Cleaning mechanism of cleaning robot, cleaning robot and method of using the same

Abstract

The application discloses a cleaning mechanism of a cleaning robot, the cleaning robot and a use method thereof. The cleaning mechanism comprises a driving assembly and a guide assembly. The driving assembly comprises an axis part rotationally connected with a main body, and a cleaning piece is arranged on the driving assembly. The guide assembly comprises a guide rail arranged on the main body and a movable structure movably arranged on the guide rail. The driving assembly further comprises a reversible power output shaft. One end of the power output shaft is in transmission connection with the movable structure, and the other end is used for driving the cleaning piece to rotate. When the power output shaft rotates along a first preset direction, the movable structure remains in a static state. When the power output shaft rotates along a second preset direction, the movable structure is driven to move along the guide rail, the driving assembly drives the cleaning piece to swing away from the main body, and the first preset direction is opposite to the second preset direction. The mechanism is ingeniously designed, the extension and retraction of the cleaning piece are easily realized through the forward and reverse rotation of the driving assembly, and the difficulty of the cleaning robot in cleaning the ground in the wall corner area is solved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robots, and in particular to a cleaning mechanism for a cleaning robot, the cleaning robot itself, and a method of using it. Background Technology

[0002] Cleaning robots play a vital role in daily life, helping people maintain a clean indoor environment more easily. A cleaning robot is an automated device that uses advanced technology to clean areas. Its working principle involves multiple aspects, including sensors, navigation systems, cleaning components, and control systems. The following is an introduction to the working principle of cleaning robots: Cleaning robots are typically equipped with various sensors to perceive, sense, and acquire environmental information. These sensors include touch sensors, vision sensors, sound sensors, ultrasonic sensors, and infrared sensors. Sensors help the robot detect the position, distance, and shape of walls, furniture, obstacles, and surfaces to be cleaned. The cleaning robot determines its own position and the direction of its next movement through its built-in navigation system. The navigation system can be based on inertial navigation technology, visual navigation technology, lidar positioning technology, or other positioning technologies. The robot uses the navigation system to plan a cleaning path and avoid obstacles, traverse rooms, and identify areas to be cleaned based on environmental information. Cleaning robots are equipped with various cleaning components, such as roller brushes, cloths, vacuum cleaners, and water sprayers, to clean different types of dirt. The roller brush is used to sweep dust and debris from the floor, the mop is used to mop the floor, the vacuum cleaner is used to vacuum and absorb fine dust, and the water sprayer is used to spray cleaning agents. These cleaning components can be replaced or adjusted according to the needs of the cleaning task. The operation and control of the cleaning robot are handled by a built-in control system, which determines the robot's actions and cleaning strategies based on information provided by sensors and the navigation system. It can adjust the behavior of the cleaning robot according to preset programs and algorithms, such as avoiding obstacles, planning the optimal cleaning path, and adjusting the working modes of the cleaning components.

[0003] However, current cleaning robots have a common problem when mopping floors: due to design or structural limitations, there is a large gap between the cleaning component and the wall. This prevents the cleaning component (used for the mop) from adhering tightly to the wall edge, thus failing to thoroughly clean the corner area. Furthermore, the cleaning robot often struggles to smoothly transition to the wall edge during movement. Therefore, due to the limitations of the robot's design and navigation system, it cannot ensure that the cleaning component can completely fit close to the wall edge, resulting in the inability to clean dirt near the corner and effectively clean the wall edge area. The gap between the cleaning component and the wall leads to dirt marks forming along the corner after prolonged use, causing a poor user experience and ineffective cleaning.

[0004] Therefore, current cleaning robots have a gap between the cleaning components and the wall when mopping the baseboard area, which makes it impossible to thoroughly clean the dirt near the baseboard. Over time, this can cause dirt marks to form along the baseboard, thus affecting the user experience. Innovative design and technical solutions are needed to ensure that the cleaning components can effectively fit close to the wall edge, achieve thorough cleaning of the baseboard area, and improve cleaning results. Summary of the Invention

[0005] Addressing the problem of inconvenient floor cleaning in corner areas by existing cleaning robots, this application proposes a cleaning mechanism, a cleaning robot, and a method for using it.

[0006] The technical solution adopted by the invention is: a cleaning mechanism for a cleaning robot, the cleaning robot comprising a main body and cleaning components, characterized in that the cleaning mechanism comprises:

[0007] The drive assembly includes a shaft that is rotatably connected to the main body, and the cleaning component is disposed in the drive assembly;

[0008] The guide assembly includes a guide rail disposed on the main body and a movable structure movably disposed on the guide rail;

[0009] The drive assembly also includes a reversible power output shaft, one end of which is connected to the movable structure for transmission, and the other end of which is used to drive the cleaning parts to rotate. A one-way bearing is also provided between the power output shaft and the movable structure.

[0010] When the power output shaft rotates in the first preset direction, the moving structure remains stationary;

[0011] When the power output shaft rotates in the second preset direction, the power output shaft drives the movable structure to move along the guide rail, guiding the drive assembly to swing the cleaning component away from the main body. The first preset direction is opposite to the second preset direction.

[0012] Specifically, the drive assembly includes a gearbox and a drive unit, with the drive unit located at the center of the shaft, and the gearbox being connected to the output shaft of the drive unit via a transmission connection.

[0013] Specifically, the other end of the power output shaft passes through the main body and is connected to the cleaning component via a transmission; and the main body is also provided with a movable groove for the power output shaft to move.

[0014] Specifically, the drive component swings relative to the main body to switch the cleaning component between the initial position and the extended position. The power output shaft has a first position and a second position. The first position of the power output shaft corresponds to the initial position of the cleaning component, and the second position of the power output shaft corresponds to the extended position of the cleaning component. The guide rail is circular, and the center of the guide rail is located between the first position and the second position.

[0015] Specifically, the movable structure includes a bracket and a sliding member. The bracket is provided with at least one rotating bushing, which is located on a guide rail. The bracket has a groove in the middle, and the sliding member is located in the groove. The power output shaft is connected to the sliding member.

[0016] Specifically, the inner ring of the guide rail is also provided with a limiting groove that is adapted to the rotating shaft sleeve.

[0017] Specifically, the cleaning mechanism also includes a resilient reset member, one end of which is connected to the main body and the other end of which is connected to the end of the drive assembly away from the axis.

[0018] Specifically, the cleaning mechanism also includes a position sensor on the main body and a first trigger point and a second trigger point on the drive assembly. When the position sensor detects the first trigger point or the second trigger point, the drive assembly stops rotating.

[0019] A cleaning robot, comprising the cleaning mechanism described above.

[0020] A method of using a cleaning robot includes: when an obstacle is detected on one side of the cleaning robot, a drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to move along a guide rail, the guide rail guides the drive component to move outward to a preset position, and a moving component drives the power output shaft to rotate forward to drive the cleaning component to clean the angle area between the obstacle and the ground; when an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to move along a guide rail, the guide rail guides the drive component to move inward to a preset position, and a moving component drives the power output shaft to rotate forward to drive the cleaning component to clean the ground.

[0021] Compared with existing technologies, the cleaning mechanism of this application can achieve the following: when an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move outward to a preset position. Then, the movable component drives the power output shaft to rotate in the forward direction to drive the cleaning component to clean the angle area between the obstacle and the ground. Through this mechanism design, the extension and retraction of the cleaning component can be achieved by adopting the forward and reverse rotation of the drive component. No additional drive unit or mechanism is required. Its design is ingenious and its structure is simple. It has the characteristics of low cost and high practicality. It can solve the problem of inconvenient ground cleaning in the angle area between the robot and the wall at a very low cost.

[0022] When an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move outward to a preset position. The movable component then drives the power output shaft to rotate forward to drive the cleaning component to clean the area between the obstacle and the ground. When an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move inward to a preset position. The movable component then drives the power output shaft to rotate forward to drive the cleaning component to clean the ground. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the extended state structure of the cleaning mechanism in this invention;

[0025] Figure 2 This is a schematic diagram of the retracted state structure of the cleaning mechanism in this invention;

[0026] Figure 3 This is a top view of the cleaning mechanism in this invention.

[0027] Figure 4 This is a schematic diagram of the exploded structure of the cleaning mechanism from a first-view perspective in this invention;

[0028] Figure 5 This is a schematic diagram of the exploded structure of the cleaning mechanism from a second perspective in this invention;

[0029] Figure 6 This is a schematic diagram of the guide rail structure in this invention;

[0030] Figure 7 This is a schematic diagram of the installation structure of the drive component and the cleaning component in this invention;

[0031] Figure 8 This is a schematic diagram of the cleaning component in the extended position in this invention;

[0032] Figure 9 This is a schematic diagram of the cleaning component in the initial position in this invention.

[0033] The main reference numerals in this application are:

[0034] 1. Main body; 2. Cleaning component; 3. Drive assembly; 31. Shaft core; 4. Guide assembly; 41. Guide rail; 42. Movable structure; 43. Bracket; 44. Sliding component; 32. Power output shaft; 33. One-way bearing; 34. Gearbox; 35. Drive unit; 11. Movable groove; 5. Rotating bushing; 431. Slide groove; 411. Limiting groove; 6. Elastic reset component; 7. Position sensor; 8. First trigger point; 9. Second trigger point; 21. Initial position; 22. Extended position; 321. First position; 322. Second position. Detailed Implementation

[0035] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0036] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical, and operation may be made without departing from the spirit and scope of this disclosure. The following detailed description should not be considered limiting, and the scope of the embodiments of the present application is defined only by the claims of the published patents. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present application. Spatially related terms, such as “upper,” “lower,” “left,” “right,” “below,” “below,” “lower part,” “above,” “upper part,” etc., may be used herein to illustrate the relationship between one element or feature shown in the figures and another element or feature.

[0037] While the terms first, second, etc., are used in some instances herein to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are used only to distinguish one element or parameter from another. For example, a first end may be referred to as a second end, and similarly, a second end may be referred to as a first end, without departing from the scope of the various described embodiments. Both first end and second end describe an end, but they are not the same end unless the context explicitly indicates otherwise. Similar cases include first and second shaft assemblies, or first and second shaft connections.

[0038] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0039] To address the problem of inconvenient floor cleaning in corner areas by existing cleaning robots, this application proposes a cleaning mechanism, a cleaning robot, and a method for using it.

[0040] The main technical solution adopted in this invention is: a cleaning mechanism for a cleaning robot. The cleaning robot includes a main body and cleaning components, which can be a disc-type mopping assembly or a side brush. The cleaning mechanism includes: a drive assembly, which includes a shaft core rotatably connected to the main body, and the cleaning components are disposed on the drive assembly; a guide assembly, which includes a guide rail disposed on the main body and a movable structure movably disposed on the guide rail. The drive assembly includes a reversible power output shaft, and the movable structure is drively connected to one end of the power output shaft. A one-way bearing is also provided between the power output shaft and the movable structure. The power output shaft rotates in the opposite direction to drive the movable structure to slide on the guide rail, and the guide rail guides the drive assembly to move outward from the main body. It can achieve the following: when an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move outward to a preset position. Then, the movable component drives the power output shaft to rotate in the forward direction to drive the cleaning component to clean the angle area between the obstacle and the ground. Through this mechanism design, the extension and retraction of the cleaning component can be achieved by using the forward and reverse rotation of the drive component. No additional drive unit or mechanism is required. Its design is ingenious and simple in structure, with the characteristics of low cost and high practicality. It can solve the problem of inconvenient ground cleaning in the angle area between the robot and the wall at a very low cost. When an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move outward to a preset position. The movable component then drives the power output shaft to rotate forward to drive the cleaning component to clean the area between the obstacle and the ground. When an obstacle is detected on one side of the cleaning robot, the drive component drives the power output shaft to rotate in the opposite direction to drive the movable structure to slide on the guide rail. The guide rail guides the drive component to move inward to a preset position. The movable component then drives the power output shaft to rotate forward to drive the cleaning component to clean the ground.

[0041] This application proposes a cleaning mechanism for a cleaning robot. The cleaning robot includes a main body 1 and cleaning components 2. The main body 1 has built-in sensors, a navigation system, cleaning components, and a control system for controlling the robot's operation. Cleaning robots are typically equipped with various sensors to perceive, sense, and acquire environmental information. These sensors include touch sensors, vision sensors, sound sensors, ultrasonic sensors, and infrared sensors. The sensors help the robot detect the position, distance, and shape of walls, furniture, obstacles, and surfaces to be cleaned. The cleaning robot determines its own position and the next direction of movement through its built-in navigation system. The navigation system can be based on inertial navigation technology, visual navigation technology, lidar positioning technology, or other positioning technologies. The robot uses the navigation system to plan a cleaning path and avoid obstacles, traverse rooms, and identify areas to be cleaned based on environmental information. The cleaning robot is equipped with various cleaning components, such as a roller brush, a mop, a vacuum cleaner, and a water sprayer, for cleaning different types of dirt. The roller brush is used to sweep dust and debris from the floor, the mop is used to mop the floor, the vacuum cleaner is used to vacuum and absorb fine dust, and the water sprayer is used to spray cleaning agents. These cleaning components can be replaced or adjusted according to the needs of the cleaning task; the operation and control of the cleaning robot are handled by a built-in control system, which determines the robot's actions and cleaning strategies based on information provided by sensors and the navigation system. It can adjust the robot's behavior according to preset programs and algorithms, such as avoiding obstacles, planning the optimal cleaning path, and adjusting the working modes of the cleaning components.

[0042] Cleaning component 2 is located at the bottom of main body 1 and is used for cleaning the floor. See attached document. Figures 1 to 3As shown, in a specific embodiment: the cleaning mechanism includes a drive assembly 3 and a guide assembly 4. The drive assembly 3 includes a shaft 31 rotatably connected to the main body 1, on which the cleaning component 2 is mounted. The guide assembly 4 includes a guide rail 41 disposed on the main body 1 and a movable structure 42 movably disposed on the guide rail 41. The guide rail 41 guides the drive assembly 3 to move outward from the main body 1. The drive assembly 3 also includes a reversible power output shaft 32. One end of the power output shaft 32 is connected to the movable structure 42. A one-way bearing 33 is provided between the power output shaft 32 and the movable structure 42. The one-way bearing 33 allows the power output shaft 32 to rotate in the opposite direction and drives the movable structure 42 to slide on the guide rail 41, thus moving the drive assembly 3... Install the cleaning component 2 onto the main body 1 of the cleaning robot, ensuring that the shaft 31 is rotatably connected to the main body 1. Install the cleaning component 2 onto the drive assembly 3 so that it can perform mopping operations through the drive assembly 3. Install the guide rail 41 onto the main body 1 and place the movable structure 42 on the guide rail 41, ensuring that it can slide freely on the rail. Connect the power output shaft 32 to one end of the movable structure 42 to ensure that it can transmit power to the movable structure 42. Install a one-way bearing 33 between the power output shaft 32 and the movable structure 42 so that when the power output shaft 32 rotates in the opposite direction, the movable structure 42 can slide on the guide rail 41. By controlling the forward and reverse rotation of the power output shaft 32, drive the movable structure 42 to perform mopping operations on the guide rail 41.

[0043] The drive assembly 3 is the core component of the cleaning mechanism and requires detailed design and precise manufacturing. During the design phase, the following aspects need to be considered to determine the connection method between the drive assembly 3 and the main body 1, as well as the shape and size of the shaft 31 of the drive assembly 3, to adapt to the needs of different ground surfaces and working conditions. The design and manufacturing of the guide assembly 4 are equally crucial. It enables the drive assembly 3 to slide smoothly on the guide rail 41. The shape and size requirements of the guide rail 41 must ensure that the drive assembly 3 can slide freely on it and maintain a certain level of positioning accuracy. The manufacturing of the guide assembly 4 must ensure that the movable structure 42 can adapt well to the guide rail 41 and achieve smooth sliding motion. The power transmission and one-way bearing 33 design are important connection parts between the drive assembly 3 and the movable structure 42. The power output shaft 32 ensures that it can achieve a reliable transmission connection with the movable structure 42, and the one-way bearing 33 ensures that the relative rotation direction between the power output shaft 32 and the movable structure 42 is unique. When the power output shaft 32 rotates in the opposite direction, it can synchronously drive the sliding mechanism to move. During actual installation and debugging, the drive assembly 3 is installed on the main body 1, ensuring that the rotational connection between the shaft 31 and the main body 1 is tight and reliable. The movable structure 42 is installed on the guide rail 41 and connected to the power output shaft 32 for transmission. During installation, it is necessary to ensure that the movable structure 42 can slide smoothly and maintain a certain friction with the guide rail 41. The motion performance of the cleaning mechanism is adjusted and tested to ensure that the drive assembly 3 can slide smoothly on the guide rail 41 and realize the external movement of the main body 1.

[0044] The cleaning mechanism in this application can achieve the following: when an obstacle is detected on one side of the cleaning robot, the drive component 3 drives the power output shaft 32 to rotate in the opposite direction to drive the movable structure 42 to slide on the guide rail 41. The guide rail 41 guides the drive component 3 to move outward from the main body 1 to a preset position. Then, the movable component drives the power output shaft 32 to rotate in the forward direction to drive the cleaning component 2 to clean the angle area between the obstacle and the ground. With such a mechanism design, the extension and retraction of the cleaning component 2 can be achieved by taking the drive component 3 to rotate in both directions. It does not require setting up an additional drive unit 35 or mechanism. Its design is ingenious and its structure is simple. It has the characteristics of low cost and high practicality. It can solve the problem of inconvenient ground cleaning in the angle area between the robot and the wall at a very low cost.

[0045] Further, see appendix. Figure 4 , 5As shown, the drive assembly 3 consists of a gearbox 34 and a drive unit 35. The gearbox 34 is a gear set inside, which can make the output speed of the drive unit 35 reach the preset requirements. The drive unit 35 is located at the shaft center 31, and the gearbox 34 is connected to the output shaft of the drive unit 35 through a transmission connection. In this way, the drive unit 35 can transmit the driving force to the gearbox 34, thereby starting the operation of the cleaning mechanism. The guide assembly 4 includes a guide rail 41 and a movable structure 42. The guide rail 41 is fixed on the main body 1, while the movable structure 42 can move freely on the guide rail 41. The movable structure 42 is connected to one end of the power output shaft 32 of the drive assembly 3 through a transmission connection, and the reverse rotation of the power output shaft 32 is transmitted through a one-way bearing 33. In this way, when the power output shaft 32 rotates in the reverse direction, the movable structure 42 will slide on the guide rail 41 and drive the mopping robot to move outward. The other end of the power output shaft 32 passes through the main body 1 and is connected to the cleaning component 2. The purpose of this design is to enable power to be transmitted from the power output shaft 32 to the cleaning component 2, so that the cleaning component 2 can perform mopping operations. In this embodiment, when the power output shaft 32 rotates forward, it can drive the cleaning component 2 to rotate and mop. At the same time, the power output shaft 32 will not transmit power to the movable structure 42. Only when the power output shaft 32 rotates in reverse can the power be transmitted to the movable structure 42. Then, through the action of the guide rail 41, the drive component 3 moves outward synchronously, and the cleaning component 2 extends outward to clean the corner area. At the same time, the cleaning component 2 will still rotate to ensure the cleaning effect of the floor. The main body 1 is also equipped with a movable groove 11, which allows the power output shaft 32 to move freely during the mopping process. The setting of the movable groove 11 ensures the movement of the power output shaft 32 on the main body 1 during the mopping process.

[0046] In a specific embodiment:

[0047] Combined with appendix Figures 6 to 9As shown, the cleaning mechanism in this application is ingeniously designed. The guide rail 41 plays a crucial guiding role. The oscillation of the drive component relative to the main body allows the cleaning component to switch between the initial position 21 and the extended position 22. The power output shaft has a first position 321 and a second position 322. The first position 321 corresponds to the initial position 21 of the cleaning component, and the second position 322 corresponds to the extended position 22. The guide rail 41 is annular, with its center located in the direction in which the drive component 3 moves outward from the main body 1. This design not only ensures the stability and balance of the cleaning mechanism during movement but also effectively guides the drive component 3 to move outward and return to its original position. First, let's describe the shape and position of the guide rail 41 in detail. It is a circular ring fixed to the cleaning component 2 of the cleaning robot. The center of the guide rail 41 is located in the direction in which the drive component 3 moves outward from the main body 1. This means that when the drive component 3 starts to move outward, the movable structure 42 will slide along the periphery of the guide rail 41. The shape of the guide rail 41 is very critical. Due to the use of a circular ring shape, it has the following advantages: First, the circular ring shape can provide a 360-degree guide path, allowing the drive component 3 to move in any direction, which increases the flexibility and applicability of the mechanism, making it suitable for various cleaning tasks; Second, the circular ring shape can also ensure that the movable structure 42 always maintains close contact with the guide rail 41, thereby providing a stable guiding force and preventing the drive component 3 from shifting laterally or shaking during movement. During the operation of the cleaning mechanism, when the movable structure 42 slides to its limit position (farthest position) on the guide rail 41, it can no longer drive the drive component 3 to move outward. At this point, the movable structure 42 will continue to slide on the guide rail 41, but due to the action of the guide rail 41, it will be guided back to its initial position, thus realizing the reset and retraction of the drive component 3. Guided by the guide rail 41, the cleaning mechanism can quickly switch between different positions, achieving flexible cleaning operations. Whether facing corners, furniture legs, or other obstacles, this mechanism can quickly adapt and achieve the movement and retraction of the drive component 3 through the sliding of the movable structure 42 on the guide rail 41.

[0048] In summary, the guide rail 41 plays a crucial guiding role in the cleaning mechanism. Its annular shape and location in the direction of the drive component 3's outward movement from the main body 1 ensure the mechanism's stability and balance. The shape and position of the guide rail 41 allow the movable structure 42 to slide along it and be guided back to its initial position at its extreme points, achieving the reset and retraction of the drive component 3. This design increases the applicability and flexibility of the cleaning mechanism, enabling it to handle various complex cleaning tasks and provide efficient and convenient results.

[0049] In a further embodiment, the movable structure 42 specifically includes a bracket 43 and a sliding member 44. At least one rotating sleeve 5 is provided on the bracket 43, which is mounted on the guide rail 41. A groove 431 is provided in the middle of the bracket 43, which holds the sliding member 44 within it, and connects the power output shaft 32 to the sliding member 44. The bracket 43 is the main frame of the movable structure 42, providing a stable base and foundation for the connecting components. The rotating sleeve 5 on the bracket 43 allows the movable structure 42 to rotate around the guide rail 41. The rotating sleeve 5 is tightly fitted to the guide rail 41 to ensure stable movement of the movable structure 42 on the guide rail 41. The groove 44 is located in the middle of the bracket 43. 31. The slider 44 is located in the slide groove 431. The design of the slide groove 431 allows the slider 44 to move freely within it. The slider 44 is connected to the power output shaft 32 of the drive assembly 3. A one-way bearing 33 is provided between the slider 44 and the power output shaft 32. The slider 44 is driven to move within the slide groove 431 by the reverse rotation of the power output shaft 32. In order to ensure that the slider 44 can only slide in the slide groove 431 and avoid relative rotation between the two, the shape of the slider 44 needs to be adapted. In this embodiment, the shape of the slider 44 is set to a flat key shape and adapted to the shape of the slide groove 431, thereby ensuring that the slider 44 can only slide in the slide groove 431.

[0050] In addition to the circular shape and guiding function of the guide rail 41, its inner and outer rings are also provided with limiting grooves 411, which match the rotating sleeve 5. The function of the limiting grooves 411 is to limit the range of motion of the movable structure 42, ensuring that it is accurately positioned and moves stably on the guide rail 41. The design of the limiting grooves 411 is very precise, matching the size and shape of the rotating sleeve 5. During the operation of the mechanism, when the rotating sleeve 5 is driven to the limit position, it will fall into the limiting grooves 411. Once the rotating sleeve 5 enters the limiting grooves 411, it will not continue to move on the guide rail 41, because the design of the limiting grooves 411 ensures that it is not affected by external forces. Through the action of the limiting grooves 411, the cleaning component 2 can remain stable after extending from the main body 1. Once the rotating sleeve 5 is fixed in the limiting grooves 411, it will not continue to move, thereby ensuring the stability and reliability of the cleaning mechanism. This is crucial for providing good cleaning results, as a stable structure ensures that the cleaning component 2 effectively cleans the area where obstacles meet the ground. Through the design of the inner ring limiting groove 411 of the guide rail 41, the cleaning mechanism can provide a higher level of precise positioning and stable movement. The limiting groove 411 ensures the accurate positioning of the movable structure 42 on the guide rail 41, thereby enabling control of the forward and reverse rotation of the drive component 3, allowing the cleaning component 2 to extend and retract as needed. Simultaneously, the limiting groove 411 also prevents excessive movement or unnecessary vibration, ensuring the reliability and lifespan of the cleaning mechanism.

[0051] In summary, the inner ring limiting groove 411 of the guide rail 41 in the cleaning mechanism works in conjunction with the rotating bushing 5 to provide precise positioning and stable movement for the mechanism. During the operation of the mechanism, the limiting groove 411 restricts the range of motion of the movable structure 42, ensuring that the cleaning component 2 remains stable when extending and retracting, and providing excellent cleaning results.

[0052] The above configuration has the following advantages: enhanced stability. The design of the movable structure 42 makes the mopping robot more stable when dragging the cleaning component 2. The bracket 43 provides a solid foundation. The fit between the rotating bushing 5 and the guide rail 41 ensures the stability of the structure. In this way, the robot can perform floor cleaning operations without losing balance. Optimized guiding performance. Through the combination of the guide rail 41 and the rotating bushing 5, the movable structure 42 can slide along a predetermined path. The presence of the limiting groove 411 further enhances the guiding performance, making the robot's movement more precise and enabling it to better clean the target area, avoiding repeated or missed cleaning.

[0053] The above-described embodiment is only a preferred embodiment among many embodiments. The structure of the guide component 4 includes, but is not limited to, this. In other embodiments, the guide rail 41 can be a circular ring structure with an internal gear inside. The sliding component is disposed in the inner ring of the ring structure and meshes with the internal gear. At the same time, the shaft center 31 of the drive component 3 is concentric with the center of the ring structure. Thus, when the power output shaft 32 of the drive component 3 rotates, it will mesh with the ring structure, thereby rotating the drive component 3 about the shaft center 31. This rotation changes the position of the power output shaft 32 of the drive component 3, thereby driving the cleaning component 2 to extend and retract. Of course, in other embodiments, the guide rail 41 can also be set as a circular track, with the sliding component 44 built into the track. Its driving principle is the same as described above, which can also achieve the effect of the power output shaft 32 rotating in the opposite direction to drive the movable structure 42 to slide on the guide rail 41, and the guide rail 41 guiding the drive component 3 to move outward from the main body 1.

[0054] Furthermore, the cleaning mechanism in this application also includes an elastic reset member 6. One end of the elastic reset member 6 is connected to the main body 1, and the other end is connected to the end of the drive assembly 3 away from the axis 31. By setting the elastic reset member 6, the elastic force of the elastic reset member 6 provides a traction force to the drive assembly 3. When the drive assembly 3 moves outward, the elastic reset member 6 is pulled, thereby pulling the drive assembly 3 inward until the rotating bushing 5 moves into the limiting groove 411, realizing the positioning of the rotating bushing 5. At this time, it can ensure that the position of the drive assembly 3 is stable without being subjected to external force. When the drive assembly 3 retracts, the elastic reset member 6 is in a small stretched state, and the tooth box 34 rotates the bushing 5 in the U-shaped groove to the bottom under the action of elastic force, offsetting the center of the circular track groove, so that the cleaning component 2 retracts into the sweeper body; while when the drive assembly 3 extends, the elastic reset member 6 is in a large stretched state, and the tooth box 34 returns to the center of the track circle under the action of elastic force.

[0055] Preferably, the elastic reset element 6 is a spring.

[0056] In addition, the cleaning mechanism also includes a position sensor 7 on the main body 1 and a first trigger point 8 and a second trigger point 9 on the drive assembly 3. When the position sensor 7 detects the first trigger point 8 or the second trigger point 9, the drive assembly 3 stops rotating. Its operation is as follows: when an obstacle is detected on one side of the cleaning robot, the drive assembly 3 drives the power output shaft 32 to rotate in the opposite direction to drive the movable structure 42 to slide on the guide rail 41. The guide rail 41 guides the drive assembly 3 to move outward from the main body 1 to a preset position. At this time, the position sensor 7 corresponds to the first trigger point 8, thereby detecting a detection signal. This signal is transmitted to the control system, and the control system controls the drive assembly 3 to drive the power output shaft 32 to rotate forward to drive the robot to move forward. The cleaning component 2 cleans the area where the obstacle is at an angle to the ground, and the drive component 3 will not continue to move. When it is detected that one side of the cleaning robot is away from the obstacle, the drive component 3 drives the power output shaft 32 to rotate in the opposite direction to drive the movable structure 42 to continue sliding on the guide rail 41. The guide rail 41 guides the drive component 3 to move into the main body 1 to a preset position. At this time, the position sensor 7 corresponds to the second trigger point 9, thereby detecting another detection signal. The signal is transmitted to the control system, and the control system controls the drive component 3 to drive the power output shaft 32 to rotate forward to drive the cleaning component 2 to clean the ground. At this time, the drive component 3 will not continue to move and, under the action of the elastic reset component 6, the tooth box 34 will return to the center position of the track circle.

[0057] Preferably, the position sensor 7 in this application is a Hall switch.

[0058] Furthermore, this application also proposes a cleaning robot, which includes the aforementioned cleaning mechanism.

[0059] The working principle of the cleaning robot in this application is as follows: When the robot detects an obstacle, the robot controls the drive component 3 of any one of the two cleaning mechanisms to drive the power output shaft 32 to rotate in the opposite direction, thereby driving the movable structure 42 to slide on the guide rail 41. The guide rail 41 guides the drive component 3 to move outward from the main body 1 to a preset position. Then, the movable component drives the power output shaft 32 to rotate in the forward direction, thereby driving the cleaning component 2 to clean the angle area between the obstacle and the ground. Through this mechanism design, the extension and retraction of the cleaning component 2 can be achieved by using the forward and reverse rotation of the drive component 3, without the need to set up an additional drive unit 35 or mechanism. Its design is ingenious and its structure is simple, with the characteristics of low cost and high practicality. It can solve the problem of inconvenient ground cleaning in the angle area between the robot and the wall at a very low cost.

[0060] Through the above design, the cleaning mechanism achieves efficient mopping. The cooperation of the drive component 3 and the guide component 4 enables the mopping robot to move smoothly on the ground and perform mopping operations through the cleaning component 2. The movable groove 11 ensures the flexibility and free movement of the power output shaft 32, further improving the robot's cleaning effect and performance.

[0061] This application further proposes a method of using a cleaning robot, comprising: when an obstacle is detected on one side of the cleaning robot, the drive assembly 3 drives the power output shaft 32 to rotate in the opposite direction to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the drive assembly 3 to move outward from the main body 1 to a preset position, and the movable assembly drives the power output shaft 32 to rotate forward to drive the cleaning component 2 to clean the angle area between the obstacle and the ground; when one side of the cleaning robot is detected to be away from the obstacle, the drive assembly 3 drives the power output shaft 32 to rotate in the opposite direction to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the drive assembly 3 to move inward from the main body 1 to a preset position, and the movable assembly drives the power output shaft 32 to rotate forward to drive the cleaning component 2 to clean the ground.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cleaning mechanism for a cleaning robot, the cleaning robot comprising a main body (1) and a cleaning component (2), characterized in that, The cleaning facility includes: The drive assembly (3) includes a shaft (31) rotatably connected to the main body (1), and the cleaning component (2) is disposed on the drive assembly (3); The guide component (4) includes a guide rail (41) disposed on the main body (1) and a movable structure (42) movably disposed on the guide rail (41); the guide rail (41) is used to guide the drive component (3) to move horizontally outward from the main body (1); The drive assembly (3) also includes a power output shaft (32) that can rotate in both directions. One end of the power output shaft (32) is connected to the movable structure (42) for transmission, and the other end of the power output shaft (32) is used to drive the cleaning component (2) to rotate. A one-way bearing (33) is also provided between the power output shaft (32) and the movable structure (42). When the power output shaft (32) rotates in the first preset direction, the movable structure (42) remains stationary; When the power output shaft (32) rotates along the second preset direction, the power output shaft (32) drives the movable structure (42) to move along the guide rail (41), guiding the drive assembly (3) to drive the cleaning component (2) to swing in a horizontal direction away from the main body (1), wherein the first preset direction is opposite to the second preset direction.

2. The cleaning mechanism according to claim 1, characterized in that, The drive assembly (3) includes a gearbox (34) and a drive unit (35). The drive unit (35) is located on the shaft center (31), and the gearbox (34) is connected to the output shaft of the drive unit (35) for transmission.

3. The cleaning mechanism of claim 2, wherein, The other end of the power output shaft (32) passes through the body (1) and is connected to the cleaning component (2) in a transmission manner; and the body (1) is also provided with a movable groove (11) for the power output shaft (32) to move.

4. The cleaning mechanism according to claim 1, characterized in that, The drive assembly (3) swings relative to the main body (1) to drive the cleaning component (2) to switch between the initial position (21) and the extended position (22). The power output shaft (32) has a first position (321) and a second position (322). The first position (321) of the power output shaft (32) corresponds to the initial position (21) of the cleaning component (2), and the second position (322) of the power output shaft (32) corresponds to the extended position (22) of the cleaning component (2). The guide rail (41) is annular, and the center of the guide rail (41) is located between the first position (321) and the second position (322).

5. The cleaning mechanism according to claim 4, characterized in that, The movable structure (42) includes a bracket (43) and a sliding member (44). The bracket (43) is provided with at least one rotating bushing (5), which is located on the guide rail (41). The bracket (43) has a groove (431) in the middle, and the sliding member (44) is located in the groove (431). The power output shaft (32) is connected to the sliding member (44).

6. The cleaning mechanism according to claim 5, characterized in that, The inner ring of the guide rail (41) is also provided with a limiting groove (411) that is adapted to the rotating bushing (5).

7. The cleaning mechanism according to claim 1, characterized in that, The cleaning mechanism also includes an elastic reset member (6), one end of which is connected to the main body (1), and the other end is connected to the end of the drive assembly (3) away from the shaft (31).

8. The cleaning mechanism according to claim 1, characterized in that, The cleaning mechanism also includes a position sensor (7) on the main body (1) and a first trigger point (8) and a second trigger point (9) on the drive assembly (3). When the position sensor (7) detects the first trigger point (8) or the second trigger point (9), the drive assembly (3) stops rotating.

9. A cleaning robot, characterized in that, The cleaning robot includes the cleaning mechanism as described in any one of claims 1 to 8.

10. A method of using the cleaning robot as described in claim 9, characterized in that, include: When an obstacle is detected on one side of the cleaning robot, the drive assembly (3) drives the power output shaft (32) to rotate in the opposite direction to drive the movable structure (42) to move along the guide rail (41). The guide rail (41) guides the drive assembly (3) to move outward from the main body (1) to a preset position. The drive assembly (3) drives the power output shaft (32) to rotate forward to drive the cleaning component (2) to clean the angle area between the obstacle and the ground. When an obstacle is detected on one side of the cleaning robot, the drive assembly (3) drives the power output shaft (32) to rotate in the opposite direction to drive the movable structure (42) to move along the guide rail (41). The guide rail (41) guides the drive assembly (3) to move inward from the main body (1) to a preset position. The drive assembly (3) drives the power output shaft (32) to rotate forward to drive the cleaning component (2) to clean the ground.

Images