Cleaning mechanism and cleaning robot

Abstract

The present application is applicable to the field of robotics technology, and provides a cleaning mechanism and a cleaning robot. The cleaning mechanism includes a cleaning component, an elastic component, and a lifting drive component. The elastic component can be elastically compressed and restored along a first direction and has two ends arranged along the first direction, one end of which is connected to the cleaning component, and the lifting drive component is connected to the other end, for pushing and pulling the elastic component along the first direction; it can achieve the rise, fall, and floating of the cleaning component; compared with mechanisms such as levers and connecting rods, the elastic component has a simpler structural design and a smaller volume. The cleaning mechanism has a simplified structure, a small volume, and occupies a small space in the cleaning robot; the assembly of the elastic component itself and its assembly in the cleaning robot are simplified, which can reduce the production material cost and assembly operation cost of the cleaning mechanism. The cleaning robot with this cleaning mechanism has a simplified structure, low material cost, low installation difficulty, and low assembly cost.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a cleaning mechanism and a cleaning robot. Background Art

[0002] Currently, mopping machines or multifunctional cleaning robots with mopping functions are increasingly entering people's homes, replacing manual labor. The mop is usually placed at the bottom of the machine, which cleans the floor during the movement of the cleaning robot. In actual use, the mop needs to be raised when not in use (i.e., when the mop does not need to be in contact with the floor). In addition, in actual home use environments, the floor may have certain unevenness, such as steps, thresholds, or cables. During the mop's operation, it should also be allowed to float so that the mop can overcome these obstacles during operation.

[0003] In existing cleaning robots, the floating of the mop is usually achieved through a swing mechanism in the form of a lever mechanism, a connecting rod mechanism, etc. The problem with these methods is that these swing mechanisms are not only complex in structure but also complex in installation inside the cleaning robot. This further leads to the problem that these swing mechanisms are not only expensive in material and installation costs, but also occupy a large space inside the cleaning robot. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a cleaning mechanism, which aims to solve the technical problems of high cost and large internal space occupied in order to achieve floating mop in existing cleaning robots.

[0005] The embodiment of the present application is implemented as follows: a cleaning mechanism is installed on a bracket of a cleaning robot; the cleaning mechanism includes:

[0006] Clean components;

[0007] an elastic component capable of being elastically compressed and restored along a first direction, and having two ends arranged along the first direction, one end of which is connected to the cleaning component; and

[0008] The lifting drive assembly is used to be arranged on the bracket and connected to the other end of the elastic assembly. The lifting drive assembly is used to push and pull the other end of the elastic assembly along the first direction.

[0009] In one embodiment, the elastic component includes a first connecting member, a second connecting member and an elastic member, the first connecting member and the second connecting member are movably connected along the first direction, and the elastic member is arranged between the first connecting member and the second connecting member.

[0010] In one embodiment, the first connecting member and the second connecting member are movably and slidably connected along the first direction.

[0011] In one embodiment, the first connecting member includes a plurality of claws, each of the claws is distributed around the elastic member, and the second connecting member is provided with a plurality of slots, each of the claws slides in the slot respectively.

[0012] In one embodiment, each of the claws includes an abutment portion and a protrusion;

[0013] The outer surface of the abutting portion abuts against the inner surface of the second connecting member and can slide relative to each other, and the protrusion protrudes outward from the outer surface of the abutting portion and is located in the slot; or, the inner surface of the abutting portion abuts against the outer surface of the second connecting member and can slide relative to each other, and the protrusion protrudes inward from the inner surface of the abutting portion and is located in the slot.

[0014] In one embodiment, the ends of the abutting portions away from the second connecting member are connected, the ends of the abutting portions away from the lifting drive assembly are separated, and the protrusion is provided at the ends of the abutting portions away from the lifting drive assembly.

[0015] In one embodiment, the maximum distance over which the first connecting member and the second connecting member slide away from each other along the first direction is set to keep the elastic member in a compressed state.

[0016] In one embodiment, the lifting drive assembly includes a power member, a transmission member and a crank connected in sequence, the power member is used to drive the transmission member to rotate, one end of the crank is eccentrically and pivotally connected to the transmission member, and the pivot center axis of the crank is parallel to the rotation center axis of the transmission member.

[0017] In one embodiment, the transmission member includes a synchronous belt, a primary gear and a synchronous gear, and the synchronous gear is connected to the primary gear through the synchronous belt; the synchronous gear and the primary gear are respectively eccentrically and pivotally connected to the crank.

[0018] In one embodiment, the lifting drive assembly includes a plurality of the transmission members, and two adjacent first-stage gears are coaxially connected via a connecting rod; the power member is connected to one or more of the first-stage gears.

[0019] In one embodiment, the transmission member further includes a secondary gear, the secondary gear is engaged with the primary gear, and the connecting rod is coaxially connected between two adjacent secondary gears.

[0020] In one embodiment, the primary gear includes a first meshing portion and a second meshing portion that are coaxially connected, the first meshing portion is connected to the synchronous belt, the second meshing portion is connected to the secondary gear, and the secondary gear is located outside the space defined by the synchronous belt.

[0021] In one embodiment, the lifting drive assembly includes a plurality of the transmission members; the transmission member includes a first-stage gear, the first-stage gear is coaxially connected to the output shaft of the power member, and one end of the crank is eccentrically and pivotally connected to the first-stage gear.

[0022] Another object of the present application is to provide a cleaning robot, comprising a bracket and a cleaning mechanism as described in the above embodiments, wherein the cleaning mechanism is installed on the bracket.

[0023] In one embodiment, a guide hole is provided on the bracket, the elastic component passes through the guide hole, and the cleaning component and the lifting drive component are respectively arranged on different sides of the bracket.

[0024] The cleaning mechanism and cleaning robot provided by the embodiments of the present application have the following beneficial effects:

[0025] The cleaning mechanism provided by the embodiment of the present application is that the lifting drive assembly can drive the cleaning assembly to rise and fall by applying a pulling force or pushing force to the elastic assembly along the elastic compression direction, and allows the cleaning assembly to have a certain floating when the cleaning assembly drops to the lower limit position; because the cleaning assembly can be elastically compressed along its elastic compression direction, compared with mechanisms such as levers and connecting rods, its structural design is relatively simpler and its own volume can be smaller. The lifting drive assembly and the elastic assembly can be simplified and miniaturized as a whole. The overall structure of the cleaning mechanism can be simplified and the space occupied in the cleaning robot can be smaller; the elastic compression ends of the cleaning assembly are respectively connected to the lifting drive assembly and the cleaning assembly, and there is no need for multiple pivot connections between the cleaning assembly and the cleaning robot as in mechanisms such as levers and connecting rods. Therefore, its own assembly, its connection with the lifting drive assembly, and its assembly in the cleaning robot can also be simplified, which is conducive to reducing the production material cost and assembly operation cost of the cleaning mechanism. The cleaning robot with this cleaning mechanism has a simpler structure, low material cost, low installation difficulty, and low assembly cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic diagram of a portion of the structure of the cleaning robot provided in an embodiment of the present application;

[0028] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the cleaning robot shown at one angle;

[0029] Figure 3 yes Figure 1 A schematic diagram of the exploded structure of the cleaning mechanism shown in another angle;

[0030] Figure 4 yes Figure 1 Enlarged view of point A in the middle;

[0031] Figure 5 This is a schematic diagram of the decomposed structure of the cleaning mechanism provided in an embodiment of the present application;

[0032] Figure 6 yes Figure 5 A schematic diagram of the exploded structure of the transmission component in the cleaning mechanism shown at one angle;

[0033] Figure 7 yes Figure 5 A schematic diagram of the exploded structure of the transmission components in the cleaning mechanism shown in FIG.

[0034] Figure 8 yes Figure 5 A schematic diagram of the three-dimensional structure of the elastic component of the transmission member in the cleaning mechanism shown;

[0035] Figure 9 yes Figure 5 A schematic diagram of the exploded structure of the elastic component of the transmission member in the cleaning mechanism shown;

[0036] Figure 10 yes Figure 4 Schematic diagram of the movement stroke of the crank of the lifting drive assembly in the cleaning mechanism shown.

[0037] The meanings of the marks in the figure are:

[0038] 200-cleaning robot, 9-bracket, 91-guide hole, 92-matching part, 93-support part;

[0039] 100-cleaning agency;

[0040] 1-cleaning assembly, 11-mop, 12-mop mounting member, 121-fixing portion, 1211-guide portion, 122-disassembly portion;

[0041] 2-elastic component, 21-first connecting member, 210-claw, 211-abutting portion, 212-convex portion, 213-limiting portion, 22-second connecting member, 220-slot, 221-side wall, 23-elastic member, 28-first end, 29-second end;

[0042] 3-lifting drive assembly, 31-power part, 32-transmission part, 320-transmission assembly protection cover, 3201-cover body, 321-first gear, 3211-first meshing part, 3212-second meshing part, 3210-eccentric output shaft, 322-synchronous belt, 323-synchronous gear, 324-secondary gear, 3240-gear shaft, 33-crank, 34-synchronous rod, 341-rod body, 342-coupling. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0044] It should be noted that when a component is referred to as being "fixed on" or "set on" another component, it may be fixed or set on the other component directly or indirectly. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this patent. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0045] See also Figure 5 , and refer to Figures 1 to 3 , the embodiment of the present application first provides a cleaning mechanism 100, which is used to be installed on the bracket 9 of the cleaning robot 200. The cleaning mechanism 100 is used to clean the floor while the cleaning robot 200 is moving.

[0046] Specifically, if Figure 5 As shown, the cleaning mechanism 100 includes a cleaning component 1, an elastic component 2 and a lifting drive component 3. The cleaning component 1 is used to contact the ground to clean the ground. The elastic component 2 can move in a first direction (such as Figure 9The first direction is the elastic expansion and contraction direction of the elastic component 2, which includes two opposite directions: the elastic compression direction and the elastic recovery direction. The elastic component 2 has two ends arranged along the first direction, which are respectively defined as the first end 28 and the second end 29. Figure 8 and Figure 9 As shown, the second end 29 is used to connect with the cleaning component 1. The lifting drive component 3 is used to be fixedly arranged on the bracket 9, which is connected to the first end 28 of the elastic component 2. The lifting drive component 3 can apply a force along the first direction to the first end 28 of the compressed elastic component 2, that is, the lifting drive component 3 can push and pull the elastic component 2 along the first direction through the first end 28 of the elastic component 2.

[0047] Since the lifting drive assembly 3 is fixed on the bracket 9, when the bracket 9 is fixed, and when the lifting drive assembly 3 pushes the elastic assembly 2 from the first end 28 along the first direction, the elastic assembly 2 and the cleaning assembly 1 move together along the first direction and away from the lifting drive assembly 3. When the first direction is a vertical direction, the cleaning assembly 1 moves toward the ground, that is, it descends, so that the cleaning assembly 1 can contact the ground. The position of the cleaning assembly 1 when it contacts the ground and performs cleaning work is defined as the lower limit position of the cleaning assembly 1; conversely, when the lifting drive assembly 3 pulls the elastic assembly 2 from the first end 28 along the first direction, the elastic assembly 2 and the cleaning assembly 1 move together along the first direction and approach the lifting drive assembly 3, so that the cleaning assembly 1 can break contact with the ground and continue to rise. At this time, the cleaning assembly 1 has an upper limit position reached by the rise.

[0048] When the cleaning component 1 is pushed and keeps in contact with the ground, the elastic component 2 is compressed along the first direction. At this time, the elastic component 2 itself generates elastic force. While pressing the cleaning component 1 to the ground, the elastic force also allows the cleaning component 1 to float to a certain extent when the ground is uneven, thereby adapting to the height changes of the ground. The cleaning component 1 can smoothly pass over the unevenness of the ground without getting stuck.

[0049] The cleaning mechanism 100 provided in the embodiment of the present application has a lifting drive component 3, which can realize the rising and falling of the cleaning component 1 by applying a pulling force or pushing force to the elastic component 2 along the elastic expansion and contraction direction thereof, and allows the cleaning component 1 to float to a certain extent when it descends to the lower limit position; since the elastic component 2 can be elastically compressed or restored along the first direction and its two ends are respectively connected to the lifting drive component 3 and the cleaning component 1, compared with mechanisms such as levers and connecting rods, its elastic expansion and contraction is essentially a relative movement between its two ends, that is, a linear movement within a predetermined length range. Therefore, its structural design is relatively simpler, and its own volume and the space required for its own deformation are relatively small. The space can also be smaller, the lifting drive component 3 and the elastic component 2 can be simplified in structure and miniaturized as a whole, the overall structure of the cleaning mechanism 100 can be simplified, and the space occupied in the cleaning robot 200 can be smaller; the two ends of the cleaning component 1 are respectively connected to the lifting drive component 3 and the cleaning component 1, and there is no need for multiple pivot connections of the mechanism itself and multiple pivot connections with the cleaning robot 200 like levers, connecting rods and other mechanisms. Therefore, the assembly of the elastic component 2 itself, its connection with the lifting drive component 3 and its assembly in the cleaning robot 200 can also be simplified, which is conducive to reducing the production material cost and assembly operation cost of the cleaning mechanism 100.

[0050] The cleaning assembly 1 may include cleaning members in the form of a roller brush, a bristle brush, or the like for cleaning the floor. The cleaning assembly 1 may also include cleaning members in the form of a mop 11 for scrubbing, drying, or the like the floor. Of course, in an optional embodiment, the cleaning assembly 1 may include cleaning members in various forms. Below, the cleaning mechanism 100 of the present application will be specifically described using the example of the cleaning assembly 1 being a mop 11 assembly, i.e., the cleaning member included in the cleaning assembly 1 being a mop 11. The description will be based on the use of the cleaning robot 200, i.e., the first direction being the vertical direction.

[0051] like Figure 3 As shown, the cleaning assembly 1 includes the above-mentioned mop 11 and a mop mounting member 12. The mop mounting member 12 is connected to the elastic assembly 2. The mop 11 can be removed from the mop mounting member 12 so that the mop 11 can be cleaned, replaced, etc.

[0052] The structure of the mop cloth mounting member 12 and the detachable connection between the mop cloth mounting member 12 and the mop cloth 11 can be implemented in a variety of ways. For example, in one embodiment, Figure 3As shown, the mop mounting member 12 may include a fixing portion 121 and a disassembly portion 122. The fixing portion 121 is connected to the lower end (second end 29) of the elastic component 2, and the disassembly portion 122 is detachably connected to the mop 11 and to the fixing portion 121. When the mop 11 needs to be disassembled, the disassembly portion 122 is removed from the fixing portion 121 to separate the mop 11 from the fixing portion 121, and then the mop 11 is separated from the disassembly portion 122. When the mop 11 needs to be installed, the mop 11 is first assembled with the disassembly portion 122, and then the disassembly portion 122 is installed on the fixing portion 121. Specifically, the disassembly portion 122 is inserted into and removed from the fixing portion 121 by sliding, and the mop 11 is connected to the disassembly portion 122 by clamping or other means. In other embodiments, the mop 11 can also be directly installed on the mop mounting member 12 by clamping or other means. This is just an example for easy understanding, and the present application does not impose any particular limitation on the fixing method of the mop 11 .

[0053] First, the elastic member 2 will be described.

[0054] like Figure 4 、 Figure 8 and Figure 9 As shown, the elastic component 2 includes a first connecting member 21, a second connecting member 22, and an elastic member 23 arranged between the first connecting member 21 and the second connecting member 22. The first connecting member 21 and the second connecting member 22 are movably connected along the first direction, and the elastic member 23 is compressed at least during the process of moving toward each other. When the first connecting member 21 and the second connecting member 22 slide toward each other, the length of the space reserved for the elastic member 23 between the first connecting member 21 and the second connecting member 22 (referring to the dimension in the first direction) decreases, and the elastic member 23 is compressed; when the first connecting member 21 and the second connecting member 22 slide away from each other, the length of the space reserved for the elastic member 23 between the first connecting member 21 and the second connecting member 22 increases, and the elastic member 23 recovers. Of course, the first connecting member 21 and the second connecting member 22 are connected in a limited position, that is, the first connecting member 21 and the second connecting member 22 cannot be separated from each other, to avoid the elastic member 23 being stretched.

[0055] In this embodiment, the movable connection between the first connecting member 21 and the second connecting member 22 can be, but is not limited to, a sliding connection. The following embodiments are described using a sliding connection as an example. The first end 28 is the end of the first connecting member 21 that is away from the second connecting member 22 and can be connected to the lifting drive assembly 3, while the second end 29 is the end of the second connecting member 22 that is away from the first connecting member 21 and is used to connect to the cleaning assembly 1. This embodiment will be described below as an example. However, it will be understood that the positions of the first connecting member 21 and the second connecting member 22 can also be interchanged, which does not affect the sliding connection between them and the compression of the elastic member 23.

[0056] Optionally, when the first connecting member 21 and the second connecting member 22 are in the extreme position of sliding away from each other, the elastic member 23 is still compressed. The purpose of this arrangement is to ensure that when the lifting drive assembly 3 drives the cleaning assembly 1 to rise until the cleaning assembly 1 is in the upper extreme position, that is, when the cleaning assembly 1 is suspended above the ground, the problem of the cleaning assembly 1 shaking up and down can be avoided.

[0057] like Figure 9 As shown, the elastic member 23 can be a spring, specifically a compression spring, and the first direction is its axial direction. In other optional embodiments, the elastic member 23 can be a structure such as an elastic plunger that can be compressed and restored.

[0058] like Figure 9 As shown, the first connecting member 21 includes a plurality of mutually connected claws 210 , each claw 210 is distributed around the elastic member 23 , and the second connecting member 22 is provided with a plurality of slots 220 , each claw 210 slides in the slot 220 one by one.

[0059] like Figure 9 As shown, the slot 220 has two opposite side walls 221 distributed along the axial direction of the elastic member 23, that is, two side walls 221 that are opposite and spaced apart in the vertical direction. Figure 7 As shown, when the claw 210 abuts against the side wall 221 located above, the elastic member 23 has a minimum compression degree. At this time, the first connecting member 21 and the second connecting member 22 are in the extreme position of sliding away from each other.

[0060] The limit position of the sliding movement between the first connecting member 21 and the second connecting member 22 can be achieved in a variety of ways: one is, in this embodiment, as Figure 4 、 Figure 8 and Figure 9 As shown, the first connecting member 21 is provided with a limit portion 213. When the first connecting member 21 slides toward the second connecting member 22, the limit portion 213 abuts against the second connecting member 22 to limit further sliding therebetween. Alternatively, the claw 210 may abut against the side wall 221 located below. Of course, in some embodiments, the above two methods may exist simultaneously.

[0061] The aforementioned limiting portion 213 may be in a plate shape, such as a circular plate, a square plate or other plate shapes, etc. A surface of the limiting portion 213 facing the second connecting member 22 is used to abut against an end surface of the second connecting member 22 .

[0062] like Figure 9As shown, in one embodiment, each claw 210 includes an abutment portion 211 and a protrusion 212. The abutment portion 211 is configured to slide in contact with the second connector 22, while the protrusion 212 is configured to slide within the slot 220. Thus, the position of the protrusion 212 within the slot 220 determines the relative position between the first connector 21 and the second connector 22. In other words, the protrusion 212 can abut against at least one upper sidewall 221 of the slot 220.

[0063] In one embodiment, the abutting portion 211 can extend into the interior of the second connecting member 22, and the protrusion 212 can be provided on the outer surface of the abutting portion 211 (the surface away from the elastic member 23). That is, the protrusion 212 is formed by the outer surface of the abutting portion 211 protruding outwardly, and the abutting portion 211 is provided inside the second connecting member 22, and the outer surface of the abutting portion 211 is in sliding contact with the inner surface of the second connecting member 22, as shown in FIG. Figure 8 and Figure 9 shown.

[0064] Correspondingly, in this embodiment, the second connecting member 22 can be cylindrical with one end open. The open end is used to insert the elastic member 23, and the closed end is used to restrain the elastic member 23. The two side walls 221 of the clamping slot 220 are spaced apart from the upper and lower end surfaces. The clamping slot 220 can extend from its inner circumference to the outer circumference, or it can be simply recessed radially outward from the inner circumference without extending to the outer circumference.

[0065] Conversely, in other optional embodiments, the abutment portion 211 is arranged on the periphery of the second connecting member 22, and the inner surface of the abutment portion 211 (the surface close to the elastic member 23) is also possible to be in sliding contact with the outer surface of the second connecting member 22. At this time, the protrusion 212 is formed by the inner surface of the abutment portion 211 protruding inward and extending.

[0066] Correspondingly, the second connector 22 may also be cylindrical with at least one end open. The slot 220 may extend from the outer circumference of the second connector 22 to the inner circumference, or may simply be recessed radially inward from the outer circumference without extending to the inner circumference. The second connector 22 may also be cylindrical with a non-hollow center, with the slot 220 formed by a radially inward recess on its outer circumference.

[0067] like Figure 8As shown, the end of each claw 210 away from the second connecting member 22 is connected, specifically, it can be connected to the limit portion 213, and the end of each claw 210 close to the second connecting member 22 is separated and independent. The purpose of this arrangement is that the separated ends of each claw 210 can each undergo a certain deformation, that is, the end of each claw 210 close to the second connecting member 22 can be bent inward or outward under the action of force. The protrusion 212 can be optionally provided at the separated end of each claw 210. In this way, when assembling the elastic component 2, it is only necessary to manually apply a certain force, bend each claw 210 separately, and then fit it together with the second connecting member 22. Then, the applied force is removed, and each claw 210 relies on its own elastic recovery, and each protrusion 212 can enter the slot 220 and is not easily detached from the slot 220.

[0068] like Figure 2 、 Figure 3 and Figure 4 As shown, bracket 9 is provided with a guide hole 91 extending through the upper and lower surfaces of bracket 9. The elastic assembly 2 is positioned within this guide hole 91, while the cleaning assembly 1 is positioned below the bracket 9 and the lift drive assembly 3 is positioned above the bracket 9. Driven by the lift drive assembly 3, the elastic assembly 2 slides up and down within the guide hole 91. The inner diameter of the guide hole 91 can be slightly larger than the outer diameter of the elastic assembly 2 to ensure the correct elevation direction of the elastic assembly 2 without significantly generating friction.

[0069] In one elastic component 2, the number of the claws 210 can be two, such as Figure 8 and Figure 9 Of course, this is only an example, and in other optional embodiments, the number of the claws 210 can be three, four, or even more. The specific design can be combined with the manufacturing process and structural requirements, and there is no special limitation on this.

[0070] The lifting drive assembly 3 is described below.

[0071] like Figures 5 to 7 As shown, in one embodiment, the lifting drive assembly 3 includes a power member 31, a transmission member 32, and a crank 33, which are connected in sequence. The power member 31 is used to output power. For example, the power member 31 can be a motor capable of outputting torque. The transmission member 32 is used to convert the torque of the power member 31 into a linear force applied by the crank 33 to the elastic assembly 2.

[0072] Specifically, if Figure 6 and Figure 7As shown, the transmission member 32 includes a primary gear 321, which is coaxially connected to the output shaft of the power member 31, and the power member 31 drives the primary gear 321 to rotate. The crank 33 is eccentrically and pivotally connected to the transmission member 32, and the central axis of the crank 33 relative to the primary gear 321 is parallel to the central axis of rotation of the primary gear 321. As shown in the figure, the primary gear 321 has an eccentric output shaft 3210, and the crank 33 is pivotally connected to the eccentric output shaft 3210. The axial direction of the eccentric output shaft 3210 is parallel to and spaced from the central axis of rotation of the primary gear 321, that is, the central axis of the output shaft of the electrode.

[0073] The end of the crank 33 away from the transmission member 32 is connected to the upper end (i.e., the first end 28) of the elastic component 2. During the rotation of the first-stage gear 321, the crank 33 is driven to rotate eccentrically. Since the elastic component 2 is confined in the guide hole 91, the end of the crank 33 connected to the elastic component 2 always moves in the vertical direction. That is, the crank 33 applies a thrust (downward force) and a pull (upward force) to the upper end of the elastic component 2 under the action of the power member 31 and the first-stage gear 321 of the transmission member 32. The crank 33 is pivotally connected to the first connecting member 21 of the elastic component 2, and the pivot center axis is perpendicular to the first direction, that is, in the horizontal direction. In this embodiment, the pivot center axis of the crank 33 and the first connecting member 21 is parallel to the rotation center axis of the first-stage gear 321.

[0074] In one embodiment, each transmission member 32 is connected to two cranks 33, such as Figure 5 As shown. As mentioned above, one of the cranks 33 is eccentrically and pivotally connected to the first gear 321. As for the other crank 33, please refer to Figure 6 and Figure 7 As shown, the transmission member 32 further includes a synchronous belt 322 and a synchronous gear 323. The synchronous gear 323 is connected to the first-stage gear 321 via the synchronous belt 322. Another crank 33 is eccentrically and pivotally connected to the eccentric output shaft 3210 of the synchronous gear 323. It will be understood that in this embodiment, the angular velocity and linear velocity of the synchronous gear 323 and the first-stage gear 321 should be kept equal, respectively, so that the movement directions of the two cranks 33 connected to the synchronous gear 323 and the first-stage gear 321 are always consistent, and the travel distances of the two cranks 33 at the ends connected to the first connecting member 21 are equal.

[0075] In other optional embodiments, each transmission member 32 may be connected to more cranks 33, such as three cranks 33. In this case, the synchronous gear 323 may be connected to another synchronous gear structure via another synchronous belt structure. Those skilled in the art will understand and implement this, and will not be described in detail here.

[0076] In addition, if Figures 5 to 7As shown, in one embodiment, the lifting drive assembly 3 includes multiple transmission members 32. Each transmission member 32 can be connected to one or more cranks 33, as described in the above embodiments. Thus, the lifting drive assembly 3 can control the lifting and lowering of the cleaning assembly 1 through multiple cranks 33 and the elastic assembly 2. Each transmission member 32 can be connected to a power member 31; alternatively, the number of power members 31 is less than the number of transmission members 32, and the power member 31 can be connected to one or more transmission members 32, and the transmission members 32 are connected and rotate synchronously.

[0077] In one embodiment, the power member 31 can be connected to one of the transmission members 32. Figure 5 As shown, the lifting drive assembly 3 also includes a synchronization rod 34, which is connected between the primary gears 321 of the two transmission members 32. That is, one end of the synchronization rod 34 is coaxially connected to one of the primary gears 321, and the other end of the synchronization rod 34 is synchronously connected to the other primary gear 321. In this way, when the power member 31 drives one primary gear 321 to rotate, the primary gear 321 of the other transmission member 32 can also rotate synchronously. The primary gears 321 have the same angular velocity.

[0078] Alternatively, as Figure 6 and Figure 7 As shown, the transmission member 32 also includes a secondary gear 324, which is meshed with the primary gear 321. The two ends of the synchronization rod 34 are coaxially connected to the secondary gear 324. The secondary gear 324 and the primary gear 321 have the same linear speed. The purpose of this arrangement is that Figure 5 As shown, the power piece 31 and the crank 33 are both connected to the primary gear 321, so the power piece 31 and the crank 33 can be optionally arranged on both sides of the axial direction of the primary gear 321, and the area swept by the crank 33 during rotation covers the central axis of the primary gear 321. Through the connection of the secondary gear 324, the synchronization rod 34 can avoid the primary gear 321, so that the synchronization rod 34 and the crank 33 do not interfere with each other.

[0079] It should be noted that in the embodiment of the present application, the power transmission between the power member 31 and the crank 33 is carried out through multiple meshing relationships between the first-stage gear 321, the synchronous belt 322, the synchronous gear 323 and the second-stage gear 324. Compared with other transmission relationships with the same functions such as connecting rods, racks, and push rods, the transmission member 32 of the present application can be more compact in structure and the assembly relationship is simpler. Therefore, the structure of the cleaning mechanism 100 can be simplified and the volume can be miniaturized.

[0080] like Figure 6As shown, the primary gear 321 includes a first meshing portion 3211 and a second meshing portion 3212 coaxially connected, wherein the first meshing portion 3211 is used to connect to the synchronous gear 323 via the synchronous belt 322, and the second meshing portion 3212 meshes with the secondary gear 324. In this way, the primary gear 321 can simultaneously connect to the synchronous belt 322 and the secondary gear 324, and the synchronous belt 322 and the secondary gear 324 do not interfere with each other. It will be understood that in this embodiment, the above-mentioned "the synchronous gear 323 and the primary gear 321 have equal angular velocity and linear velocity" refers to "the synchronous gear 323 and the first meshing portion 3211 of the primary gear 321 have equal angular velocity and linear velocity", and the above-mentioned "the secondary gear 324 and the primary gear 321 have the same linear velocity" refers to "the secondary gear 324 and the second meshing portion 3212 of the primary gear 321 have the same linear velocity". Furthermore, this arrangement allows the synchronous belt 322 and the secondary gear 324 to be located on different sides of the primary gear 321. In other words, the primary gear 321 does not need to be located within the space defined by the synchronous belt 322. The synchronous belt 322 only needs to be tensioned by the synchronous gear 323 and the primary gear 321, respectively. There is no need to use other gears or guide posts to make room for the secondary gear 324 to prevent contact between the secondary gear 324 and the synchronous belt 322. This further simplifies the overall structure of the transmission member 32 and reduces its overall size. Consequently, the overall structure and size of the cleaning mechanism 100 can be simplified and reduced.

[0081] like Figure 6 and Figure 7 As shown, the secondary gears 324 each have their own gear shaft 3240, and the gear shaft 3240 generally has a flat surface (not shown). The synchronization rod 34 connects the flat surfaces of the two gear shafts 3240. The synchronization rod 34 can be an integral structure; or, as shown in FIG. Figure 6 As shown, the synchronization rod 34 can be a split structure, for example, the synchronization rod 34 can include a rod body 341 and couplings 342 provided at both ends of the rod body 341, with the couplings 342 respectively connected to the locations where the flat surfaces of the gear shafts 3240 are located. The specific structure of the synchronization rod 34 can be configured according to the connection requirements between the two gear shafts 3240 and is not particularly limited here.

[0082] like Figure 5 As shown, in one embodiment of the present application, the lifting drive assembly 3 includes two transmission members 32, each connected to two cranks 33. Thus, the cleaning mechanism 100 has a total of four cranks 33, each of which is connected to the elastic assembly 2. In other words, the cleaning assembly 1 is connected to the elastic assembly 2 at four points. By properly positioning these four points, the forces acting on the cleaning assembly 1 are balanced, ensuring smoother lifting and lowering.

[0083] In one embodiment of the present application, four cranks 33 are disposed between two transmission members 32. The power member 31 is disposed on a side of the transmission member 32 away from the synchronization rod 34. Of course, the present invention is not limited thereto, and one or more cranks 33 may be disposed on a side away from the transmission member 32.

[0084] The two cranks 33 connected to the same transmission member 32 remain parallel at all times. This means that the vertical travel of the two cranks 33 remains equal during rotation of the primary gear 321 and the synchronous gear 323. This allows for smooth meshing between the primary gear 321 and the synchronous gear 323 without causing any jamming. Furthermore, the four cranks 33 remain parallel at all times. This ensures smooth meshing between the primary gears 321 and the synchronous gears 323 of the two transmission members 32.

[0085] See also Figure 10 , the straight line passing through point O and perpendicular to the paper is the central axis of rotation of the first-stage gear 321, the circle S with point O as the center is the motion trajectory of the eccentric output shaft 3210 of the first-stage gear 321, and the radius R of circle S is the eccentricity of the eccentric output shaft 3210. During the eccentric rotation of the crank 33, the end thereof connected to the elastic component 2 has the highest point C and the lowest point D, and the line connecting C and D is in the vertical direction. The distance L between C and D is the stroke of the end of the crank 33 connected to the elastic component 2. The line connecting C and O extends to form an intersection E on the circle S, and the line segment CE represents the crank 33; similarly, the line segment DO represents the crank 33. The angle between the line segment CE and the line segment DO is α. Thus, assuming the eccentric output shaft 3210 rotates clockwise, the angle that the primary gear 321 needs to rotate through when the crank 33 moves from the lowest point D to the highest point C is 180° + α, and the angle that the primary gear 321 needs to rotate through when the crank 33 moves from the highest point C to the lowest point D is 180° - α. α and the length of the crank 33 can be set accordingly based on the required stroke. By properly setting the length of the crank 33 and the eccentricity of the eccentric shaft, the time required for the crank 33 to move from the lowest point D to the highest point C and the time required to move from the highest point C to the lowest point D can be made as close as possible.

[0086] In addition, if Figures 5 to 7As shown, in one embodiment, the transmission member 32 further includes a transmission assembly protective cover 320 for protecting at least a portion of the primary gear 321 , the synchronous belt 322 , the synchronous gear 323 and the secondary gear 324 therein. Specifically, the power member 31 is arranged outside the transmission component protective cover 320 and is installed on the transmission component protective cover 320, and the output shaft of the power member 31 extends into the transmission component protective cover 320 and is connected to the first-stage gear 321; the first-stage gear 321 is rotatably installed on the transmission component protective cover 320, and one end of the first-stage gear 321 for connecting with the crank 33 extends out of the transmission component protective cover 320; the synchronous belt 322 can be completely located in the transmission component protective cover 320; the synchronous gear 323 is rotatably installed on the transmission component protective cover 320, and one end of the synchronous gear 323 for connecting with the crank 33 extends out of the transmission component protective cover 320; the second-stage gear 324 is rotatably installed on the transmission component protective cover 320, and the gear shaft 3240 of the second-stage gear 324 can extend out of the transmission component protective cover 320 and be connected to the synchronization rod 34.

[0087] The specific form of the transmission component protection cover 320 is not limited. For example, it can include two opposite cover bodies 3201, and the two cover bodies 3201 can be connected in the vertical direction or in other directions to form the transmission component protection cover 320, such as Figure 6 and Figure 7 As shown in the figure, no further details will be given.

[0088] like Figure 1 As shown, the transmission component protection cover 320 is fixedly mounted on the bracket 9, that is, on the upper surface of the bracket 9. According to the relationship between the height of the transmission component protection cover 320 and the height of the crank 33, the transmission component protection cover 320 can be directly mounted on the bracket 9, or as shown in FIG. Figure 1 and Figure 2 As shown, it is mounted at a position having a certain distance from the upper surface of the bracket 9 through a plurality of support parts 93 and the like.

[0089] See also Figure 2 In one embodiment, the mop mounting member 12 of the cleaning assembly 1 is provided with a plurality of guides 1211, and the bracket 9 is provided with a plurality of mating portions 92. The guides 1211 are capable of sliding relative to the mating portions 92 in the vertical direction. The sliding engagement between the guides 1211 and the mating portions 92 further restricts the cleaning assembly 1 to reciprocating motion in the vertical direction without significant horizontal movement.

[0090] like Figure 2 As shown, the guide portion 1211 can be a guide column provided on the upper surface of the mop mounting member 12 and extending upward, as shown in FIG. Figure 2 and Figure 3As shown, the matching portion 92 can be a guide groove opening toward the bottom; conversely, the guide portion 1211 can be a guide groove opening toward the top, or the matching portion 92 can be a guide column provided on the lower surface of the bracket 9 and extending downward.

[0091] like Figures 1 to 3 As shown, an embodiment of the present application further provides a cleaning robot 200 , which includes a bracket 9 and a cleaning mechanism 100 installed on the bracket 9 , as described in the above embodiments.

[0092] Since the cleaning robot 200 includes the cleaning mechanism 100 described in the above embodiments, it has the corresponding technical effects of the above embodiments, which will not be described in detail here.

[0093] The cleaning robot 200 generally includes a housing, and the bracket 9 can be a portion of the housing, such as a portion of the housing that is positioned close to the ground. Alternatively, in other optional embodiments, the bracket 9 can be positioned on the housing, such as below the housing. That is, the bracket 9 and the cleaning mechanism 100 can be positioned differently within the cleaning robot depending on the structure of the cleaning robot of different types and functions, and will not be further described here.

[0094] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A cleaning mechanism, for installation on a bracket of a cleaning robot; characterized in that, The cleaning mechanism comprises: Clean components; an elastic component capable of being elastically compressed and restored along a first direction, and having two ends arranged along the first direction, one end of which is connected to the cleaning component; and a lifting drive assembly, configured to be disposed on the bracket and connected to the other end of the elastic assembly, the lifting drive assembly being configured to push and pull the other end of the elastic assembly along the first direction; The lifting drive assembly includes a power member, multiple transmission members and multiple cranks connected in sequence, the transmission member includes a synchronous belt, a primary gear and a synchronous gear, the synchronous gear is connected to the primary gear through the synchronous belt; the synchronous gear and the primary gear are respectively eccentrically and pivotally connected to one end of the crank; the other end of the crank is connected to the upper end of the elastic component, and the pivot center axis of the crank is parallel to the rotation center axis of the transmission member; the power member is connected to one of the primary gears to drive the primary gear to rotate; two adjacent primary gears are coaxially connected by a connecting rod; The synchronous gear and the primary gear are equal in angular velocity and linear velocity respectively.

2. The cleaning mechanism according to claim 1, wherein: The elastic component includes a first connecting member, a second connecting member and an elastic member. The first connecting member and the second connecting member are movably connected along the first direction. The elastic member is arranged between the first connecting member and the second connecting member.

3. The cleaning mechanism according to claim 2, wherein: The first connecting member and the second connecting member are movably and slidably connected along the first direction.

4. The cleaning mechanism according to claim 3, wherein: The first connecting member includes a plurality of claws, each of which is distributed around the elastic member. The second connecting member is provided with a plurality of slots, each of which slides in the slot.

5. The cleaning mechanism according to claim 4, wherein: Each of the claws includes an abutment portion and a convex portion; The outer surface of the abutting portion abuts against the inner surface of the second connecting member and can slide relative to each other, and the protrusion protrudes outward from the outer surface of the abutting portion and is located in the slot; or, the inner surface of the abutting portion abuts against the outer surface of the second connecting member and can slide relative to each other, and the protrusion protrudes inward from the inner surface of the abutting portion and is located in the slot.

6. The cleaning mechanism according to claim 5, wherein: One end of each abutting portion away from the second connecting member is connected, and one end of each abutting portion away from the lifting drive assembly is separated. The protrusion is provided at the end of each abutting portion away from the lifting drive assembly.

7. The cleaning mechanism according to claim 3, wherein: The maximum distance that the first connecting member and the second connecting member slide away from each other along the first direction is set to keep the elastic member in a compressed state.

8. The cleaning mechanism according to claim 1, wherein: The transmission member further includes a secondary gear, which is engaged with the primary gear, and the connecting rod is coaxially connected between two adjacent secondary gears.

9. The cleaning mechanism according to claim 8, wherein: The primary gear includes a first meshing portion and a second meshing portion that are coaxially connected. The first meshing portion is connected to the synchronous belt, and the second meshing portion is connected to the secondary gear. The secondary gear is located outside the space defined by the synchronous belt.

10. A cleaning robot, characterized in that: The cleaning device comprises a bracket and the cleaning mechanism according to any one of claims 1 to 9, wherein the cleaning mechanism is mounted on the bracket.

11. The cleaning robot according to claim 10, wherein: The bracket is provided with a guide hole, the elastic component passes through the guide hole, and the cleaning component and the lifting drive component are respectively arranged on different sides of the bracket.

Images