor. The application scenarios of the cleaning robot 100 can be household indoor cleaning, large-scale venue cleaning, etc.

[0055] The cleaning robot 100 provided in the embodiment of the present invention is a cleaning robot that can switch between a sweeping mode and a mopping mode. The cleaning robot 100 includes a robot body 101, which can be connected to a sweeping module 102 to achieve sweeping cleaning of the floor; or the robot body 101 can be connected to a mopping module 103 to achieve mopping cleaning of the floor. Figure 1 A three-dimensional schematic diagram of a cleaning robot 100 provided in an embodiment of the present invention, Figure 2 It is a bottom view of the robot body 101.

[0056] like Figure 1 and Figure 2 As shown, the cleaning robot 100 includes a robot body 101 and a walking unit for driving the robot body 101 to move. The robot body 101 may be a circular structure, a square structure, etc. In the embodiment of the present invention, the robot body 101 is a D-shaped structure as an example for description. Figure 1 As shown, the front part of the robot body 101 is a rectangular structure with rounded corners, and the rear part is a semicircular structure. In the embodiment of the present invention, the robot body 101 is a bilaterally symmetrical structure.

[0057] The walking unit is a component related to the movement of the cleaning robot 100, and the walking unit includes, for example, a driving wheel 1014 and a universal wheel 1011. The universal wheel 1011 and the driving wheel 1014 cooperate to realize the steering and movement of the cleaning robot 100. A driving wheel 1014 is arranged on each of the left and right sides at the rear of the bottom surface of the robot body 101. The universal wheel 1011 is arranged on the center line of the bottom surface of the robot body 101 and is located between two cleaning parts. Among them, the cleaning robot 100 includes a cleaning part, which is used to clean the floor. The cleaning part can be a part for sweeping the floor on the sweeping module 102, specifically a cleaning brush 1022 of the sweeping module 102, or a cleaning part is a part for mopping the floor on the mopping module 103, such as a mop 1031. The cleaning part is arranged at the bottom of the robot body 101.

[0058] Each driving wheel 1014 is provided with a driving wheel motor, and driven by the driving wheel motor, the driving wheel 1014 rotates. After the driving wheel 1014 rotates, it drives the cleaning robot 100 to move. By controlling the speed difference between the left and right driving wheels 1014, the steering angle of the cleaning robot 100 can be controlled.

[0059] A dust collection bin and a fan are also provided inside the robot body 101. The dust collection port 1012 of the dust collection bin is located at the bottom of the robot body 101. The fan rotates to form a negative pressure in the dust collection bin, and dust, paper scraps and other garbage are sucked into the dust collection bin through the dust collection port 1012. A dust box can be provided in the dust collection bin to collect and temporarily store the garbage.

[0060] It should be understood that the cleaning robot 100 described in the embodiment of the present invention is only a specific example and does not constitute a specific limitation on the cleaning robot 100 of the embodiment of the present invention. The cleaning robot 100 of the embodiment of the present invention may also be implemented in other specific ways. For example, in other implementations, the cleaning robot may be more Figure 1 The cleaning robot 100 shown has more or fewer components. Figure 1 The implementation of the cleaning robot 100 of the illustrated embodiment.

[0061] like Figure 2-Figure 3 As shown, the first embodiment of the present invention provides a cleaning robot 100, which includes a robot body 101, a sweeping module 102 and a driving device. A first rotating member 1013 is provided at the bottom of the robot body 101. The driving device is provided on the robot body 101, and is used to drive the first rotating member 1013 to rotate.

[0062] The sweeping module 102 includes a module body 1021, a cleaning brush 1022, and a second rotating member 1024. The module body 1021 is detachably connected to the robot body 101. The cleaning brush 1022 is rotationally connected to the module body 1021, and the rotational connection means that the two are connected and can rotate relative to each other, that is, the cleaning brush 1022 is arranged on the module body 1021, and the cleaning brush 1022 can rotate relative to the module body 1021. The second rotating member 1024 is also arranged on the module body 1021, and the second rotating member 1024 is used to transmit torque to the cleaning brush 1022. After the module body 1021 is connected to the robot body 101, the first rotating member 1013 and the second rotating member 1024 realize coaxial rotation.

[0063] When the cleaning robot 100 provided in the first embodiment of the present invention is used, since the first rotating member 1013 and the second rotating member 1024 realize coaxial rotation after the module body 1021 is connected to the robot body 101, it is only necessary for the rotation axis of the second rotating member 1024 to coincide with the rotation axis of the first rotating member 1013. In other words, the position of the second rotating member 1024 is limited by the position of the first rotating member 1013 on the robot body 101. The second rotating member 1024 transmits torque to the cleaning brush 1022, and the positions of the rotation axis of the second rotating member 1024 and the rotation axis of the cleaning brush 1022 can be the same or different, so the position arrangement of the cleaning brush 1022 is not limited by the first rotating member 1013 and the second rotating member 1024. In this way, the cleaning brush 1022 can be set at a suitable position according to actual needs, and the length of the cleaning brush 1022 can also be reasonably designed, so that the cleaning brush 1022 can sweep the surrounding position and avoid the cleaning brush 1022 being too long.

[0064] like Figure 3-Figure 4 As shown, in the above-mentioned embodiment 1, on the module body 1021, the cleaning brush 1022 and the second rotating member 1024 are arranged at intervals. In other words, the cleaning brush 1022 and the second rotating member 1024 include a preset space distance. At this time, the rotation axis of the cleaning brush 1022 and the rotation axis of the second rotating member 1024 are at different positions. The cleaning brush 1022 and the second rotating member 1024 are in transmission connection, and the rotating shaft of the cleaning brush 1022 and the second rotating member 1024 can be connected by any transmission components such as belts and gears. The rotation axis of the cleaning brush 1022 and the rotation axis of the second rotating member 1024 can be parallel to each other. For example, gears are fixed on the rotating shaft of the cleaning brush 1022 and the second rotating member 1024, and the two gears are meshed to realize the transmission between the rotating shaft of the cleaning brush 1022 and the second rotating member 1024, or pulleys are fixed on the rotating shaft of the cleaning brush 1022 and the second rotating member 1024, and the transmission is realized between the two pulleys through a belt. According to the specific arrangement positions of the rotating shaft of the cleaning brush 1022 and the second rotating member 1024, the size of the gear can be adjusted, or the length of the belt and the size of the pulley can be adjusted.

[0065] Furthermore, the sweeping module 102 further includes a third rotating member 1023, which is disposed on the module body 1021, and the rotation axis of the third rotating member 1023 is parallel to the rotation axis of the second rotating member 1024 and is at a different position, the third rotating member 1023 is transmission-connected to the second rotating member 1024, and the cleaning brush 1022 rotates coaxially with the third rotating member 1023. When the robot body 101 is connected to the module body 1021, the first rotating member 1013 transmits to the second rotating member 1024, and the second rotating member 1024 transmits to the third rotating member 1023, and then the third rotating member 1023 and the cleaning brush 1022 rotate coaxially.

[0066] Torque transmission can be achieved between the second rotating member 1024 and the third rotating member 1023 through a belt, a gear or a rack. Specifically, gears can be provided on both the second rotating member 1024 and the third rotating member 1023, and the gears on the second rotating member 1024 mesh with the gears on the third rotating member 1023 to achieve transmission connection between the third rotating member 1023 and the second rotating member 1024, so that the power transmission is more stable.

[0067] For example, Figure 3 and Figure 4As shown, a gear is sleeved on the second rotating member 1024, and the two can rotate coaxially. A gear is sleeved on the third rotating member 1023, and the two can rotate coaxially. The gear sleeved on the second rotating member 1024 is meshed with the gear sleeved on the third rotating member 1023, so that the second rotating member 1024 and the third rotating member 1023 can transmit to each other through the meshing gears.

[0068] Of course, the rotating shaft of the cleaning brush 1022 and the second rotating member 1024 can also be directly connected in a transmission manner, which is not limited here. For example, the cleaning brush 1022 and the second rotating member 1024 are fixedly connected, and the cleaning brush 1022 and the second rotating member 1024 can rotate relative to the module body 1021.

[0069] Optionally, in the above-mentioned embodiment 1, along the first direction, the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013. And, along the second direction, the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013. Wherein, the first direction is the forward direction of the cleaning robot 100, the second direction is perpendicular to the forward direction of the cleaning robot 100, and the second direction points to the target side of the robot body 101, and the target side is a side between the frontmost position and the last position of the robot body 101 along the forward direction of the cleaning robot 100. The target side can be specifically the left side or right side between the frontmost position and the last position of the robot body 101 along the forward direction of the cleaning robot 100. The forward direction of the cleaning robot 100 refers to the direction in which the cleaning robot 100 moves forward when it does not turn. For example, when the target side is the left side between the frontmost position and the last position of the robot body 101 along the forward direction of the cleaning robot 100, the rotation axis of the cleaning brush 1022 is closer to the left side than the rotation axis of the first rotating member 1013. When the target side surface is the right side surface between the frontmost position and the rearmost position of the robot body 101 along the forward moving direction of the cleaning robot 100 , the rotation axis of the cleaning brush 1022 is closer to the right side surface than the rotation axis of the first rotating member 1013 .

[0070] In this way, along the first direction, the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013, and the rotation axis of the cleaning brush 1022 is closer to the head edge of the robot body 101 than the rotation axis of the first rotating member 1013. Along the second direction, the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013, and the rotation axis of the cleaning brush 1022 is closer to the target side of the robot body 101 than the rotation axis of the first rotating member 1013. In other words, along the forward movement direction of the cleaning robot 100, the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013.

[0071] By such arrangement, the rotation axis of the cleaning brush 1022 on the sweeping module 102 is closer to the head edge and the target side edge of the robot body 101 than the rotation axis of the first rotating member 1013, ensuring that the length of the cleaning brush 1022 is more reasonable, and the cleaning brush 1022 can sweep the peripheral position while avoiding the length of the cleaning brush 1022 being too long. If the length of the cleaning brush 1022 is too long, the linear velocity of the end of the cleaning brush 1022 will be higher, so that when the end of the cleaning brush 1022 sweeps the garbage, it is easy to throw the garbage out, that is, throw the garbage away from the cleaning robot 100. In the first embodiment, along the forward movement direction of the cleaning robot 100, after the rotation axis of the cleaning brush 1022 is located in front of the rotation axis of the first rotating member 1013, the rotation axis of the cleaning brush 1022 is closer to the edge of the robot body 101, so that even if the bristles of the cleaning brush 1022 are shorter, the cleaning range of the cleaning brush 1022 can protrude from the edge of the robot body 101. In this way, the length of the bristles of the cleaning brush 1022 is designed reasonably to prevent the garbage from being thrown away from the cleaning robot 100 by the cleaning brush 1022. In the embodiment of the present invention, the cleaning brush 1022 can sweep the garbage to the suction port 1012 at the bottom of the cleaning robot 100, and suck it from the suction port 1012 to the dust suction bin in the cleaning robot 100 for temporary storage, thereby improving the cleaning effect.

[0072] It should be understood that in other specific implementations of Example 1, the rotation axis of the cleaning brush 1022 can be located behind the rotation axis of the first rotating member 1013 along the first direction; and the rotation axis of the cleaning brush 1022 can be located behind the rotation axis of the first rotating member 1013 along the second direction. This embodiment of the present invention does not specifically limit this.

[0073] In the embodiment of the present invention, after the sweeping module 102 is installed on the robot body 101, during the cleaning process, when the cleaning brush 1022 rotates, the cleaning range of the cleaning brush 1022 is a circular area, and when the robot body 101 cleans corners and other locations, a cleaning blind spot will be generated. In order to avoid the generation of a cleaning blind spot, optionally, in the above-mentioned embodiment 1, the cleaning brush 1022 includes a brush body and bristles arranged on the brush body, and after the sweeping module 102 is connected to the robot body 101, the cleaning range of the bristles protrudes from the edge of the robot body 101. This makes it easier to clean garbage in corners that the robot body 101 cannot reach, such as corners and near furniture.

[0074] Optionally, the end of the brush body is a bendable soft structure. When encountering obstacles such as walls and bed legs during cleaning, the end of the brush body is bent to avoid hard collision. The above soft structure can be a silicone structure or a rubber structure. Alternatively, only the bristles can protrude from the edge of the robot body 101, and the bristles are made of soft material, and the bristles can be deformed when encountering obstacles.

[0075] In embodiment one, the end of the first rotating member 1013 includes one of the shaft end c2 and the shaft sleeve c1, and the end of the second rotating member 1024 includes the other of the shaft end c2 and the shaft sleeve c1, wherein the shaft sleeve c1 is a groove structure, and the shaft end c2 can be inserted into the groove of the shaft sleeve c1, so that the first rotating member 1013 and the second rotating member 1024 are detachably connected by plugging the shaft end c2 and the shaft sleeve c1.

[0076] In order to achieve torque transmission, the inner wall of the groove of the sleeve c1 includes a non-cylindrical side surface, and the outer wall of the shaft end c2 includes a non-cylindrical side surface. The non-cylindrical side surface of the inner wall of the groove of the sleeve c1 and the non-cylindrical side surface of the outer wall of the shaft end c2 can abut against each other to limit the relative rotation of the sleeve c1 and the shaft end c2 to achieve transmission of the sleeve c1 and the shaft end c2, so that the first rotating member 1013 can be transmitted to the mopping module 103.

[0077] For example, an end of the first rotating member 1013 is provided with an axis end c2, which is a regular polygonal prism, and the outer side wall of the axis end c2 is a polygonal prism surface c0. An end of the second rotating member 1024 is provided with a sleeve c1, and the groove structure of the sleeve c1 is a regular polygonal prism, and the inner side wall of the groove structure of the sleeve c1 is a polygonal prism surface c0. After the axis end c2 is inserted into the groove structure of the sleeve c1, the detachable connection between the first rotating member 1013 and the second rotating member 1024 is realized. When the first rotating member 1013 rotates, a part of the prism surface of the polygonal prism surface c0 of the axis end c2 on the first rotating member 1013 and a part of the prism surface of the polygonal prism surface c0 of the sleeve c1 of the second rotating member 1024 abut against each other, limiting the relative rotation of the first rotating member 1013 and the second rotating member 1024, thereby realizing the transmission of the first rotating member 1013 to the sweeping module 102 by driving the second rotating member 1024.

[0078] Of course, in the above-mentioned first embodiment, the first rotating member 1013 and the second rotating member 1024 can also be detachably connected by means of screw connection or the like, which is not limited here.

[0079] There are many ways to connect the module body 1021 and the robot body 101. In a specific implementation, the module body 1021 includes a first position and a second position, and there is a preset distance between the first position and the second position, that is, the first position and the second position do not overlap. At the first position, the module body 1021 and the robot body 101 are connected by a snap-on structure; at the second position, the module body 1021 and the robot body 101 are magnetically connected by a magnetic connection structure. Among them, the magnetic connection structure may include a magnetic part and a metal part, or the magnetic connection structure includes two magnetic parts with opposite north and south poles. The magnetic part can be a permanent magnet, an electromagnet, etc., and the embodiment of the present invention does not specifically limit this.

[0080] For example, one of the magnetic part and the metal part is provided on the module body 1021, and the other of the magnetic part and the metal part is provided on the robot body 101. Optionally, the magnetic part can be provided on the module body 1021, and the metal part can be provided on the robot body 101, and the magnetic connection between the module body 1021 and the robot body 101 is achieved through the attraction between the magnetic part and the metal part. In order to ensure the stability of the magnetic connection, two left-right symmetrical metal parts can be provided on the robot body 101, and two magnetic parts corresponding to the two metal parts on the robot body 101 can be provided on the module body 1021.

[0081] The snap-on structure includes a snap-on slot and a snap-on convex. One of the snap-on slot and the snap-on convex is provided on the module body 1021, and the other of the snap-on slot and the snap-on convex is provided on the robot body 101. The snap-on convex is a convex block, and the snap-on slot is a groove structure. The snap-on connection between the module body 1021 and the robot body 101 is realized by inserting the snap-on convex into the snap-on slot. Optionally, multiple sets of snap-on slots and snap-on convex can be provided. In a specific implementation, multiple snap-on convex can be provided on the module body 1021, and multiple snap-on slots can be provided on the robot body 101.

[0082] The first position can be located at the edge of the module body 1021. When the module body 1021 is connected to the robot body 101, the edge of the module body 1021 is directly aligned with the corresponding position of the robot body 101, and then the module body 1021 and the robot body 101 are connected by the snap-fit ​​structure, and then the module body 1021 and the robot body 101 are magnetically connected by the magnetic connection structure. Optionally, the first position is the rear edge of the module body 1021. The bottom of the robot body 101 can be provided with a receiving groove matching the module body 1021. After the module body 1021 is connected to the robot body 101, the module body 1021 is located inside the receiving groove. At this time, the clamping protrusion can be set on the side of the module body 1021, and the clamping groove is set on the groove wall of the receiving groove.

[0083] The second position may be arranged close to the front side of the module body 1021. The front side of the module body 1021 is the side close to the head of the robot body 101, and the rear side of the module body 1021 is the side away from the head of the robot body 101.

[0084] It should be noted that two second rotating members 1024 and two cleaning brushes 1022 may be disposed on the module body 1021 , and the two second rotating members 1024 and the two cleaning brushes 1022 are disposed symmetrically on the module body 1021 .

[0085] Of course, the first position and the second position of the module body 1021 can be set arbitrarily and are not specifically limited here.

[0086] In another specific implementation, a snap-fit ​​structure may be provided at both the first position and the second position of the module body 1021 , or a magnetic connection structure may be provided at both the first position and the second position of the module body 1021 .

[0087] In another specific implementation, a snap-fit ​​structure and a magnetic connection structure are provided at the same position of the module body 1021. For example, the snap-fit ​​structure is made of magnetic material, so that the snap-fit ​​and magnetic connection between the module body 1021 and the robot body 101 are achieved through the snap-fit ​​structure.

[0088] In another specific implementation, the module body 1021 can also be detachably connected to the robot body 101 by means of screws or the like.

[0089] Optionally, a gripping position may be further provided on the module body 1021 of the embodiment of the present invention, and the gripping position is, for example, a convex structure near the aforementioned first position on the module body 1021. When removing the module body 1021 from the robot body 101, the user only needs to hold the gripping position of the module body 1021 with his hand and apply force to separate the magnetic part and the metal part of the magnetic connection structure, and then remove the convex from the slot to remove the module body 1021.

[0090] In addition, the sweeping module 102 also includes a dust inlet 1025 used in conjunction with the suction port 1012 of the robot body 101, and a scraper 1026 can be provided on the rear side of the dust inlet 1025. The scraper 1026 contacts the ground to prevent garbage from being missed. In order to prevent scratching the ground, the scraper 1026 can be a soft scraper, specifically, the scraper 1026 can be made of silicone or rubber. In one specific implementation, the dust inlet 1025 is an independently provided component. In another specific implementation, the dust inlet 1025 is provided on the module body 1021. Figure 3 , Figure 4 and Figure 5 As shown, a dust inlet 1025 is provided on the module body 1021, and an air duct is provided in the robot body 101. One end of the air duct is connected to the dust collection bin in the robot body 101, and the other end of the air duct is connected to the dust collection port 1012 on the bottom of the robot body 101. When the sweeping module 102 is installed on the robot body 101, the dust inlet 1025 and the dust collection port 1012 are opposite and connected. Thus, when the cleaning robot performs sweeping work, the garbage on the ground is sucked by the cleaning robot, passes through the dust inlet 1025, the dust collection port 1012, and the air duct in sequence, and then enters the dust box set in the dust collection bin for temporary storage.

[0091] Optionally, in a specific implementation, the sweeping module 102 includes a module body 1021 detachably connected to the robot body 101, a cleaning brush 1022, and a second rotating member 1024. The end of the first rotating member 1013 includes one of the shaft end c2 and the shaft sleeve c1, and the end of the second rotating member 1024 includes the other of the shaft end c2 and the shaft sleeve c1. For example, the end of the first rotating member 1013 includes the shaft sleeve c1, and the end of the second rotating member 1024 includes the shaft end c2, and the shaft end c2 is inserted into the groove structure of the shaft sleeve c1. Among them, the groove structure of the sleeve c1 is a polygonal prism structure, and the shaft end c2 is also a polygonal prism structure. At this time, in order to facilitate assembly, a plurality of guide grooves c11 can be provided at the mouth end of the sleeve c1. The guide groove c11 includes two groove walls. The spacing between the two groove walls of the guide groove c11 gradually decreases from the opening of the sleeve c1 to the bottom of the sleeve c1. The two groove walls of the guide groove c11 intersect on the side edge of the polygonal prism surface c0 of the sleeve c1.

[0092] A plurality of guide surfaces c21 are provided at the top of the shaft end c2, and the guide surfaces c21 include two side edges, and the spacing between the two side edges of the guide surfaces c21 gradually increases from the top of the shaft end c2 to the bottom of the shaft end c2, and the side edges of the guide surfaces c21 intersect with the side edges of the polygonal prism surface c0 of the shaft end c2. The guide surfaces c21 may be curved surfaces.

[0093] In the above scheme, a plurality of guide grooves c11 are distributed along the opening circumference of the sleeve c1, a plurality of guide surfaces c21 are distributed along the top circumference of the shaft end c2, and a plurality of guide surfaces c21 are respectively matched with a plurality of guide grooves c11. When the sweeping module 102 is assembled on the robot body 101, the guide surface c21 of the shaft end c2 moves and rotates along the guide groove c11 to gradually approach the bottom end of the sleeve c1. The specific process is that the groove wall of the guide groove c11 and the side of the guide surface c21 abut against each other and generate a force, for example, the force is perpendicular to the groove wall of the guide groove c11, so that the force has a component force perpendicular to the rotation axis of the sleeve c1 and the shaft end c2, and under the action of the component force, the sleeve c1 and the shaft end c2 rotate relative to each other. Because one of the shaft end c2 and the sleeve c1 is arranged on the first rotating member 1013, and the other of the shaft end c2 and the sleeve c1 is arranged on the second rotating member 1024, thus, under the action of this force, the shaft end c2 can rotate relative to the sleeve c1, that is, the second rotating member 1024 rotates relative to the first rotating member 1013.

[0094] Because the two groove walls of the guide groove c11 intersect on the side edges of the polygonal prism surface c0 of the sleeve c1, and the side edge of the guide surface c21 intersects with the side edges of the polygonal prism surface c0 of the shaft end c2, under the guidance of the groove walls of the guide groove c11 and the side edge of the guide surface c21, the shaft end c2 and the sleeve c1 rotate relatively until the polygonal prism surface c0 of the shaft end c2 and the polygonal prism surface c0 of the sleeve c1 are opposite to each other, so that the shaft end c2 is inserted into the groove structure of the sleeve c1. At this time, the shaft end c2 and the sleeve c1 are circumferentially positioned by the polygonal prism surface c0, limiting the relative rotation of the shaft end c2 and the sleeve c1.

[0095] The installation steps of the sweeping module 102 are exemplarily described below, wherein in this example, a clamping protrusion is provided on the side of the module body 1021, and a magnet is provided on the module body 1021 at a preset distance from the clamping protrusion. The installation steps of the sweeping module 102 are as follows: first, the clamping protrusion of the sweeping module 102 is inserted into the clamping slot of the robot body 101, wherein the clamping slot is provided on the side wall of the receiving slot at the bottom of the robot body 101. Then, with the clamping position of the clamping protrusion and the clamping slot as a fulcrum, the sweeping module 102 is rotated and buckled in the direction of the robot body 101. The shaft end c2 of the second rotating member 1024 includes a guide surface c21, and the sleeve c1 of the first rotating member 1013 includes a guide groove c11. Under the guidance of the guide groove c11 and the guide surface c21, after the second rotating member 1024 rotates a certain angle relative to the module body 1021, the shaft end c2 of the second rotating member 1024 is embedded in the sleeve c1 of the first rotating member 1013. When the module body 1021 and the robot body 101 are fitted together, the magnet on the module body 1021 and the metal parts on the robot body 101 generate a magnetic connection. Under the magnetic connection and the engagement of the protrusion and the groove, the module body 1021 and the robot body 101 are stably connected.

[0096] Correspondingly, the steps for disassembling the sweeping module 102 are as follows: since the magnetic force of the magnet is not designed to be very large, it is only necessary to stably connect the sweeping module 102 and the robot body 101. The user can buckle the module body 1021 from the robot body 101 from the buckle position set in the middle of the side of the module body 1021 to separate the magnetic connection between the module body 1021 and the robot body 101, and then rotate the module body 1021 a certain angle, pull the clamping protrusion of the sweeping module 102 out of the clamping slot, and then remove the sweeping module 102 from the robot body 101.

[0097] In an embodiment of the present invention, the cleaning brush 1022 and the second rotating member 1024 are arranged on the module body 1021, and the sweeping module 102 is detachably connected to the robot body 101 through the module body 1021. The module body 1021 includes a first surface and a second surface opposite to each other. When the module body 1021 is installed on the robot body 101, the first surface of the module body 1021 and the bottom surface of the robot body 101 are relatively fitted (which can be directly fitted or fitted with a gap), and the second surface of the module body 1021 faces the outside of the robot body 101. At this time, the second rotating member 1024 is in transmission connection with the first rotating member 1013 at one side close to the first surface of the module body 1021. When the user installs the sweeping module 102, the second surface of the module body 1021 faces the user, so it is difficult for the user to observe the connection position of the first rotating member 1013 and the second rotating member 1024, and it is not easy to make the polygonal cylindrical surface c0 of the shaft end c2 and the polygonal cylindrical surface c0 of the shaft sleeve c1 face each other. However, a guide groove c11 is provided at the mouth end of the shaft sleeve c1, and a guide groove c2 is provided at the shaft sleeve c1. After the guide surface c21 is set at the top of the end c2, the force generated by the abutment between the groove wall of the guide groove c11 and the side of the guide surface c21 can be used to make the shaft end c2 and the shaft sleeve c1 rotate relative to each other, so as to correct the position of the shaft end c2 relative to the shaft sleeve c1. When the user installs the module body 1021 on the robot body 101, even if the user cannot observe the assembly position of the first rotating member 1013 and the second rotating member 1024, it can be ensured that the polygonal cylindrical surface c0 of the shaft end c2 is smoothly inserted into the shaft sleeve c1. In the polygonal surface c0, especially when the module body 1021 and the robot body 101 are detachably connected through the snap connection of the snap connection structure and the magnetic connection of the magnetic connection structure, the user can first snap the snap connection structure to position the module body 1021 and the robot body 101, and then use the snap connection structure as a fulcrum to rotate the module body 1021 toward the robot body 101. Since the relative positioning of the module body 1021 and the robot body 101 is achieved through the snap connection structure, when the module body 1021 is attached to the robot body 101, the positions of the first rotating member 1013 and the second rotating member 1024 are initially positioned, and then the first rotating member 1013 and the second rotating member 1024 are detachably connected by inserting the shaft end c2 into the shaft sleeve c1. In the process of inserting the shaft end c2 into the shaft sleeve c1, the groove wall of the guide groove c11 and the side of the guide surface c21 cooperate to enable the shaft end c2 and the shaft sleeve c1 to be accurately positioned, thereby facilitating the installation and circumferential positioning of the shaft sleeve c1 and the shaft end c2 during the connection process.

[0098] like Figure 8-Figure 12As shown, the embodiment of the present invention also provides a second embodiment, which is an improved solution based on the first embodiment. In the second embodiment, the cleaning robot 100 also includes a mopping module 103, which includes a mopping member and a fourth rotating member 1033 connected to the mopping member, and the fourth rotating member 1033 is fixedly connected to the mopping member. The fourth rotating member 1033 is used to be detachably connected to the first rotating member 1013, and the fourth rotating member 1033 and the first rotating member 1013 are connected to realize the coaxial rotation of the two. After the fourth rotating member 1033 is connected to the first rotating member 1013, the rotation axis of the first rotating member 1013 and the rotation axis of the fourth rotating member 1033 coincide, the first rotating member 1013 transmits to the fourth rotating member 1033, and then the fourth rotating member 1033 drives the mopping member to rotate, and the mop 1031 rotating on the mopping member rubs against the ground, so that the mop 1031 can clean the ground by mopping.

[0099] The mopping member includes a rotating disk 1032 and a mop 1031, the mop 1031 is used to mop the ground, the mop 1031 and the rotating disk 1032 can be detachably connected, and the fourth rotating member 1033 is fixedly connected to the rotating disk 1032. The rotating disk 1032 is used to support the shape of the mop 1031, so that the mop 1031 maintains a stable shape when mopping the ground.

[0100] In the second embodiment, the first rotating member 1013 can be selectively connected to the sweeping module 102 according to actual needs. After the first rotating member 1013 is connected to the sweeping module 102, the first rotating member 1013 is transmitted to the sweeping module 102 to enable the sweeping module 102 to sweep the floor; or the first rotating member 1013 can be connected to the mopping module 103. After the first rotating member 1013 and the mopping module 103 are connected, the first rotating member 1013 is transmitted to the mopping module 103 to enable the mopping module 103 to mop the floor.

[0101] In a specific example of a user using the cleaning robot 100, when cleaning the floor, the user can first choose to connect the first rotating member 1013 to the sweeping module 102, and transmit the power to the sweeping module 102 through the first rotating member 1013 to achieve sweeping cleaning of the floor by the sweeping module 102. After the cleaning robot 100 has cleaned the garbage and dust on the floor, the user can detach the sweeping module 102 from the robot body 101, and then choose to connect the first rotating member 1013 to the mopping module 103, and transmit the power to the mopping module 103 through the first rotating member 1013 to achieve mopping cleaning of the floor by the mopping module 103, so that the cleaning robot 100 can achieve mopping cleaning of the floor.

[0102] The cleaning robot 100 provided in the second embodiment of the present invention avoids the situation where the sweeping module 102 and the mopping module 103 work at the same time, thereby avoiding the situation where the mopping module 103 drags up a lot of garbage, dust and produces a lot of sewage stains during the mopping process, and achieves the maximum cleaning effect through the single function of sweeping or mopping.

[0103] In the second embodiment, there are many ways to connect the mopping module 103 and the robot body 101, and several examples are given below:

[0104] Example 1: The mopping module 103 is connected to the robot body 101 through the fourth rotating member 1033 and the first rotating member 1013 of the mopping module 103. Specifically, the fourth rotating member 1033 and the first rotating member 1013 are detachably connected through a magnetic connection structure, wherein the magnetic connection structure includes a magnetic member and a metal member, or the magnetic connection structure includes two magnetic members with opposite north and south poles. In the embodiment of the present invention, the magnetic member can be a permanent magnet, an electromagnet, etc. For example, one of the magnetic member and the metal member is set on the fourth rotating member 1033, and the other of the magnetic member and the metal member is set on the first rotating member 1013. In this way, when the fourth rotating member 1033 and the first rotating member 1013 are connected, the magnetic member and the metal member can generate a magnetic connection. Alternatively, the portion of the fourth rotating member 1033 used for contacting the first rotating member 1013 is directly set as a magnetic member, and the portion of the first rotating member 1013 used for contacting the fourth rotating member 1033 is set as a metal member.

[0105] Example 2: The mopping module 103 includes a fourth rotating member 1033, a turntable 1032, a mop 1031 and a mounting body, wherein the mop 1031 is connected to the turntable 1032, the fourth rotating member 1033 is arranged on the turntable 1032, the mounting body is detachably connected to the robot body 101, and the turntable 1032 is rotatably connected to the mounting body. That is, the turntable 1032 and the mop 1031 can rotate relative to the mounting body. After the mounting body is connected to the robot body 101, the fourth rotating member 1033 is connected to the first rotating member 1013. When disassembling the mopping module 103, the mounting body can be directly disassembled from the robot body 101.

[0106] Further, the installation body includes position A and position B, and there is a preset distance between position A and position B, that is, position A and position B do not overlap. At position A, the installation body and the robot body 101 are clamped by a clamping structure. At position B, the installation body and the robot body 101 are magnetically connected by a magnetic connection structure, wherein the magnetic connection structure includes a magnetic part and a metal part, or the magnetic connection structure includes two magnetic parts with opposite north and south poles, etc.

[0107] The clamping structure includes a clamping slot and a clamping convex, one of which is provided on the mounting body, and the other of which is provided on the robot body 101. The clamping convex is inserted into the clamping slot to realize the clamping connection between the mounting body and the robot body 101. Optionally, multiple sets of clamping slots and clamping convex can be provided. In a specific implementation, multiple clamping convex can be provided on the mounting body, and multiple clamping slots can be provided on the robot body 101.

[0108] Optionally, two turntables 1032 and two mops 1031 may be provided on the installation body, and the two turntables 1032 and the two mops 1031 are symmetrically provided on the installation body.

[0109] It should be understood that position A and position B can be set according to actual needs and are not specifically limited here.

[0110] In the embodiment of the present invention, when the mop 1031 of the mopping module 103 is mopping the floor, the contact surface between the mop 1031 and the floor is the mopping surface of the mop 1031. Figure 8 As shown, the mopping surface of the mop 1031 may be in the shape of a triangle with rounded angles; Fig.10 As shown, the mopping surface of the mopping module can also be circular. Of course, the mopping surface of the mop cloth 1031 can also be any shape, such as a regular polygon or an irregular shape.

[0111] In the embodiment of the present invention, the mopping module 103 includes a rotating disk 1032 and a mopping cloth 1031 connected to each other, which may be one or more groups, and the embodiment of the present invention does not specifically limit this. Fig.11 and Fig.12 As shown, the cleaning robot 100 includes two sets of mutually connected rotating disks 1032 and mops 1031, wherein the two rotating disks 1032 may rotate in the same direction or in opposite directions. In addition, the two rotating disks 1032 always keep the two mops 1031 tangent to each other when rotating, thus avoiding the existence of a mopping blind area between the two mops 1031.

[0112] Optionally, in the above-mentioned second embodiment, when the robot body 101 is placed on a plane and the bottom surface of the robot body 101 is opposite to the plane, the rotation axis of the first rotating member 1013 is perpendicular to the plane. At this time, after the sweeping module 102 is connected to the robot body 101, the first rotating member 1013 is transmitted to the sweeping module 102, and the rotation plane where the cleaning brush 1022 of the sweeping module 102 is located is parallel to the above-mentioned plane, which ensures the force balance during the rotation of the sweeping module 102 and also ensures a uniform cleaning effect.

[0113] And, when the robot body 101 is placed on a plane for work, after the mopping module 103 is connected to the robot body 101, the first rotating member 1013 transmits to the mopping module 103, and the rotation plane where the mopping cloth 1031 of the mopping module 103 is located is parallel to the above plane, thus ensuring the force balance during the rotation of the mopping module 103 and ensuring a uniform cleaning effect.

[0114] In the embodiment of the present invention, the robot body 101 is placed on a plane and the bottom surface of the robot body 101 is opposite to the plane, that is, the robot body 101 is placed on the plane when working, specifically, the walking unit arranged at the bottom of the robot body 101 is in contact with the plane, and the robot body 101 is supported on the plane by the walking unit. At this time, the cleaning robot 100 can clean the plane.

[0115] Among them, in the implementation mode that the bottom surface of the robot body 101 includes a planar structure, when the robot body 101 is placed on a plane, the planar structure of the bottom surface of the robot body 101 can be parallel to the above plane, and the rotation axis of the first rotating member 1013 is perpendicular to the planar structure. Of course, in some examples, the planar structure of the bottom surface of the robot body 101 can also be inclined with respect to the plane on which the robot body 101 is placed.

[0116] Of course, when the robot body 101 is placed on a plane, the rotation axis of the first rotating member 1013 may also be slightly inclined relative to the plane, which is not specifically limited here.

[0117] Optionally, in the above-mentioned second embodiment, the end of the first rotating member 1013 includes one of the shaft end and the shaft sleeve, and the end of the fourth rotating member 1033 includes the other of the shaft end and the shaft sleeve, wherein the shaft end is a rod-shaped structure, and the shaft sleeve is a groove structure, and the shaft end can be inserted into the groove of the shaft sleeve, so that the first rotating member 1013 and the fourth rotating member 1033 are detachably connected by plugging the shaft end and the shaft sleeve.

[0118] In order to achieve torque transmission, the inner wall of the groove of the sleeve includes a non-cylindrical side surface, and the outer wall of the shaft end includes a non-cylindrical side surface. The non-cylindrical side surface of the inner wall of the groove of the sleeve and the non-cylindrical side surface of the outer wall of the shaft end can abut against each other to limit the relative rotation of the sleeve and the shaft end to achieve transmission of the sleeve and the shaft end, thereby transmitting the first rotating member 1013 to the fourth rotating member 1033.

[0119] For example, an end of the first rotating member 1013 is provided with an axial end, which is a regular polygonal prism, and the outer side wall of the axial end is a polygonal prism surface. An end of the fourth rotating member 1033 of the mopping module 103 is provided with a sleeve, and the groove structure of the sleeve is a regular polygonal prism, and the inner side wall of the groove structure of the sleeve is a polygonal prism surface. After the axial end is inserted into the groove structure of the sleeve, the detachable connection between the first rotating member 1013 and the fourth rotating member 1033 is realized. When the first rotating member 1013 rotates, part of the prism surface of the polygonal prism surface of the axial end on the first rotating member 1013 abuts against part of the prism surface of the polygonal prism surface of the sleeve of the turntable 1032, limiting the relative rotation of the first rotating member 1013 and the fourth rotating member 1033, thereby realizing the transmission of the first rotating member 1013 to the mopping module 103.

[0120] Of course, in the above-mentioned second embodiment, the first rotating member 1013 and the fourth rotating member 1033 may also be detachably connected by means of screw connection or the like, which is not limited here.

[0121] Of course, in other implementations, one of the protrusions and the grooves may be provided on the outer side wall of the shaft end, and the other of the protrusions and the grooves may be provided on the inner side wall of the sleeve, and the protrusions may be stuck in the grooves to limit the relative rotation of the shaft end and the sleeve. The embodiment of the present invention does not specifically limit the connection method between the sleeve and the shaft end.

[0122] In the above-mentioned embodiment 1 or 2, the cleaning brush 1022 may also be fixedly connected to the second rotating member 1024. Specifically, the cleaning brush 1022 and the second rotating member 1024 may be fixed to the same rotating shaft, or the cleaning brush 1022 may be directly fixedly connected to the second rotating member 1024, which is not limited here.

[0123] In the above-mentioned first or second embodiment, the driving device includes a driving motor and a power transmission structure that is transmission-connected to the output end of the driving motor, and the driving motor is used to drive the first rotating member 1013 to rotate through the power transmission structure. In other words, the power transmission is realized between the rotation of the first rotating member 1013 and the output end of the driving motor through the power transmission structure, and finally the power of the driving motor is transmitted to the first rotating member 1013, and the first rotating member 1013 is driven to rotate.

[0124] Optionally, the power transmission structure includes a gear and a worm, the worm is used to drive the gear to rotate; the gear is connected to the first rotating member 1013. The worm is fixedly connected to the output end of the driving motor to obtain the power output by the driving motor. The output end of the driving motor drives the worm to rotate, and then the worm drives the gear to rotate. The gear can be sleeved on the first rotating member 1013, and the gear is fixedly connected to the first rotating member 1013, so that the worm drives the gear to rotate, and the rotating gear drives the first rotating member 1013 to rotate.

[0125] When the cleaning robot 100 includes two first rotating parts 1013, the two first rotating parts 1013 are symmetrically arranged on the left and right sides of the bottom of the robot body 101. At this time, two worm gears and two sets of gears can be set. The two sets of gears are respectively engaged with the two worm gears. The driving motor can be a double-headed motor, in which one set of gears drives the first rotating part 1013 on the left side to rotate, and the other set of gears drives the first rotating part 1013 on the right side to rotate.

[0126] In this way, by using two sets of gears, transmission can be respectively performed to the two first rotating members 1013. In addition, the two sets of gears can be adjusted according to the specific arrangement positions of the two first rotating members 1013. For example, the sizes of the two sets of gears or the number of sub-gears can be adjusted according to the distance between the two first rotating members 1013.

[0127] Optionally, two drive motors may be provided, wherein one drive motor drives the first rotating member 1013 on the left side to rotate through a power transmission structure, and the other drive motor drives the first rotating member 1013 on the right side to rotate through a power transmission structure.

[0128] It should be understood that the power transmission structure can also be implemented in other ways, such as a belt structure. For example, the output end of the drive motor includes a transmission wheel, and the transmission wheel is connected to the first rotating member 1013 through a belt, so that the drive motor can drive the first rotating member 1013 to rotate.

[0129] In summary, the cleaning robot of the embodiment of the present invention includes a robot body, a sweeping module, and a driving device. Among them, a first rotating member is provided at the bottom of the robot body. The sweeping module includes a module body detachably connected to the robot body, a cleaning brush rotatably connected to the module body, and a second rotating member capable of transmitting torque to the cleaning brush. After the module body is connected to the robot body, the first rotating member and the second rotating member realize coaxial rotation, and the driving device is arranged on the robot body. The driving device is used to drive the first rotating member to rotate, so that the first rotating member drives the cleaning brush to rotate by driving the second rotating member, and the rotating cleaning brush can sweep the floor. Because the module body is detachably connected to the robot body, the cleaning brush is rotatably connected to the module body, so that the disassembly and assembly of the cleaning brush and the robot body is realized by the disassembly and assembly of the module body and the robot body, because the cleaning brush can rotate relative to the robot body and the sweeping module, and the sweeping module does not need to rotate relative to the robot body, the disassembly and assembly of the sweeping module and the robot body facilitates the disassembly and installation of the cleaning brush and the robot body.

[0130] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0131] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that: include: A robot body, wherein a first rotating member is disposed at the bottom of the robot body; A sweeping module, the sweeping module comprising a module body detachably connected to the robot body, a cleaning brush rotatably connected to the module body, and a second rotating member capable of transmitting torque to the cleaning brush, wherein the first rotating member and the second rotating member realize coaxial rotation after the module body is connected to the robot body; the first rotating member and the second rotating member are detachably connected; A driving device, the driving device is arranged on the robot body, and the driving device is used to drive the first rotating member to rotate; On the module body, the cleaning brush and the second rotating member are arranged at intervals; The sweeping module further comprises a third rotating member arranged on the module body, the rotation axis of the third rotating member is parallel to the rotation axis of the second rotating member and is at a different position, the third rotating member is transmission-connected to the second rotating member, and the cleaning brush rotates coaxially with the third rotating member; The mopping module comprises a mopping member and a fourth rotating member connected to the mopping member, wherein the fourth rotating member is used to be detachably connected to the first rotating member, and after the fourth rotating member is connected to the first rotating member, the two can rotate coaxially.

2. The cleaning robot according to claim 1, characterized in that: The torque transmission between the second rotating member and the third rotating member is achieved through a belt, a gear or a rack.

3. The cleaning robot according to claim 1, characterized in that: Along the first direction, the rotation axis of the cleaning brush is located in front of the rotation axis of the first rotating member; Along the second direction, the rotation axis of the cleaning brush is located in front of the rotation axis of the first rotating member; The first direction is the forward moving direction of the cleaning robot; The second direction is perpendicular to the forward moving direction of the cleaning robot, and the second direction points to a target side of the robot body, where the target side is a side between the frontmost position and the rearmost position of the robot body along the forward moving direction of the cleaning robot.

4. The cleaning robot according to claim 1, characterized in that: The end of the first rotating member includes one of a shaft end and a shaft sleeve, and the end of the second rotating member includes the other of the shaft end and the shaft sleeve. The shaft end and the shaft sleeve are plugged in to achieve a detachable connection between the two.

5. The cleaning robot according to claim 4, characterized in that: The outer side wall of the shaft end includes a polygonal cylindrical surface, and the inner side wall of the shaft sleeve includes a polygonal cylindrical surface. The polygonal cylindrical surface of the shaft end and the polygonal cylindrical surface of the shaft sleeve are mutually limited to limit the relative rotation of the shaft end and the shaft sleeve.

6. The cleaning robot according to claim 5, characterized in that: A plurality of guide grooves are provided at the opening end of the sleeve, and the guide grooves include two groove walls, and the spacing between the two groove walls of the guide grooves gradually decreases from the opening of the sleeve to the bottom of the sleeve, and the two groove walls of the guide grooves intersect at the side edges of the multi-prism surface of the sleeve; The top end of the shaft end is provided with a plurality of guide surfaces, the guide surfaces include two side edges, the spacing between the two side edges of the guide surfaces gradually increases from the top end of the shaft end to the bottom end of the shaft end, and the side edges of the guide surfaces intersect with the side edges of the polygonal prism surface of the shaft end.

7. The cleaning robot according to claim 1, characterized in that: The cleaning brush comprises a brush body and bristles arranged on the brush body. After the sweeping module is connected to the robot body, the cleaning range of the bristles protrudes from the edge of the robot body.

8. The cleaning robot according to any one of claims 1 to 7, characterized in that: The module body includes a first position and a second position, and a preset distance is between the first position and the second position; At the first position, the module body and the robot body are connected by a connecting structure; At the second position, the module body and the robot body are magnetically connected via a magnetic connection structure.

Images