Cleaning Robot

Abstract

The present invention relates to a cleaning robot, comprising: a body; a working head, the working head comprising a driving part and an eccentric moving plate located below the driving part, wherein the driving part comprises a driving shaft, the eccentric moving plate is connected to the driving shaft, a cleaning layer is installed on the eccentric moving plate to perform a predetermined cleaning work, the eccentric moving plate can be driven by the driving shaft to perform a translation of a fixed eccentricity in a plane perpendicular to the axis of the driving shaft, wherein the rotation speed of the driving shaft is greater than or equal to 1000r / min, and the mass of the driving part is greater than or equal to 3 times the mass of the eccentric moving plate. The reaction force of the friction force generated by the eccentric moving plate and the ground acts on the driving part above the eccentric moving plate, which can achieve the effect that even if the eccentric moving plate moves at a high frequency, the vibration of the body is small.

Description

Technical Field

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

[0002] In order to improve the cleaning ability of cleaning robots, some products with eccentric motion working heads have appeared on the market. While the eccentric motion working head improves the cleaning ability, it will cause the whole machine to vibrate along with the working head. In other words, since the eccentric working head is installed on the cleaning robot, the vibration caused by the eccentric working head during operation will cause the whole machine to vibrate, which will affect the robot's running posture and navigation accuracy, and affect the user experience.

[0003] Specifically, Figure 1 A cleaning robot 1 of the related art shown in the figure comprises a body 101, a motor 102 movably arranged on the body 101, wherein an eccentric block 103 is fixed to the driving shaft of the motor 102, an eccentric motion plate 104 is fixed to the motor 102, and the eccentric block 103 extends into a cavity 1041 on the eccentric motion plate 104. In addition, a swing foot 105 is provided on the body 101, and the swing foot 105 is connected to the eccentric motion plate 104. When the cleaning robot 1 is working, the driving shaft of the motor 102 rotates, the eccentric motion block 103 rotates at a high speed, and the centrifugal force generated by the rotation causes the entire eccentric motion plate 104 to move.

[0004] The defect of the cleaning robot 1 is that the friction force caused by the movement of the eccentric moving plate 104 acts on the ground, and the ground generates a reaction force, which acts on the body 101. The eccentric moving plate 104 cannot balance the reaction force of the ground, resulting in vibration of the whole machine. In addition, since the reaction force generated by the ground may change, the movement stroke of the eccentric moving plate 104 is variable, and the cleaning effect is unstable. Summary of the invention

[0005] Based on this, it is necessary to provide an improved cleaning robot to address the problem of vibration of the entire machine caused by the movement of the eccentric moving plate.

[0006] A cleaning robot comprises: a body; a working head, the working head comprising a driving part and an eccentric moving plate located below the driving part, wherein the driving part comprises a driving shaft, the eccentric moving plate is connected to the driving shaft, the eccentric moving plate is used to install a cleaning layer to perform a predetermined cleaning task, the eccentric moving plate can be driven by the driving shaft to make a translational motion of a fixed eccentricity in a plane perpendicular to the axis of the driving shaft, wherein the rotation speed of the driving shaft is greater than or equal to 1000 r / min, and the mass of the driving part is greater than or equal to 3 times the mass of the eccentric moving plate.

[0007] In the above-mentioned cleaning robot, the reaction force of the friction generated by the eccentric moving plate and the ground acts on the driving part above the eccentric moving plate. On the one hand, it can achieve the effect of smaller vibration of the machine body even if the eccentric moving plate moves at a high frequency; on the other hand, it is conducive to achieving the above-mentioned mass relationship by designing the weight distribution of the machine body without simply increasing the weight of the machine body, which is conducive to realizing the miniaturization and lightweight of the cleaning robot.

[0008] In one embodiment, the eccentric moving plate includes a mopping floor and an eccentric bearing, the outer ring of the eccentric bearing is fixed to the mopping floor, the inner ring of the eccentric bearing is connected to the drive shaft, and the axis of the eccentric bearing is eccentrically arranged with respect to the axis of the drive shaft.

[0009] In one of the embodiments, the cleaning robot further includes a swinging foot, wherein the swinging foot connects the mopping floor and the body, and the swinging foot is a flexible member.

[0010] In one of the embodiments, the swing feet are respectively provided on both sides of the axis of the driving shaft, and the swing feet on both sides are symmetrically arranged.

[0011] In one of the embodiments, an elastic layer is fixed to the bottom of the mopping floor, and the cleaning layer can be installed on the elastic layer.

[0012] In one embodiment, the eccentric motion plate further includes a balancing block fixed to the drive shaft, and the center of gravity of the balancing block and the axis of the eccentric bearing are respectively located on both sides of the axis of the drive shaft.

[0013] In one embodiment, the balancing block includes a first part and a second part connected to the first part, the first part is sleeved on the drive shaft, and the eccentric bearing is sleeved on the first part; the second part extends into the eccentric motion plate, and the center of gravity of the second part and the axis of the eccentric bearing are respectively located on both sides of the axis of the drive shaft.

[0014] In one embodiment, the driving unit includes a driving mechanism and a transmission mechanism connecting the driving mechanism and the driving shaft.

[0015] In one embodiment, the driving mechanism is a motor, and the axis of the motor is arranged parallel to the axis of the driving shaft.

[0016] In one embodiment, the cleaning robot also includes a lifting mechanism and a flexible member, wherein the lifting mechanism is connected to the working head, and the lifting mechanism is used to drive the working head to switch between a first position and a second position. In the first position, the working head presses the flexible member against the body, and in the second position, the working head removes the pressure on the flexible member.

[0017] In one embodiment, the rotation speed of the drive shaft ranges from 1000r / min to 4000r / min.

[0018] In one embodiment, the rotation speed of the drive shaft is 2500r / min.

[0019] In one embodiment, the mass of the driving unit is 400g-1200g.

[0020] In one of the embodiments, the mass of the driving unit is 600g. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a cross-sectional schematic diagram of a cleaning robot in the related art.

[0022] Figure 2 The figure is a schematic diagram of the overall structure of a cleaning robot according to an embodiment of the present invention.

[0023] Figure 3 The figure is a schematic diagram of installing an eccentric moving plate in a cleaning robot according to an embodiment of the present invention.

[0024] Figure 4 A partial cross-sectional view of a cleaning robot according to an embodiment of the present invention.

[0025] Figure 5 The figure is a cross-sectional view of an eccentric motion plate of a cleaning robot according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic structural diagram of a cleaning robot from another angle according to an embodiment of the present invention.

[0027] Figure 7 An exploded view of a working head and a frame of a cleaning robot according to an embodiment of the present invention.

[0028] Figure 8 This is a schematic structural diagram of a working head of a cleaning robot in an embodiment of the present invention being in a second working state.

[0029] Fig. 9 This is a schematic structural diagram of a working head of a cleaning robot in a working state according to an embodiment of the present invention.

[0030] The corresponding numbers of the relevant components in the figure are as follows:

[0031] 1. Cleaning robot; 101. Machine body; 102. Motor; 103. Eccentric block; 104. Eccentric motion plate; 1041. Cavity; 105. Swinging foot;

[0032] 100. Cleaning robot; 10. Body;

[0033] 20, eccentric motion plate; 210, mopping floor; 220, eccentric bearing; 230, elastic layer; 240, cleaning layer; 250, balance block; 251, first part; 252, second part;

[0034] 30. driving part; 310. driving shaft; 320. driving mechanism; 321. output shaft; 330. transmission mechanism; 331. large gear; 332. small gear;

[0035] 40, swing foot; 561, first running wheel; 562, second running wheel;

[0036] 60. Lifting mechanism; 70. Flexible part. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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 the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0043] As described in the background technology, in the cleaning robot 1 in the related art, the eccentric motion plate 104 is fixed with a mop, and the mop is used to clean the ground. It is found during use that when the eccentric motion plate 104 moves, the friction force brought about acts on the ground, and the ground generates a reaction force, and the reaction force acts on the body 101. The eccentric motion plate 104 cannot balance the reaction force of the ground, which causes the whole machine to vibrate. The main problem of the above-mentioned cleaning robot is essentially the contradiction between the cleaning effect of the eccentric motion plate and the vibration of the body. The movement frequency of the eccentric motion plate is determined by the rotation speed of the drive shaft. The higher the movement frequency of the eccentric motion plate, the more times the eccentric motion plate contacts the ground per unit time, and the better the cleaning effect, but the vibration of the frame also increases. In the related cleaning robot, the rotation speed of the drive shaft is usually not less than 8000r / min (revolutions / minute) to ensure a certain cleaning effect. However, in order to reduce the amplitude of the vibration of the whole machine, the eccentricity of the eccentric block 103 in the cleaning robot 1 in the related art is designed to be very small, but this leads to a very poor cleaning effect. Therefore, the contradiction and mutual restriction between the movement frequency and eccentricity of the eccentric moving plate and the vibration of the machine body have become a thorny problem in the field.

[0044] In view of the above problems, the applicant has conducted research. The applicant found that in the cleaning robot of the related art, the centrifugal force generated when the eccentric block 103 rotates causes the eccentric motion plate 104 to move horizontally. The magnitude of the translation amplitude of the eccentric motion plate will change according to the load (ground resistance). When the ground resistance is large, the translation amplitude is small, and when the load is small, the translation amplitude is large. Since the movement stroke of the eccentric motion plate is unstable, it is difficult to propose a systematic solution when studying how to solve the contradiction and mutual restriction between the movement frequency of the eccentric motion plate and the vibration of the body. Considering that the higher the movement frequency of the eccentric motion plate, the higher the cleaning effect. In order to solve the above technical problems, the conventional idea is to find a balance point between the movement frequency of the eccentric motion plate and the vibration of the body, so that the cleaning effect of the eccentric motion plate is acceptable and the vibration amount of the body is acceptable, but it is obvious that this idea is a last resort. In order to better solve the above technical problems, the applicant has conducted an in-depth study on the causes of body vibration. As shown above, the reason why the body vibrates is because the reaction force acts on the body. The applicant believes that vibration can be essentially regarded as the instantaneous movement of the body relative to the ground. The greater the vibration, the greater the instantaneous movement. According to the theory of physics, the magnitude of the instantaneous movement can be reflected by the acceleration of the object. Therefore, specifically for the above-mentioned cleaning robot, the greater the vibration of the body, the greater the acceleration of the body.

[0045] Based on the above research findings, an embodiment of the present invention provides a cleaning robot. The embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0046] like Figure 2 As shown, Figure 2 FIG. 1 shows the overall structure of a cleaning robot 100 according to an embodiment of the present invention. Figure 3 As shown, Figure 3 The schematic cross-sectional view of the cleaning robot 100 is shown. The cleaning robot 100 includes a body 10, an eccentric motion plate 20, and a driving unit 30, wherein the driving unit 30 is mounted on the body 10, and the driving unit 30 includes a driving shaft 310 that can rotate around its own axis, and the eccentric motion plate 20 is connected to the driving shaft 310 and can be driven by the driving shaft 310 to move in translation. The eccentric motion plate 20 is used to install a cleaning layer to perform a predetermined cleaning operation, and the eccentric motion plate 20 and the driving unit 30 constitute a working head that can perform a cleaning operation.

[0047] like Figure 2 , Figure 5 As shown, the eccentric motion plate 20 can be driven by the driving shaft 310 to perform a translational motion of a fixed eccentricity e in a plane perpendicular to the axis of the driving shaft 310. When the cleaning robot 100 is working, the eccentric motion plate 20 translates in a plane parallel to the ground, specifically: each point on the eccentric motion plate 20 performs a circular motion with a radius of e, that is, the motion trajectory of each point is a circle with a radius of e. The axis X of the driving shaft 310 is along the vertical direction. The driving shaft 310 can be an output shaft 321 of a driving mechanism 320 directly arranged in the body 10, such as a motor shaft of a motor, or the driving shaft 310 can also be connected to the output shaft 321 of the driving mechanism 320 through a transmission mechanism 330. Here, the specific implementation method of the driving mechanism 320 and the transmission mechanism 330 is not limited, as long as the driving shaft 310 can output rotational motion.

[0048] It can be understood that in this embodiment, since the eccentric moving plate 20 performs translational motion with a fixed eccentricity e, the corresponding relationship between the movement frequency of the eccentric moving plate 20 and the vibration amount of the machine body 10 becomes relatively simple, so it becomes relatively easy to reduce the acceleration of the machine body 10 and thus reduce the vibration amount of the machine body 10. As analyzed above, when the movement frequency of the eccentric moving plate 20 is increased, although the cleaning effect is increased, the vibration of the machine body 10 will increase.

[0049] In addition, as analyzed above, the cleaning robot 1 of the related art has a small eccentricity in order to control vibration, and the movement amplitude of the eccentric motion plate is small, resulting in poor cleaning effect. It is understandable that in order to ensure the cleaning effect, a larger eccentricity should be used.

[0050] Therefore, further research on the phenomenon that the movement frequency of the eccentric moving plate 20 increases at a larger fixed value of the eccentricity e leads to increased vibration has found that when the movement frequency of the eccentric moving plate 20 is increased to a speed greater than or equal to 1000r / min of the driving shaft 310 (hereinafter referred to as the high-frequency movement of the eccentric moving plate 20), the reaction force of the ground cannot change instantly, and the effect of the reaction force on the machine body 10 becomes smaller at this time, and the machine body 10 does not necessarily experience large vibrations and unstable operation as expected. In addition, it is found that when the eccentric moving plate 20 moves at a high frequency, the time the eccentric moving plate 20 is in contact with the ground each time it reciprocates is reduced, and the resistance of the whole machine to move forward and backward is small, which is more conducive to the movement of the machine. In the embodiment of the present invention, the eccentricity e can be 1mm (millimeter), which is much larger than the eccentricity of 0.5mm in the related art.

[0051] Therefore, in an embodiment of the present invention, the rotation speed of the driving shaft 310 is set to be greater than or equal to 1000 r / min, so that the eccentric moving plate 20 moves at a high frequency, so that the reaction force of the ground cannot change instantaneously, thereby reducing the vibration of the body 10.

[0052] However, as mentioned above, the reaction force of the friction between the eccentric moving plate 20 and the ground acts on the machine body 10, and the actual working conditions are uncontrollable, so once the vibration occurs, it will become more serious. Therefore, it is necessary to ensure that the vibration of the machine body 10 is small when the eccentric moving plate 20 moves at a high frequency, which is a key indicator when the eccentric moving plate 20 moves at a high frequency.

[0053] Therefore, based on the above research results, the applicant proposes to achieve the above purpose by reducing the acceleration of the body 10 subjected to the reaction force of the ground. It can be understood that when the force remains unchanged, the greater the mass of the object, the smaller its movement acceleration. The eccentric motion plate 20 is in the working system of the cleaning robot 100, and the reaction force of the friction generated by the eccentric motion plate 20 and the ground acts on the entire body 10. When the weight of the body 10 is greater than the mass of the eccentric motion plate 20, the acceleration of the body 10 is smaller, and the vibration of the entire body 10 will become smaller. However, increasing the weight of the fuselage may increase the power consumption of the cleaning robot 100 on the one hand; on the other hand, the timing of eliminating the influence of the reaction force is very important. Late weakening of the reaction force will still cause local vibration of the body 10, resulting in the failure to achieve the expected effect even if the weight is increased.

[0054] In this regard, the applicant further studied and found that the reaction force of the friction generated by the eccentric motion plate 20 and the ground acts on the entire body 10, but in fact it will mainly act on the drive unit 30, and then be transmitted to the body 10 through the drive unit 30. Therefore, in the embodiment of the present invention, emphasis is placed on the larger mass of the drive unit 30 rather than the larger mass of the entire body 10. As the direct and main force-bearing component, the drive unit 30 has a smaller acceleration when its mass is larger, which can directly weaken the influence of the ground reaction force, thereby also making the acceleration of the entire body 10 smaller and the vibration smaller. In specific implementation, the mass of the drive unit 30 is set to be greater than or equal to 3 times the mass of the eccentric motion plate 20. At this time, even if the eccentric motion plate 20 moves at a high frequency, the vibration of the body 10 is also smaller.

[0055] In the above-mentioned cleaning robot 100, the reaction force of the friction generated by the eccentric moving plate 20 and the ground acts on the driving part 30. On the one hand, it can achieve the effect that even if the eccentric moving plate 20 moves at a high frequency, the vibration of the body 10 is small; on the other hand, it is beneficial to achieve the above-mentioned mass relationship by designing the weight distribution of the body 10 without simply increasing the weight of the body 10, which is beneficial to realize the miniaturization and lightweight of the cleaning robot 100.

[0056] Preferably, the speed range of the drive shaft 310 is 1000r / min-4000r / min. Preferably, the speed of the drive shaft is 2500r / min. Preferably, the mass of the drive unit is 400g (gram)-1200g. Preferably,

[0057] The mass of the driving unit is 600g. In some embodiments, Figure 4 As shown, the eccentric motion plate 20 includes a mopping floor 210, an eccentric bearing 220 whose outer ring is fixed to the mopping floor 210, an inner ring of the eccentric bearing 220 is connected to the drive shaft 310, and the axis of the eccentric bearing 220 is eccentrically arranged with respect to the axis of the drive shaft 310. Figure 2 and Figure 5 As shown, the eccentric arrangement means that the axes of the two have an eccentricity e. When the drive shaft 310 rotates, the eccentric motion plate 20 is driven to move through the eccentric bearing 220.

[0058] The cleaning robot 100 further includes a swinging foot 40, which connects the mopping floor 210 and the body 10, and the swinging foot 40 is a flexible member. Figure 1As shown, the two ends of the swing foot 40 are fixedly connected to the mopping floor 210 and the body 10 respectively, and the connection method is not limited, for example, it can be fixedly connected by bolts. When the drive shaft 310 rotates, under the restriction of the eccentric bearing 220 and the swing foot 40, the eccentric motion plate 20 cannot drive the axis of the shaft 310 to rotate, but moves horizontally with the eccentricity e as the radius. Each point on the eccentric motion plate 20 performs a circular motion with a radius of e, that is, the motion trajectory of each point is a circle with a radius of e. Usually, when the eccentricity e is 1 mm, the length of the swing foot 40 is 30 mm. It should be noted that the length of the swing foot 40 may be different depending on the deformation ability of the swing foot 40.

[0059] Furthermore, if Figure 3 As shown, swing feet 40 are respectively provided on both sides of the axis of the driving shaft 310, and the swing feet 40 on both sides are symmetrically arranged. By providing swing feet 40 on both sides of the driving shaft 310, when the eccentric moving plate 20 reciprocates, both the left and right sides of the eccentric moving plate 20 are subjected to force, the operation is more stable, and it is also beneficial to reduce the vibration of the machine body 10.

[0060] like Figure 4 As shown, an elastic layer 230 is fixed to the bottom of the mopping floor 210 of the eccentric motion plate 20, and a cleaning layer 240 is fixed on the elastic layer 230. When the eccentric motion plate 20 moves horizontally, the cleaning layer 240 cleans the floor. Preferably, the cleaning layer 240 is configured to be detachable. When the cleaning layer 240 is attached to the elastic layer 230, the elastic layer 230 has elasticity. When the cleaning layer 240 contacts the floor, the elastic layer 230 is squeezed and deformed, so that the reaction force of the floor can be buffered, which is beneficial to reduce the vibration of the machine body 10. In one example, the elastic layer 230 is a rubber pad, and the cleaning layer 240 is a mop, such as a cotton mop. However, it can be understood that the elastic layer 230 is not limited to a rubber pad, and the type of the cleaning layer 240 is not limited to a mop.

[0061] like Figure 4 As shown, the eccentric motion plate 20 further includes a balancing block 250 fixed to the drive shaft 310, and the center of gravity of the balancing block 250 and the axis of the eccentric bearing 220 are respectively located on both sides of the axis of the drive shaft 310. In other words, the plumb line passing through the center of gravity of the balancing block 250 and the axis of the eccentric bearing 220 are located on both sides of the axis of the drive shaft 310, and the two are offset in opposite directions relative to the axis of the drive shaft 310. The balancing block 250 is used to compensate for the mass imbalance of the mopping floor 210, the eccentric bearing 220, the elastic layer 230 and the cleaning layer 240 when rotating around the axis of the eccentric bearing 220, which is conducive to making the movement of the eccentric motion plate 20 smooth.

[0062] like Figure 4As shown, the balancing weight 250 includes a first part 251 and a second part 252 connected to the first part 251, and both the first part 251 and the second part 252 are hollow tubular parts. The first part 251 is sleeved on the drive shaft 310, the center of gravity of the first part 251 and the axis of the drive shaft 310 are first coincident, and the eccentric bearing 220 is sleeved on the first part 251; the second part 252 extends into the cavity of the eccentric motion plate 20, wherein the center of gravity of the second part 251 and the axis of the eccentric bearing 220 are respectively located on both sides of the axis of the drive shaft 310.

[0063] In some embodiments, the driving unit 30 includes a driving shaft 310, a driving mechanism 320, and a transmission mechanism 330 connecting the driving mechanism 320 and the driving shaft 310. The driving mechanism 320 and the transmission mechanism 330 are both located directly above the eccentric motion plate 20. Figure 1 and Figure 4 As shown in the example, the driving mechanism 320 can be a motor, and the transmission mechanism 330 includes a large gear 331 and a small gear 332, wherein the small gear 332 is fixed to the motor shaft of the motor, and the large gear 331 is fixed to the driving shaft 310. In the cleaning robot 100, the masses of the driving mechanism 320 and the transmission mechanism 330 are both large mass components, which is conducive to achieving the goal that the mass of the driving part 30 is greater than or equal to 3 times the mass of the eccentric motion plate 20. The driving mechanism 320 and the transmission mechanism 330 are both arranged to be located directly above the eccentric motion plate 20.

[0064] Furthermore, in a specific implementation, the driving mechanism 320 is a motor, and the axis Z of the motor is arranged parallel to the axis of the driving shaft 310. Figure 4 As shown, along the plane perpendicular to the axis of the driving shaft 310, that is, along the moving plane of the eccentric moving plate 20, the mass distribution of the driving part 30 is relatively uniform, and the cleaning robot 100 is easier to walk smoothly when moving on the ground.

[0065] like Figure 6 As shown, a walking mechanism is also provided at the bottom of the machine body 10, and the walking mechanism includes a first walking wheel 561 and a second walking wheel 562 located on both sides of the eccentric motion disc 20, wherein the second walking wheel 162 is a universal wheel.

[0066] like Figure 7 As shown, in one embodiment, the eccentric moving plate 20 and the driving part 30 constitute a working head capable of performing cleaning operations and are connected to the machine body 10 so as to be relatively movably connected, and a flexible connecting member 60 is provided between the working head and the machine body 10 to cushion the vibration caused to the machine body 10 by the movement of the eccentric moving plate 20 of the working head.

[0067] Specifically, the cleaning robot 1 further includes a lifting mechanism 70, which is used to drive the working head to a first position (eg Figure 8as shown) and a second position (as Fig. 9 In the first position, the working head presses the flexible member against the machine body to buffer the vibration of the machine body 10 caused by the movement of the eccentric moving plate 20 of the working head; in the second position, the working head removes the pressure on the flexible member 60. The specific type of the lifting mechanism 70 is not limited, such as a worm gear mechanism, a rack and pinion mechanism driven by a motor, etc. In specific settings, the flexible member 60 can be connected to the machine body 10 or to the working head, such as to the driving part 30, specifically, to the driving mechanism 320, such as to the housing of the motor. A plurality of flexible members 60 can be provided, such as a plurality of flexible members 60 are provided around the driving part 30.

[0068] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cleaning robot, characterized in that: include: Body; A working head, the working head comprising a driving part and an eccentric moving plate located below the driving part, wherein the driving part comprises a driving shaft, the eccentric moving plate is connected to the driving shaft, the eccentric moving plate is used to install a cleaning layer to perform a predetermined cleaning task, the eccentric moving plate can be driven by the driving shaft to make a translational motion of a fixed eccentricity in a plane perpendicular to the axis of the driving shaft, wherein the rotation speed of the driving shaft is greater than or equal to 1000r / min, and the mass of the driving part is greater than or equal to 3 times the mass of the eccentric moving plate.

2. The cleaning robot according to claim 1, characterized in that: The eccentric moving plate includes a mopping floor and an eccentric bearing. The outer ring of the eccentric bearing is fixed to the mopping floor, the inner ring of the eccentric bearing is connected to the driving shaft, and the axis of the eccentric bearing is eccentrically arranged with respect to the axis of the driving shaft.

3. The cleaning robot according to claim 2, characterized in that: The cleaning robot further comprises a swinging foot, wherein the swinging foot connects the mopping floor and the body, and the swinging foot is a flexible member.

4. The cleaning robot according to claim 3, characterized in that: The swing feet are respectively arranged on both sides of the axis of the driving shaft, and the swing feet on both sides are symmetrically arranged.

5. The cleaning robot according to claim 2, characterized in that: An elastic layer is fixed to the bottom of the mopping floor, and the cleaning layer can be installed on the elastic layer.

6. The cleaning robot according to claim 2, characterized in that: The eccentric moving plate further comprises a balancing block fixed to the driving shaft, wherein the center of gravity of the balancing block and the axis of the eccentric bearing are respectively located on both sides of the axis of the driving shaft.

7. The cleaning robot according to claim 6, characterized in that: The balancing block includes a first part and a second part connected to the first part, the first part is sleeved on the driving shaft, and the eccentric bearing is sleeved on the first part; the second part extends into the eccentric motion plate, and the center of gravity of the second part and the axis of the eccentric bearing are respectively located on both sides of the axis of the driving shaft.

8. The cleaning robot according to claim 1, characterized in that: The driving part includes a driving mechanism and a transmission mechanism connecting the driving mechanism and the driving shaft.

9. The cleaning robot according to claim 8, characterized in that: The driving mechanism is a motor, and the axis of the motor is arranged parallel to the axis of the driving shaft.

10. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a lifting mechanism and a flexible part. The lifting mechanism is connected to the working head. The lifting mechanism is used to drive the working head to switch between a first position and a second position. In the first position, the working head presses the flexible part against the body. In the second position, the working head removes the pressure on the flexible part.

11. The cleaning robot according to claim 1, characterized in that: The rotation speed range of the driving shaft is 1000r / min-4000r / min.

12. The cleaning robot according to claim 1, characterized in that: The rotation speed of the driving shaft is 2500r / min.

13. The cleaning robot according to claim 1, characterized in that: The mass of the driving unit is 400g-1200g.

14. The cleaning robot according to claim 13, characterized in that: The mass of the driving unit is 600 g.

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