A cleaning robot and a return elastic structure

Abstract

The application relates to the technical field of cleaning, and discloses a cleaning robot and an elastic return structure. The cleaning robot comprises a body, an elastic movable assembly, and a cleaning turntable. The elastic movable assembly comprises a movable assembly, an elastic piece, a first connecting part, and a second connecting part. The elastic movable assembly is arranged in the cleaning turntable. The first connecting part drives the brush head to rotate through the second connecting part and can displace relative to the brush head. When the brush head is interfered by external force, the brush head can give way. The cleaning robot provided by the application can realize effective cleaning of the dead corner position in the room, such as a reentrant corner, through the rotation of the brush head, the structure is simple, practical, and feasible, and the brush head can automatically stretch and give way.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a cleaning robot and a retractable elastic structure. Background Technology

[0002] Cleaning robots, also known as sweeping robots, are an important part of smart home appliances. They can automatically clean and sweep the floors in a room. However, the corners in a room are often blind spots for cleaning robots, where dust and garbage tend to accumulate over time.

[0003] Chinese Patent (Announcement No. CN111195107A) discloses a side brush telescopic system for a cleaning robot and its working method. The side brush telescopic system includes: a swing mechanism, an elastic element, a swing arm, and a side brush; a first end of the swing arm is rotatably connected to the swing mechanism, and a second end is provided with the side brush; a first end of the elastic element is connected to the swing mechanism, and a second end is connected to the swing arm; the swing mechanism and the elastic element allow the side brush to switch between an exposed state and a concealed state. The swing arm is provided with a cavity for a side brush drive motor and is fitted into a limiting mechanism. The swing arm is designed as a hollow structure and has a gear set inside. The side brush drive motor drives the side brush through the gear set. The advantage is that the drive component of the side brush is set on the rotation axis of the swing arm, thereby avoiding the need for the drive component of a large-sized side brush to swing with the side brush. The above invention can achieve cleaning of the corners of walls with rounded edges by a cleaning robot without increasing the size of the side brush or the cleaning robot.

[0004] In this technical solution, the cleaning or moving area of ​​the side brush component itself is mainly a circular area. Even with the help of the swing arm, the cleaning or moving area of ​​the side brush component is still a similar circular area. However, the corners of walls in a typical home environment are mostly right angles. After cleaning, a large area will still remain uncleaned at the corners, thus creating dead corners and failing to achieve the maximum cleaning effect in the corners of the room.

[0005] Furthermore, in the above solution, if the side brush component needs to travel a straight or curved path, the main body of the cleaning robot must cooperate; that is, the side brush component moves by moving the main body of the cleaning robot. Therefore, to improve the cleaning effect in corners, the side brush component must rely on the main body of the cleaning robot and move repeatedly to achieve effective cleaning of the corners. Consequently, the side brush component cannot adapt to corners, making the control process complex, resulting in poor cleaning performance, and consuming more power, affecting the cleaning robot's battery life and hindering its widespread use.

[0006] Furthermore, in the above-mentioned solution, the side brush drive motor and the corresponding drive components are all mounted on the swing arm and need to swing back and forth with the swing arm. This requires complex power supply and signal lines to be laid between the swing arm and the robot body. In addition, since the swing arm rotates relative to the robot body, the safety and aesthetics of the wiring need to be considered, which further increases the difficulty of wiring and affects the manufacturing cost and service life of the cleaning robot.

[0007] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0008] To address the aforementioned problems, or one of them, the present invention aims to provide a cleaning robot. By equipping the cleaning robot with an automatically retractable brush head, the brush head can change its position when it encounters a corner, allowing it to fit more closely to the corner. Thus, through the rotation of the brush head, effective cleaning of hard-to-reach areas such as corners in the room can be achieved. The structure is simple, practical, and feasible.

[0009] To address the aforementioned problems or one of the aforementioned problems, the second objective of this invention is to provide a return elastic structure, which includes a first connecting part that can drive the connector to rotate and move relative to the connector; and drives the moved connector to return to its original position through an elastic element, so that when the connector encounters an external obstacle, it can move relative to the first connecting part with the help of an external collision force to achieve the purpose of collision avoidance. Thus, the movement area of ​​the connector can not only be a circular area, but also a straight line area, or a curved movement, or a gyroscopic movement.

[0010] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a return elastic structure that does not require complex programming control and has a relatively simple control process; and through the self-collision adjustment of the connector, the edge of the connector can be made to fit more closely with external collision objects, making adaptive changes, thereby effectively improving the cleaning effect; at the same time, the relative movement of the connector and the rotating shaft does not consume electricity, which can effectively save energy, increase the battery life of the electric main body, and facilitate its widespread use.

[0011] To address the aforementioned problems or one of the aforementioned problems, the fourth objective of this invention is to provide a cleaning robot, which includes a first connecting part capable of rotating and sliding relative to the brush head; and a flexible element driving the moved brush head back to its original position, so that when the brush head encounters an obstacle at a corner, it can use the impact force of the corner to move the brush head relative to the first connecting part to achieve the purpose of collision avoidance. Thus, the movement area of ​​the brush head itself can be not only a circular area, but also a straight line area, or a curved movement, or a gyroscopic movement.

[0012] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0013] A cleaning robot includes a body, a flexible movable component, and a cleaning turntable. The flexible movable component includes a movable part, an elastic element, a first connecting part, and a second connecting part. The first connecting part and the second connecting part can move relative to each other through the movable component and can be reset by the elastic element. The cleaning turntable includes a brush head.

[0014] The elastic movable component is disposed inside the cleaning turntable. The first connecting part drives the brush head to rotate through the second connecting part and can generate displacement relative to the brush head. When the brush head is interfered with by an external force, the brush head can retract, and the first connecting part deviates from the geometric center of the brush head.

[0015] Alternatively, the elastic movable component is disposed inside the body, the first connecting part is directly fixedly connected to the brush head, and the second connecting part drives the brush head to rotate through the first connecting part; when the brush head is subjected to external force interference, the brush head can retract and can generate displacement relative to the second connecting part.

[0016] The present invention provides a cleaning robot, which is equipped with an automatically retractable and retractable brush head. When the brush head touches a corner, it can change its position so that it can fit the corner more closely. Thus, by rotating the brush head, it can effectively clean the corners and other hard-to-clean areas in the room. The structure is simple, practical and feasible.

[0017] As a preferred technical measure:

[0018] The elastic element includes a spring, which abuts against the inner wall of the second connecting portion;

[0019] The movable component includes a first guide rail and a second guide rail that are intersected on the second connecting part. At the intersection of the first guide rail and the second guide rail, there is a base that can slide on the first guide rail and the second guide rail respectively. The first connecting part is fixed on the base, so that the second connecting part can move relative to the first connecting part and can transmit torque.

[0020] As a preferred technical measure:

[0021] The elastic element and / or the movable component are elastic spokes that are uniformly radially distributed around the first connecting portion, so that the first connecting portion is held at the geometric center of the installation position.

[0022] As a preferred technical measure:

[0023] The brush head has an arc-shaped triangular or quadrilateral structure. Two sets of the brush heads are symmetrically arranged on the body. The bottom surface of the brush head is provided with a flexible cleaning component that contacts the cleaning working surface.

[0024] Preferably, the brush head has an arc-triangular structure. Its shape is an arc-triangular shape, which can fit more closely to the corner of the wall. Through the special geometric properties of the arc-triangular shape, it can clean the corner of the room. The structure is simple and reasonable.

[0025] Or / and, the first connecting part is a T-shaped structure, which is fixedly connected to the motor rotor or cleaning turntable;

[0026] The second connecting part is a cylindrical structure with a receiving groove. The receiving groove can accommodate the movable component, the elastic element, and the first connecting part, forming an integrated modular assembly structure that is easy to disassemble, replace, and maintain.

[0027] When the first connecting part is fixedly connected to the motor rotor, the second connecting part is fixedly connected to the cleaning assembly;

[0028] When the first connecting part is fixedly connected to the cleaning assembly, the second connecting part is fixedly connected to the motor rotor.

[0029] As a preferred technical measure, the cleaning turntable is equipped with a lifting structure, which allows it to be raised relative to the machine body. When there are objects on the floor that do not need to be cleaned, such as carpets, the cleaning turntable can be raised to avoid cleaning these objects and prevent unnecessary damage to them.

[0030] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0031] A return elastic structure includes a connector capable of withstanding external impact forces and an elastic component capable of deforming under external force.

[0032] The connector is provided with a first connecting part that can drive the connector to rotate and move relative to the connector;

[0033] The elastic element is connected to the connecting element and can drive the moving connecting element back to its original position.

[0034] Through continuous exploration and experimentation, this invention provides a first connecting part that can drive the connector to rotate and move relative to the connector; and drives the moved connector back to its original position through an elastic element, so that when the connector encounters an external obstacle, it can move relative to the first connecting part with the help of the external collision force to achieve the purpose of collision avoidance. Thus, the movement area of ​​the connector can not only be a circular area, but also a straight line area, or a curved movement, or a gyroscopic movement.

[0035] Furthermore, the connector of this invention does not require the cooperation of other electric motors to achieve linear or curvilinear motion under the action of external impact forces and elastic elements, without the need for complex programming control, making the control process relatively simple. Through self-collision adjustment, the edges of the connector can better conform to external impact objects, adaptively changing to effectively improve cleaning performance. Simultaneously, the relative movement between the connector and the rotating axis does not consume electricity, effectively saving energy, increasing the battery life of the electric motor, and facilitating widespread use. In some scenarios, the connector can also move in a straight line or curve with the cooperation of other electric motors, expanding the range of movement of the connector and the return elastic structure.

[0036] Furthermore, the relative movement between the connector and the rotating shaft of this invention does not require power consumption, so a corresponding power supply circuit is not required; its linear or curvilinear motion can be completed adaptively, and in general scenarios, signal lines are not required. The structure is simple, practical, and aesthetically pleasing, with low manufacturing costs and a long service life.

[0037] The electric unit can be a cleaning robot.

[0038] As a preferred technical measure:

[0039] The connecting component is either a brush head or a machine body that assembles brushes;

[0040] Or / and, the elastic element is a clockwork spring, a compression spring, an elastic spoke, an elastic rubber, or a telescopic rod;

[0041] Or / and, the first connecting part is the output end of the motor rotor or reducer or an extension rod fixed to the motor rotor, which is a cylindrical structure, a frame structure, a square structure or a triangular structure.

[0042] As a preferred technical measure:

[0043] The connector is connected to the first connecting part via a movable component;

[0044] The movable component includes at least two guide rails, one and two, which are arranged to cross each other, and a base is provided at the intersection of the guide rails, one and the other, which can slide on the guide rails respectively; or, the movable component includes a slider and a slide rail; the slider is fixed to the first connecting part.

[0045] Alternatively, the connector can be connected to the first connecting part via a swingable connector; one end of the connector is mounted on the connector, and the other end is connected to the first connecting part, thereby enabling the connector to move relative to the first connecting part. The connector may include one or more unidirectional swing joints, with the first connecting part directly connected to the swing joint, thus enabling the connector to swing vertically and / or laterally after being subjected to an external impact force.

[0046] As a preferred technical measure:

[0047] The elastic element is a ring-shaped, center-returning elastic structure, which is assembled on the second connecting part;

[0048] The second connecting part is a columnar structure, a triangular structure, a square structure, or an arc structure, and it has a receiving groove. The receiving groove can accommodate the movable component, the elastic element, and the first connecting part to form an integrated modular assembly structure.

[0049] The first connecting part is a rod-shaped structure, which is located at the center of the elastic structure, so that the first connecting part is subjected to more uniform force.

[0050] The connector is a triangular or quadrilateral structure with a cavity for accommodating the second connector, which facilitates effective positioning of the second connector, the first connector, and the elastic element, making the structure safer and more reliable.

[0051] The return elastic structure abuts against the first connecting part, and keeps the first connecting part at the geometric center of the receiving cavity;

[0052] When the connector is subjected to external interference, the connector drives the second connecting part to move. The second connecting part moves relative to the first connecting part, causing the first connecting part to deviate from the geometric center of the connector, so as to achieve the purpose of collision avoidance.

[0053] The moving connector causes the second connecting part and the return elastic structure to deform, generating an elastic restoring force;

[0054] Once the external interference disappears, the elastic restoring force drives the connector back to its original position.

[0055] The connector of this invention does not require the cooperation of other electric main bodies to achieve linear or curvilinear motion under the action of external collision force and elastic elements. It does not require complex programming control and the control process is relatively simple. Through the collision adjustment of the connector, the edge of the connector can be made to fit more closely with the external collision object, with good self-adaptation effect. The relative movement of the connector and the rotation axis does not consume electricity, which can effectively save energy, increase the battery life of the electric main body, and facilitate its widespread use.

[0056] Furthermore, the relative movement between the connector and the rotating shaft of the present invention does not require power consumption, so a power supply circuit is not required. Its linear or curvilinear motion can be completed adaptively, and signal lines are not required. The structure is simple, practical, and aesthetically pleasing, with low manufacturing cost and long service life.

[0057] Furthermore, the connector has a triangular structure, which is more compatible with the shape of the corner, thereby improving the fit between the connector and the corner and further enhancing the connector's self-adaptability.

[0058] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0059] A cleaning robot includes a body with a cavity, a brush head with corners, and an elastic element capable of moving the brush head.

[0060] A rotary motor is installed inside the body cavity, which drives the brush head to rotate through the first connecting part of the rotary motor;

[0061] The first connecting part is slidably connected to the brush head, so that a lateral displacement can occur between the brush head and the first connecting part;

[0062] The brush head is mounted on the lower end of the body and protrudes laterally from the body;

[0063] The elastic element is connected to the brush head and can drive the brush head back to its original position after sliding.

[0064] When the brush head collides with the outside world, the collision force drives the brush head to slide relative to the first connecting part to achieve the purpose of collision avoidance; the moving brush head causes the elastic element to deform, generating an elastic restoring force;

[0065] Once the impact force disappears, the elastic restoring force causes the brush head to return to its original position.

[0066] Through continuous exploration and experimentation, this invention features a first connecting part that can drive the brush head to rotate and slide relative to the brush head. An elastic element drives the moved brush head back to its original position, allowing the brush head to move relative to the first connecting part and change its posture when encountering an obstacle like a corner, thus achieving collision avoidance. This means the brush head's movement area can be not only circular, but also linear, curved, or gyroscopic.

[0067] Furthermore, the brush head of this invention does not require the cooperation of the main body of the cleaning robot. It can achieve linear or curvilinear motion under the action of the collision force at the corner and the elastic element, without the need for complex programming control, and the control process is relatively simple. Through the collision adjustment of the brush head, the edges and corners of the brush head can fit more closely to the corner of the wall, with good self-adaptation effect. In addition, the relative movement between the brush head and the rotating axis does not consume electricity, which can effectively save energy, increase the battery life of the cleaning robot, and facilitate its widespread use.

[0068] Furthermore, the relative movement between the brush head and the rotating shaft of this invention does not require power consumption, thus eliminating the need for a power supply circuit; its linear or curved movement at the corner can be adaptively completed, thus eliminating the need for signal lines. The structure is simple, practical, and aesthetically pleasing, with low manufacturing costs and a long service life.

[0069] As a preferred technical measure:

[0070] A movable component is assembled between the first connecting part and the brush head;

[0071] The movable component includes at least one slide rail and a slider; the slider is fixedly connected to the first connecting part.

[0072] Or / and, the brush head has a triangular structure with rounded corners, which makes it easy to fit right-angled corners, allowing the brush head to fit the corners more closely and thus effectively clean the corners, further enhancing the cleaning effect; the rounded corners not only increase the aesthetics of the structure, but also reduce damage to the wall surface.

[0073] Or / and, the brush head has a shell-like structure, which has a receiving cavity for accommodating the elastic element and the first connecting part;

[0074] Or / and, the brush head is a sheet-like structure, which has hooks or grooves for assembling elastic elements;

[0075] Or / and, the outer surface of the brush head is fitted with a soft impact protector to prevent damage to the wall.

[0076] The impact protector is a block-shaped material, strip-shaped material, or sheet-shaped material that can cover the outer edge of the brush head, distributed at intervals.

[0077] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0078] The present invention provides a cleaning robot, which is equipped with an automatically retractable and retractable brush head. When the brush head touches a corner, it can change its position so that it can fit the corner more closely. Thus, by rotating the brush head, it can effectively clean the corners and other hard-to-clean areas in the room. The structure is simple, practical and feasible.

[0079] Through continuous exploration and experimentation, this invention provides a first connecting part that can drive the connector to rotate and move relative to the connector; and drives the moved connector back to its original position through an elastic element, so that when the connector encounters an external obstacle, it can move relative to the first connecting part with the help of the external collision force to achieve the purpose of collision avoidance. Thus, the movement area of ​​the connector can not only be a circular area, but also a straight line area, or a curved movement, or a gyroscopic movement.

[0080] Furthermore, through continuous exploration and experimentation, this invention has set up a first connecting part that can drive the brush head to rotate and slide relative to the brush head; and through an elastic element, the moved brush head is driven back to its original position, so that when the brush head encounters an obstacle at a corner, it can use the collision force of the corner to make the brush head translate relative to the first connecting part, so as to achieve the purpose of collision avoidance. Thus, the movement area of ​​the brush head itself can not only be a circular area, but also a straight line area, or a curved movement, or a gyroscopic movement.

[0081] Furthermore, the connector of this invention does not require the cooperation of other electric motors to achieve linear or curvilinear motion under the action of external impact forces and elastic elements. It requires no complex programming control, making the control process relatively simple. Through self-collision adjustment, the connector's edges can better conform to external impact objects, adaptively changing to effectively improve cleaning performance. Simultaneously, the relative movement between the connector and the rotating axis does not consume electricity, effectively saving energy, increasing the electric motor's range, and facilitating widespread use. In some scenarios, the connector can also move in a straight line or curve with the cooperation of other electric motors, expanding the movement range of the connector and the return elastic structure.

[0082] Furthermore, the relative movement between the connector and the rotating shaft of this invention does not require power consumption, so a corresponding power supply circuit is not required; its linear or curvilinear motion can be completed adaptively, and in general scenarios, signal lines are not required. The structure is simple, practical, and aesthetically pleasing, with low manufacturing costs and a long service life.

[0083] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0084] Figure 1 This is an exploded view of an embodiment of the cleaning component of the present invention;

[0085] Figure 2 This is an overall schematic diagram of an embodiment of the cleaning component of the present invention;

[0086] Figure 3 This is a full sectional schematic diagram of an embodiment of the cleaning component of the present invention;

[0087] Figure 4 This is a schematic diagram of one working state of the cleaning robot of the present invention;

[0088] Figure 5 This is an overall schematic diagram of another embodiment of the cleaning component of the present invention.

[0089] Figure 6 This is a schematic diagram of the bottom surface of the cleaning robot of the present invention;

[0090] Figure 7This is a schematic diagram of the cleaning robot of the present invention cleaning a corner of a wall;

[0091] Figure 8 This is an exploded view of an embodiment of the cleaning robot of the present invention.

[0092] In the diagram: 1. Body; 3. Brush head; 4. First connecting part; 5. Guide rail one; 6. Guide rail two; 7. Base; 8. Receiving groove; 9. Spring; 10. Elastic spokes; 11. Second connecting part. Detailed Implementation

[0093] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0094] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0095] It should be noted that when two components are "fixed" or "slidingly connected," the two components can be directly connected or there may be an intermediate component. Conversely, when a component is described as being "directly on" another component, there is no intermediate component. The terms "horizontal," "vertical," "upper," "lower," and similar expressions used in this document are for illustrative purposes only.

[0096] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0097] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the first specific embodiment of the cleaning robot of the present invention is as follows:

[0098] A cleaning robot includes a body 1, a flexible movable component, and a cleaning turntable. The flexible movable component includes a movable component, an elastic element, a first connecting part 4, and a second connecting part 11. The first connecting part 4 and the second connecting part 11 move relative to each other through the movable component and are reset by the elastic element. The cleaning turntable includes a brush head 3.

[0099] The elastic movable component is disposed inside the cleaning turntable. The first connecting part 4 drives the brush head 3 to rotate through the second connecting part 11 and can generate displacement relative to the brush head 3. When the brush head 3 is interfered with by an external force, the brush head 3 can retract, and the first connecting part 4 deviates from the geometric center of the brush head 3.

[0100] like Figure 8 As shown, a second specific embodiment of the cleaning robot of the present invention is as follows:

[0101] A cleaning robot includes a body 1, a flexible movable component, and a cleaning turntable. The flexible movable component includes a movable component, an elastic element, a first connecting part 4, and a second connecting part 11. The first connecting part 4 and the second connecting part 11 can move relative to each other through the movable component and can be reset by the elastic element. The cleaning turntable includes a brush head 3.

[0102] The elastic movable component is located inside the body 1. The first connecting part 4 is directly fixedly connected to the brush head 3. The second connecting part 11 drives the brush head 3 to rotate through the first connecting part 4. When the brush head 3 is subjected to external force interference, the brush head 3 can retract and can be displaced relative to the second connecting part 11.

[0103] The present invention provides a cleaning robot, which is equipped with an automatically retractable brush head 3. When the brush head 3 touches a corner, it can change its position so that it can fit more closely to the corner. Thus, by rotating the brush head 3, it can effectively clean the corners and other hard-to-clean areas in the room. The structure is simple, practical and feasible.

[0104] A third specific embodiment of the cleaning robot of the present invention:

[0105] A cleaning robot includes a body 1 with a cavity, a brush head 3 with corners, and an elastic element capable of moving the brush head 3.

[0106] A rotary motor is installed inside the body 1, which drives the brush head 3 to rotate through the first connecting part 4 of the rotary motor.

[0107] The first connecting part 4 is slidably connected to the brush head 3, so that the brush head 3 and the first connecting part 4 can generate lateral displacement;

[0108] The brush head 3 is mounted on the lower end of the body 1 and protrudes laterally from the body 1;

[0109] The elastic element is connected to the brush head 3 and can drive the slid-out brush head 3 back to its original position;

[0110] When the brush head 3 collides with the outside world, the collision force drives the brush head 3 to slide relative to the first connecting part 4 to achieve the purpose of collision avoidance; the moving brush head 3 causes the elastic element to deform, generating an elastic restoring force;

[0111] Once the impact force disappears, the elastic restoring force causes the brush head 3 to return to its original position.

[0112] A first specific embodiment of the elastic element of the present invention:

[0113] The elastic element includes a spring 9, which abuts against the inner wall of the second connecting part 11.

[0114] A second specific embodiment of the elastic element of the present invention:

[0115] The elastic element and / or the movable component are elastic spokes 10 that are uniformly radially distributed around the first connecting portion 4, so that the first connecting portion 4 is held at the geometric center of the installation position.

[0116] A specific embodiment of the active component of the present invention:

[0117] The movable component includes a first guide rail 5 and a second guide rail 6 that are intersected on the second connecting part 11. At the intersection of the first guide rail 5 and the second guide rail 6, there is a base 7 that can slide on the first guide rail 5 and the second guide rail 6 respectively. The first connecting part 4 is fixed on the base 7, so that the second connecting part 11 can move relative to the first connecting part 4 and can transmit torque.

[0118] A specific embodiment of the brush head 3 of the present invention:

[0119] The brush head 3 has a circular arc triangular structure. Two sets of brush heads 3 are symmetrically arranged on the body 1. The bottom surface of the brush head 3 is provided with a flexible cleaning component that contacts the cleaning working surface. Through the special geometric properties of the circular arc triangular shape, it can clean the corners of the room. The structure is simple and reasonable.

[0120] A specific embodiment of the connecting part structure of the present invention:

[0121] The first connecting part 4 is a T-shaped structure;

[0122] The second connecting part 11 is a cylindrical structure with a receiving groove 8. The receiving groove 8 can accommodate the movable component, the elastic element, and the first connecting part 4, forming an integrated modular assembly structure that is easy to disassemble, replace, and maintain.

[0123] When the first connecting part 4 is fixedly connected to the motor rotor, the second connecting part 11 is assembled and fixedly connected to the cleaning turntable;

[0124] When the first connecting part 4 is assembled and fixed to the cleaning turntable, the second connecting part 11 is fixed to the motor rotor.

[0125] A first specific embodiment of the repositioning elastic structure of the present invention:

[0126] A return elastic structure includes a connector capable of withstanding external impact forces and an elastic component capable of deforming under external force.

[0127] The connector is provided with a first connecting part 4 that can drive the connector to rotate and move relative to the connector;

[0128] The elastic element is connected to the connecting element and can drive the moving connecting element back to its original position.

[0129] The connecting component is a shell structure, a flat plate structure, a frame structure, a cleaning brush, a brush head 3 for assembling brushes, or a body 1.

[0130] A second specific embodiment of the repositioning elastic structure of the present invention:

[0131] A return elastic structure includes a connector capable of withstanding external impact forces and an elastic element capable of deforming under external force; the elastic element is a ring-shaped return elastic structure, which is assembled on the second connecting part 11.

[0132] The second connecting part 11 is a columnar structure, a triangular structure, a square structure, or an arc structure, and it has a receiving groove 8. The receiving groove 8 can accommodate the movable component, the elastic element, and the first connecting part 4 to form an integrated modular assembly structure.

[0133] The first connecting part 4 is a rod-shaped structure, which is located at the center of the return elastic structure, so that the first connecting part 4 is subjected to more uniform force.

[0134] The connector is a triangular or quadrilateral structure with a cavity for accommodating the second connecting part 11, which facilitates the effective limiting of the second connecting part 11, the first connecting part 4, and the elastic element, making the structure safer and more reliable.

[0135] The return elastic structure abuts against the first connecting part 4, and keeps the first connecting part 4 at the geometric center of the receiving cavity;

[0136] When the connector is subjected to external interference, the connector drives the second connecting part 11 to move. The second connecting part 11 moves relative to the first connecting part 4, causing the first connecting part 4 to deviate from the geometric center of the connector, so as to achieve the purpose of collision avoidance.

[0137] The moving connector causes the second connecting part 11 and the return elastic structure to deform, generating an elastic restoring force.

[0138] Once the external interference disappears, the elastic restoring force drives the connector back to its original position.

[0139] One embodiment of the working principle of the present invention:

[0140] A rotary motor is installed inside the body 1, which drives the brush head 3 to rotate through the first connecting part 4 of the rotary motor; the first connecting part 4 is slidably connected to the brush head 3, so that the brush head 3 and the first connecting part 4 can generate lateral displacement; the brush head 3 is an arc-shaped triangular structure that can clean the corners of the wall, which is installed at the lower end of the body 1 and protrudes laterally from the body 1; the elastic element is connected to the brush head 3 and can drive the brush head 3 to return to its original position after sliding.

[0141] When the brush head 3 collides with the outside world, the collision force drives the brush head 3 to slide relative to the first connecting part 4 to achieve the purpose of collision avoidance; the moving brush head 3 causes the elastic element to deform, generating an elastic restoring force;

[0142] Once the impact force disappears, the elastic restoring force causes the brush head 3 to return to its original position. The brush head 3 has a rounded triangular structure, which is more compatible with the shape of the corner of the wall, thereby improving the fit between the connector and the corner of the wall and further enhancing the self-adaptive ability of the brush head 3.

[0143] In this application, the fixing method can be screwing, welding, riveting, plugging, or connection through a third component. Those skilled in the art can choose according to the actual situation.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A cleaning robot, characterized in that, It includes a body (1), a flexible movable component, and a cleaning turntable. The flexible movable component includes a movable component, an elastic element, a first connecting part (4), and a second connecting part (11). The first connecting part (4) and the second connecting part (11) move relative to each other through a movable component and are reset by an elastic element; The movable component includes a first guide rail (5) and a second guide rail (6) that are intersected on the second connecting part (11). At the intersection of the first guide rail (5) and the second guide rail (6), there is a base (7) that can slide on the first guide rail (5) and the second guide rail (6) respectively. The first connecting part (4) is fixed on the base (7), so that the second connecting part (11) can move relative to the first connecting part (4) and can transmit torque; thereby effectively improving the cleaning effect. The cleaning disc includes a brush head (3); The elastic movable component is located inside the cleaning turntable. The first connecting part (4) drives the brush head (3) to rotate through the second connecting part (11) and can generate displacement relative to the brush head (3). When the brush head (3) is interfered with by an external force, the brush head (3) retracts and the first connecting part (4) deviates from the geometric center of the brush head (3). Alternatively, the elastic movable component is located inside the body (1), the first connecting part (4) is directly fixedly connected to the brush head (3), and the second connecting part (11) drives the brush head (3) to rotate through the first connecting part (4); when the brush head (3) is interfered with by an external force, the brush head (3) retracts and can be displaced relative to the second connecting part (11).

2. A cleaning robot as described in claim 1, characterized in that, The elastic element includes a spring (9) that abuts against the inner wall of the second connecting part (11).

3. A cleaning robot as described in claim 2, characterized in that, The brush head (3) is an arc-shaped triangular structure or a quadrilateral structure. Two sets of the brush heads (3) are symmetrically arranged on the body (1). The bottom surface of the brush head (3) is provided with a flexible cleaning component that contacts the cleaning working surface.

4. A cleaning robot as described in claim 3, characterized in that, The cleaning turntable is equipped with a lifting structure, which allows it to be raised relative to the machine body (1).

5. A cleaning robot as described in claim 1, characterized in that, The elastic element is a compression spring, elastic rubber, or telescopic rod.

6. A cleaning robot as described in claim 1, characterized in that, The first connecting part (4) is the output end of the motor rotor or reducer or the extension rod that is fixed to the motor rotor. It is a cylindrical structure, a square structure or a triangular structure.

7. A cleaning robot as described in claim 1, characterized in that, The elastic element is a ring-shaped, center-returning elastic structure, which is assembled on the second connecting part (11); The second connecting part (11) is a triangular structure, a square structure or an arc structure, and it has a receiving groove (8). The receiving groove (8) can accommodate the movable component, the elastic element and the first connecting part (4) to form an integrated modular assembly structure. The first connecting part (4) is a rod-shaped structure, which is located at the center of the elastic structure. The return elastic structure abuts against the first connecting part (4) and keeps the first connecting part (4) at the geometric center of the receiving groove (8).

8. A cleaning robot, characterized in that, It includes a hollow body (1), a brush head (3) with corners, and an elastic element that can move the brush head (3); A rotary motor is installed inside the body (1), which drives the brush head (3) to rotate through the first connecting part (4) of the rotary motor; The first connecting part (4) is slidably connected to the brush head (3), so that displacement can occur between the brush head (3) and the first connecting part (4); The brush head (3) is mounted on the lower end of the body (1) and protrudes laterally from the body (1). The elastic element is connected to the brush head (3) and can drive the brush head (3) to return to its original position after sliding. When the brush head (3) collides with the outside world, the collision force drives the brush head (3) to slide relative to the first connecting part (4) to achieve the purpose of collision avoidance, thereby effectively improving the cleaning effect; The moving brush head (3) causes the elastic element to deform, generating an elastic restoring force; When the impact force disappears, the elastic restoring force drives the brush head (3) back to its original position; A movable component is assembled between the first connecting part (4) and the brush head (3); The first connecting part (4) is movably connected to the second connecting part (11) via a movable component; The movable component includes a first guide rail (5) and a second guide rail (6) that are intersected on the second connecting part (11). At the intersection of the first guide rail (5) and the second guide rail (6), there is a base (7) that can slide on the first guide rail (5) and the second guide rail (6) respectively. The first connecting part (4) is fixed on the base (7), so that the second connecting part (11) can move relative to the first connecting part (4) and can transmit torque.

9. A cleaning robot as described in claim 8, characterized in that, The brush head (3) has a triangular structure with rounded corners; Or / and, the brush head (3) is a shell-shaped structure, which has a receiving cavity for accommodating the elastic element and the first connecting part (4); Or / and, the brush head (3) is a sheet-like structure, which is provided with hooks or grooves for assembling elastic elements; Or / and, the outer surface of the brush head (3) is fitted with a soft impact protector; The impact protector is a block material or strip material distributed at intervals or a sheet material that can cover the outer edge of the brush head (3).

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