A cleaning robot, a swing assembly, and a control method of a cleaning robot

Abstract

The present disclosure relates to a cleaning robot, a swing assembly and a control method of the cleaning robot. The cleaning robot comprises a body, a swing mechanism, the swing mechanism comprising a movable cleaner, the movable cleaner having an initial position and an edge-following position, when located at the initial position, an edge of the movable cleaner is located within a maximum edge of the body, when located at the edge-following position, at least part of the edge of the movable cleaner is located outside the maximum edge of the body, a driving mechanism, the driving mechanism being configured to drive the swing mechanism to move the movable cleaner from the edge-following position to the initial position, when the driving mechanism is disengaged from the swing mechanism, the movable cleaner is configured to move to the edge-following position under the action of an elastic part. The cleaning robot of the present disclosure can achieve comprehensive cleaning when performing cleaning work, thereby improving the working efficiency of the cleaning robot.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning, and more particularly to a cleaning robot; this disclosure also relates to a swinging component and a control method for a cleaning robot. Background Technology

[0002] Cleaning robots are a type of intelligent home cleaning appliance that can automatically sweep, vacuum, and mop floors. Depending on their function, there are vacuuming robots, mopping robots, and robots that combine vacuuming and mopping. With advancements in science and technology and improvements in people's quality of life, cleaning robots have become increasingly common in people's lives.

[0003] Currently, the cleaning coverage of cleaning robots on the market is limited, making it difficult to achieve comprehensive cleaning. While designing the cleaning module to protrude from the product's shape can solve the problem of comprehensive cleaning, the cleaning robot may get stuck when it encounters obstacles during operation. Therefore, a solution to the above problems is urgently needed. Summary of the Invention

[0004] This disclosure provides a cleaning robot, a control method, and a swinging component to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a cleaning robot is provided, comprising:

[0006] Organism;

[0007] A swing mechanism includes a movable cleaner having an initial position and an edge position; when in the initial position, the edge of the movable cleaner is located within the maximum edge of the body, and when in the edge position, at least a portion of the edge of the movable cleaner is located outside the maximum edge of the body;

[0008] A drive mechanism configured to drive the swing mechanism to move the movable cleaner from the edge position to the initial position;

[0009] When the drive mechanism disengages from the swing mechanism, the movable cleaner is configured to move to the edge position under the force of the elastic part, and to move from the edge position to the initial position under the action of an external force.

[0010] In one embodiment of this disclosure, the swing mechanism further includes a swing section, one end of which is rotatably connected to the body and the other end is fixed to the movable cleaner; the swing section is configured to drive the movable cleaner to swing relative to the body.

[0011] In one embodiment of this disclosure, the elastic part is disposed between the swing mechanism and the body, and is configured to drive the swing part to move toward the edge position under the action of its own elastic force.

[0012] In one embodiment of this disclosure, the output end of the drive mechanism is provided with a drive member, which is configured to push the swing mechanism to move the movable cleaner from the edge position to the initial position.

[0013] In one embodiment of this disclosure, the movable cleaner is provided with a flange for engaging with the drive member; the drive member is configured to push the flange toward an initial position or disengage from the flange during rotation.

[0014] In one embodiment of this disclosure, the movable cleaner includes a gearbox disposed on the swing portion, a wiping disc connected to the output end of the gearbox, and a rotary motor connected to the input end of the gearbox; the flange is disposed on the outer wall of the gearbox or the rotary motor.

[0015] In one embodiment of this disclosure, the driving mechanism is a drive motor mounted on the machine body, and the rotation axis of the drive motor is coaxial with the rotation axis of the swing part.

[0016] In one embodiment of this disclosure, the body is provided with a swing track, which is configured to guide and cooperate with the swing mechanism.

[0017] In one embodiment of this disclosure, the swing track is a through hole provided on the machine body; the movable cleaner includes a rotating shaft rotatably connected to the swing part, and a wiping disc fixed on the rotating shaft; the rotating shaft passes through the through hole and is guided and engaged with the through hole.

[0018] In one embodiment of this disclosure, the swing track has two opposite ends, referred to as the initial end and the edge end, respectively; when the pivot is located at the initial end, the movable cleaner is located at the initial position, and when the pivot is located at the edge end, the movable cleaner is located at the edge position.

[0019] In one embodiment of this disclosure, at least one movable cleaner is provided on one side of the body, and at least one fixed cleaner is provided on the other side.

[0020] In one embodiment of this disclosure, a dust suction port is provided at the bottom of the machine body, and a roller brush is provided at the dust suction port.

[0021] In one embodiment of this disclosure, the movable cleaner is a mop for mopping with water to clean the surface, and the movable cleaner is located behind the suction port.

[0022] According to a second aspect of this disclosure, a swing assembly is also provided, comprising:

[0023] A swing mechanism includes a movable cleaner having an initial position and an edge position; in the initial position, the movable cleaner is configured to move such that its edge is within the maximum edge of the body, and in the edge position, the movable cleaner is configured to move such that at least a portion of its edge is outside the maximum edge of the body; a drive mechanism is configured to drive the swing mechanism to move the movable cleaner from the edge position to the initial position.

[0024] When the drive mechanism disengages from the swing mechanism, the movable cleaner is configured to move to the edge position under the force of the elastic part, and to move from the edge position to the initial position under the action of an external force.

[0025] According to a third aspect of this disclosure, a method for controlling a cleaning robot is also provided, the method comprising the following steps:

[0026] Start the cleaning robot;

[0027] When the current motion of the cleaning robot meets the edge cleaning conditions, the control drive mechanism disengages from the swing mechanism, so that the movable cleaner moves to the edge position under the force of the elastic part.

[0028] When the current movement of the cleaning robot does not meet the edge cleaning conditions, the drive mechanism is controlled to drive the swing mechanism to move, so that the movable cleaner moves from the edge position to the initial position.

[0029] One beneficial effect of this disclosure is that the cleaning robot can achieve comprehensive cleaning. During cleaning operations, the movable cleaner can move between an initial position and an edge-side position. Furthermore, when the movable cleaner moves to the edge-side position, it increases the cleaning coverage area of ​​the robot, achieving comprehensive cleaning. The elastic component prevents the movable cleaner from getting stuck by obstacles when cleaning at the edge-side position.

[0030] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments of this disclosure with reference to the accompanying drawings in other embodiments. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0032] Figure 1 This is a schematic diagram of the movable cleaner provided in an embodiment of the present disclosure when it is in its initial position;

[0033] Figure 2 This is a schematic diagram of the movable cleaner provided in one embodiment of the present disclosure when it is located at the edge position;

[0034] Figure 3 This is a front view of the internal structure of a cleaning robot provided in an embodiment of this disclosure;

[0035] Figure 4 This is a three-dimensional structural diagram of the internal structure of a cleaning robot provided in an embodiment of the present disclosure;

[0036] Figure 5 This is a front view of the interior of a cleaning robot provided in one embodiment of the present disclosure, excluding the drive motor;

[0037] Figure 6 This is a top view of a movable cleaner provided in an embodiment of this disclosure;

[0038] Figure 7 This is a perspective view of a movable cleaner provided in an embodiment of the present disclosure;

[0039] Figure 8 This is a schematic diagram of the bottom surface of the cleaning robot provided in an embodiment of this disclosure;

[0040] Figure 9 This is a cross-sectional schematic diagram of the cleaning robot provided in an embodiment of this disclosure;

[0041] Figure 10 This is a three-dimensional schematic diagram of the cleaning robot provided in the embodiments of this disclosure.

[0042] Figures 1 to 10 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0043] 100. Body; 110. Swing track; 111. Through hole; 112. Main motor; 113. Water tank assembly; 114. Dust exhaust channel; 115. Pump assembly; 200. Swing mechanism; 210. Movable cleaner; 211. Flange; 220. Swing part; 221. Rotating shaft; 222. Gearbox; 223. Wiping disc; 224. Rotary motor; 225. Drive unit; 300. Drive mechanism; 301. Drive motor; 310. Drive component; 400. Elastic part; 500. Fixed cleaner; 600. Suction port; 610. Roller brush; 620. Dust box; 630. Air inlet. Detailed Implementation

[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0045] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0048] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0049] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0050] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0051] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0052] This disclosure provides a cleaning robot capable of cleaning a work surface. The cleaning robot includes a body, a swing mechanism, and a drive mechanism. The swing mechanism includes a movable cleaner having an initial position and an edge-side position, and the movable cleaner can move between the initial position and the edge-side position.

[0053] When the movable cleaner is in the initial position, the edge of the movable cleaner is within the maximum edge of the body. When the movable cleaner is in the edge-side position, at least a portion of the edge of the movable cleaner is outside the maximum edge of the body.

[0054] Because the movable cleaner can move beyond the maximum edge of the cleaning robot, the cleaning robot of this disclosure can operate in edge-following mode to clean indoor edges, such as the edges of walls and furniture. After the edge-following mode ends, the movable cleaner can move back to its initial position, that is, move so that the edge of the movable cleaner is within the maximum edge of the cleaning robot, and the cleaning robot cleans the floor or other work surfaces according to a predetermined route.

[0055] The cleaning robot disclosed herein also includes a drive mechanism, through which the movable cleaner can move between an initial position and an edge position. When the drive mechanism disengages from the movable cleaner, the movable cleaner moves to the edge position under the elastic force of the elastic part, and moves from the edge position back to the initial position under the action of an external force.

[0056] The cleaning robot disclosed herein has a drive mechanism that can drive a movable cleaner to deform its elastic part, moving the movable cleaner from an edge-side position to an initial position. When edge cleaning is required, the drive mechanism disengages from the movable cleaner, and then moves to the edge-side position under the action of the elastic part to clean the edge of the surface. When the movable cleaner encounters an obstacle, such as a table leg or sofa leg, the obstacle compresses the elastic part, causing it to deform and move back to the initial position, allowing the cleaning robot to overcome the obstacle and avoid getting stuck. After the cleaning robot overcomes the obstacle, the external force on the movable cleaner is removed, and the movable robot moves to the edge-side position under the action of the elastic part to continue working in an edge-side mode.

[0057] To facilitate better understanding, the following is illustrated with the accompanying diagrams. Figures 1 to 10 This will explain in detail the specific structure and working principle of the cleaning robot.

[0058] Example 1

[0059] refer to Figures 1 to 2 One embodiment of this disclosure provides a cleaning robot, including a body 100, a swing mechanism 200, a drive mechanism 300, and an elastic part 400. The swing mechanism 200 includes a movable cleaner 210, which has an initial position and an edge position. When the movable cleaner 210 is in the initial position, the edge of the movable cleaner 210 is located within the maximum edge of the body 100. This maximum edge is determined by the direction of travel of the cleaning robot; for example, if the cleaning robot travels along the Y-axis, its maximum edge refers to the maximum edge position on both sides of the Y-axis of the body 100.

[0060] refer to Figure 1Since the body 100 is generally circular, its maximum edge refers to the widest point in the X-axis direction. The edge of the movable cleaner 210 is located within the maximum edge of the body 100, meaning the outer contour of the movable cleaner 210 does not exceed the maximum edge of the body 100 in the X-axis direction. In this embodiment, at least a portion of the edge of the movable cleaner 210 can be located inside or outside the edge of the body 100. When a portion of the edge of the movable cleaner 210 is located outside the edge of the body 100, it is acceptable as long as it does not exceed the maximum edge of the body 100.

[0061] When the robot body 100 encounters an obstacle while traveling in a straight line, it will turn its direction. Since the edge of the movable cleaner 210 is located within the maximum edge of the robot body 100, it will not come into contact with the obstacle. When the movable cleaner 210 is in the edge-side position, at least part of its edge is outside the maximum edge of the robot body 100, ensuring that the cleaning range of the movable cleaner 210 covers at least the widest part of the robot body 100 as projected onto the working surface. This increases the cleaning range of the cleaning robot and reduces blind spots.

[0062] The movable cleaner 210 disclosed herein is capable of moving between an initial position and an edge-side position via an elastic part 400 and a drive mechanism 300. The drive mechanism 300 can drive the swing mechanism 200 to move the movable cleaner 210 from the edge-side position to the initial position. After the drive mechanism 300 disengages from the swing mechanism 200, the movable cleaner 210 moves to the edge-side position under the force of the elastic part 400. When the movable cleaner 210 is in the edge-side position, since at least a portion of the edge of the movable cleaner 210 is located at the maximum edge of the body 100, the movable cleaner 210 may encounter obstacles and become trapped by them during its movement. When the movable cleaner 210 comes into contact with an obstacle, under the action of the cleaning robot's own power, the movable cleaner 210 squeezes the obstacle. Under the squeezing action of the obstacle, or overcoming the elastic force of the elastic part 400, the movable cleaner 210 moves towards its initial position so that it can cross the obstacle and avoid being trapped by it.

[0063] The movable cleaner 210 disclosed herein moves elastically via an elastic part 400, allowing it to closely adhere to obstacles such as furniture during cleaning, thus achieving edge cleaning. This design not only expands the cleaning range but also prevents the cleaner from getting stuck, improving cleaning efficiency.

[0064] In one specific embodiment of this disclosure, the body 100 is configured as a circular structure, thereby preventing the cleaning robot from getting stuck by obstacles such as corners and furniture when turning. This further ensures that the body 100 will not be trapped by complex terrain, furniture, or other obstacles during cleaning operations.

[0065] In other embodiments of this disclosure, the body 100 may also be configured as any shape such as rectangular, elliptical, or round in the front and square in the back, and is not limited herein.

[0066] refer to Figures 3 to 7 In one specific embodiment of this disclosure, the swing mechanism 200 of the cleaning robot includes a swing section 220. One end of the swing section 220 is rotatably connected to the body 100, and the other end is fixed to the movable cleaner 210. When the drive mechanism 300 drives the swing section 220 or the movable cleaner 210, the swing section 220 can cause the movable cleaner 210 to swing relative to the body 100. Specifically, this swing motion can be considered as circular motion, with the end of the swing section 220 rotatably connected to the body 100 as the center and the other end of the swing section 220 fixedly connected to the movable cleaner 210 as the radius, driven by the drive mechanism 300 to make the movable cleaner 210 perform circular motion.

[0067] In one specific embodiment of this disclosure, an elastic part 400 is disposed between the swing mechanism 200 and the body 100. The elastic part 400 can drive the swing part 220 to move towards the edge position under the action of its own elastic force. Specifically, the elastic part 400 always applies a force to the swing part 220 to move towards the edge position. And because the elastic part 400 itself has elastic force, when the swing part 220 is subjected to an external force, the elastic part 400 will also be subjected to a corresponding force and deform accordingly. And after the external force is removed, the elastic part 400 drives the swing part 220 to move towards the edge position through its own elastic force.

[0068] In this embodiment, one end of the elastic part 400 is connected to the body 100, and the other end can be connected to any component in the swing mechanism 200, such as the movable cleaner 210, or the swing part 220 in the swing mechanism 200. Those skilled in the art can design it according to actual needs, and no limitation is made here. The elastic part 400 can be, for example, a spring disposed between the body 100 and the swing part 220, or a torsion spring disposed between the swing part and the body, which will not be specifically described here.

[0069] refer to Figure 6 , Figure 7According to one embodiment of this disclosure, the output end of the drive mechanism 300 is provided with a drive member 310, which can push the swing mechanism 200 to move the movable cleaner 210 from the edge position to the initial position. Specifically, when the cleaning robot does not need to perform edge cleaning, the drive member 310 at the output end of the drive mechanism 300 can push the swing mechanism 200 to move the movable cleaner 210 to the initial position, thereby changing the working mode of the cleaning robot.

[0070] In this embodiment, the drive member 310 can push any component in the swing mechanism 200, such as the movable cleaner 210, or the swing part 220 in the swing mechanism 200. Those skilled in the art can design according to actual needs, and no limitation is made here.

[0071] In one specific embodiment of this disclosure, reference is made to Figure 6 , Figure 7 The movable cleaner 210 is provided with a flange 211 for cooperating with the drive member 310. The drive member 310 can push the flange 211 to move the swing mechanism 200 towards its initial position. When it is necessary for the drive mechanism 300 to disengage from the swing mechanism 200, this effect can be achieved by directly separating the drive member 310 from the flange 211.

[0072] In this embodiment, the flange 211 can be provided on the movable cleaner 210 or on the swing part 220. Those skilled in the art can design it according to actual needs, and no limitation is made here.

[0073] In one specific embodiment of this disclosure, the movable cleaner 210 includes a gearbox 222 mounted on a swing unit 220, a wiping disc 223 connected to the output end of the gearbox 222, and a rotary motor 224 connected to the input end of the gearbox 222. Specifically, the rotary motor 224 drives the gearbox 222, thereby enabling the output end of the gearbox 222 to rotate the wiping disc 223. This allows the cleaning robot to clean the work surface more thoroughly through its own rotation during cleaning operations.

[0074] In this embodiment, the flange 211 is disposed on the movable cleaner 210. Specifically, the flange 211 can be disposed on the outer wall of the gearbox 222, see reference. Figure 7 Alternatively, it can be installed on the outer wall of the rotary motor 224. Those skilled in the art can design it according to actual needs, and no limitation is made here.

[0075] In one specific embodiment of this disclosure, the drive mechanism 300 is a drive motor 301 mounted on the body 100. Specifically, the drive motor 301 can rotate in both directions, such as a servo motor. Furthermore, depending on different cleaning needs, the drive motor 301 can be selected to rotate in different directions to control the position of the movable cleaner 210 in the swing mechanism 200. This allows the movable cleaner 210 to move between its initial position and its edge-side position.

[0076] Specifically, when cleaning edges and corners, the movable cleaner 210 needs to be positioned along the edge. In this case, adjusting the rotation direction of the drive motor 301 disengages the drive component 310 at the output end of the drive motor 301 from the flange 211. This allows the movable cleaner 210 to move to the edge position under the elastic force of the elastic part 400, thus cleaning edges and corners. When the cleaning robot is working in normal mode, adjusting the rotation direction of the drive motor 301 causes the drive component 310 to drive the flange 211, thereby moving the movable cleaner 210 to its initial position. By changing the position of the movable cleaner 210, the cleaning robot can be adapted to more working scenarios.

[0077] In this embodiment, the rotation axis of the drive motor 301 is coaxial with the rotation axis of the swing part 220. Specifically, when the drive motor 301 pushes the flange 211 on the swing part 220 through the drive member 310, the drive member and the swing part 220 can rotate synchronously.

[0078] In one specific embodiment of this disclosure, the rotation axis of the drive motor 301 is offset from the rotation axis of the swing part 220. Those skilled in the art can design it according to actual needs, and no limitation is made here.

[0079] For those skilled in the art, the drive mechanism 300 can also be a gear rack, sprocket chain, connecting rod or other mechanisms known to those skilled in the art, as long as it can drive the swing part 220 to deflect. They will not be listed one by one here.

[0080] In one specific embodiment of this disclosure, the body 100 is provided with a swing track 110, which is guided and engaged with the swing mechanism 200. Specifically, the swing track 110 is consistent with the movement trajectory of the swing mechanism 200, and the swing track 110 restricts the movement position of the swing mechanism 200, allowing it to move only within the swing track 110. This ensures that the swing mechanism 200 can only move between the initial position and the edge position, preventing the swing mechanism 200 from moving to other positions.

[0081] In one specific embodiment of this disclosure, the swing track 110 is a through hole 111 on the machine body 100, which extends through both the upper and lower ends of the machine body 100, allowing components such as the gearbox 222 and rotary motor 224 to be disposed on the upper part of the machine body 100, while the smearing disc 223 is disposed below the machine body 100. In a specific application structure, the rotating shaft 221 of the gearbox 222 passes through the through hole 111 and is fixedly connected to the smearing disc 223 located below the machine body 100. Specifically, the rotating shaft 221 passes through the through hole 111 and is guided and fitted together with the through hole 111, with the smearing disc 223 and the swing part 220 located at the upper and lower ends of the machine body 100 respectively via the rotating shaft 221.

[0082] In one specific embodiment of this disclosure, the swing track 110 may be a recess provided on the edge of the body 100. The movable cleaner 210 includes a rotating shaft 221 rotatably connected to the swing part 220 and a wiping disc 223 fixed to the rotating shaft 221. The recess can also limit the swing amplitude of the swing part 220.

[0083] In one specific embodiment of this disclosure, the swing track 110 has two opposing ends, referred to as the initial end and the edge end, respectively. The two ends of the swing track 110 correspond to the initial position and the edge position of the movable cleaner 210. Specifically, when the rotating shaft 221 is at the initial end, the movable cleaner 210 is also at the initial position; when the rotating shaft 221 is at the edge end, the movable cleaner 210 is at the edge position. This ensures that the movable cleaner 210 can move along the swing track 110 in the optimal direction of motion. At this time, both the maximum and minimum cleaning range of the cleaning robot remain stable, which helps the cleaning robot determine and adjust the position of the movable cleaner 210 during cleaning operations.

[0084] In one specific embodiment of this disclosure, reference is made to Figure 1 , Figure 2 , Figure 4 , Figure 5 The body 100 has at least one movable cleaner 210 on one side and at least one fixed cleaner 500 on the other side. Specifically, the number of movable cleaner 210 and / or fixed cleaner 500 can be one, two or more, and those skilled in the art can design according to actual needs, which is not limited here.

[0085] In one specific embodiment of this disclosure, the robot body 100 has only one movable cleaner 210 on one side. Specifically, the movable cleaner 210 has an initial position and an edge position. When the robot body 100 moves, it always cleans the side with the edge position close to the corner. This allows the cleaner to clean even near walls and corners, thus achieving thorough cleaning.

[0086] In one specific embodiment of this disclosure, reference is made to Figure 1 , Figure 2 The bottom of the machine body 100 is equipped with a suction port 600 that uses wind power to suck up dust from the ground. A roller brush 610 for sweeping is installed at the suction port 600. The machine body 100 can sweep and suck up dirt on the working surface during its movement.

[0087] In one specific embodiment of this disclosure, the movable cleaner 210 is a mopping disc 223 for wiping the floor, and the movable cleaner 210 is located behind the suction port 600. Specifically, the movable cleaner 210 can be wetted and used to wet-mop the floor to be cleaned. During its movement, the robot body 100 achieves a cleaning sequence of sweeping, vacuuming, and then mopping, further enhancing the cleaning effect and cleaning ability of the cleaning robot.

[0088] In one specific embodiment of this disclosure, the movable cleaner 210 can be installed near the rear edge of the body 100. A reasonable layout facilitates the installation of other functional components of the cleaning robot and helps determine the cleaning sequence, thereby ensuring stable cleaning results.

[0089] In one specific embodiment of this disclosure, the wiping tray 223 is detachably connected, allowing it to be used again by replacing it if it becomes dirty or damaged. Furthermore, different functional trays can be installed as needed to achieve different working effects.

[0090] Example 2

[0091] One embodiment of this disclosure provides a swing assembly that can be mounted on a cleaning robot as a component. Specifically, the swing assembly includes a swing mechanism 200 and a drive mechanism 300.

[0092] The swing mechanism 200 includes a movable cleaner 210 having an initial position and an edge position. Specifically, when the movable cleaner 210 is in the initial position, the movable cleaner 210 is configured to move such that its edge is within the maximum edge of the body 100, and when the movable cleaner 210 is in the edge position, the movable cleaner 210 is configured to move such that at least a portion of its edge is outside the maximum edge of the body 100.

[0093] The drive mechanism 300 is configured to drive the swing mechanism 200, thereby driving the movable cleaner 210 to move from the edge position to the initial position. When the drive mechanism 300 disengages from the swing mechanism 200, the movable cleaner 210 can move to the edge position under the force of the elastic part 400. Specifically, depending on the cleaning task, the movable cleaner 210 can be controlled to move between the initial position and the edge position by adjusting the drive mechanism 300. When the movable cleaner 210 moves to the edge position under the force of the elastic part 400, it will move accordingly based on the degree of deformation of the elastic part 400. This can be understood as the movable cleaner 210, while performing cleaning work, will adhere closely to obstacles such as furniture, avoiding being trapped and ensuring work efficiency. After the cleaning robot moves to a point where there are no obstacles such as furniture, the movable cleaner 210 will move back to the edge position to continue the comprehensive cleaning of the corners.

[0094] The swing component disclosed herein can be applied not only to the aforementioned cleaning robot, but also to other devices that require swing adjustment, which will not be listed here.

[0095] Example 3

[0096] In one embodiment of this disclosure, a control method for a cleaning robot is provided. The structure of this cleaning robot is the same as that of the cleaning robot in Embodiment 1. The control method is as follows:

[0097] Start the cleaning robot to put it into working condition;

[0098] When the current movement of the cleaning robot meets the edge cleaning conditions, the cleaning robot can control the drive mechanism 300 to disengage from the swing mechanism 200, so that the movable cleaner 210 moves to the edge position and cleans the area to be cleaned at the edge.

[0099] In one embodiment of this disclosure, a position detection device detects the relative position between the cleaning robot and the edge of the area to be cleaned. This position detection device can be radar or a ranging sensor, etc. When the distance between the cleaning robot and the edge of the area to be cleaned is less than or equal to a threshold, the current movement of the cleaning robot is considered to meet preset edge cleaning conditions. At this time, the cleaning robot can enter the edge cleaning mode under the control of the control unit. That is, the control drive mechanism 300 disengages from the swing mechanism 200, causing the movable cleaner 210 to move to the edge position under the force of the elastic part 400.

[0100] In one embodiment of this disclosure, the cleaning robot can plan its travel path based on a pre-stored map in the system and clean the work surface according to the planned travel path. When the cleaning robot needs to clean the edge of the area to be cleaned according to the planned map, it can be considered that the current movement of the cleaning robot has met the preset edge cleaning conditions.

[0101] Specifically, the drive component 310 on the output end of the cleaning robot control drive mechanism 300 moves until it disengages from the swing mechanism 200. At this time, the swing mechanism 200 moves to the edge position under the elastic force of the elastic part 400. The elastic part 400 always provides the movable cleaner 210 with an elastic force that moves towards the edge position. In edge-side mode, after the movable cleaner 210 comes into contact with an obstacle during its movement, the obstacle will squeeze the elastic part 400 to move towards the initial position, so that the movable cleaner 210 can continue cleaning after crossing the obstacle. Specifically, under the action of the cleaning robot's forward movement, the movable cleaner 210 is squeezed by the obstacle and fits seamlessly with the edge of the obstacle. After the external force is released, the movable cleaner 210 returns to the edge position under the elastic force of the elastic part 400. In this way, the movable cleaner 210 can clean without leaving any blind spots, achieving thorough cleaning. Furthermore, it can also prevent the movable cleaner 210 from getting stuck in obstacles, thus improving the working efficiency of the cleaning robot.

[0102] When the current movement of the cleaning robot does not meet the edge cleaning conditions, the cleaning robot controls the drive mechanism 300 to control the swing mechanism 200 to move to the initial position. Specifically, the cleaning robot drives the swing mechanism 200 by controlling the drive member 310 on the output end of the drive mechanism 300, so that it overcomes the elastic force of the elastic part 400 and moves from the edge position to the initial position. This allows the cleaning robot to work in the normal mode, that is, to work in the non-edge position.

[0103] In one embodiment of this disclosure, a position detection device detects the relative position between the cleaning robot and the edge of the area to be cleaned. This position detection device can be radar or a ranging sensor, etc. When the distance between the cleaning robot and the edge of the area to be cleaned is detected to be greater than or equal to a threshold, it can be considered that the current movement of the cleaning robot does not meet the preset edge cleaning conditions. At this time, the control drive mechanism 300 drives the swing mechanism 200 to move, causing the movable cleaner 210 to move from the edge position to the initial position, and then perform normal cleaning work at the initial position.

[0104] In one embodiment of this disclosure, the cleaning robot can plan its travel path based on a pre-stored map in the system and clean the work surface according to the planned travel path. When the cleaning robot needs to clean the non-edge areas of the area to be cleaned according to the planned map, it can be considered that the current movement of the cleaning robot has met the preset edge cleaning conditions.

[0105] Example 4

[0106] like Figure 8 As shown, this disclosure provides a cleaning robot, including a body 100, a vacuuming assembly, and a cleaning assembly. The body 100, as a carrier, is configured to mount various functional components required for the cleaning robot, specifically depending on the robot's function and structure. It should be noted that this disclosure... Figure 8 and Figure 9 Only a partial structure of the body 100 of the cleaning robot is shown; the remaining parts are essentially the same as the body 100 of existing cleaning robots, and can be fully implemented by those skilled in the art based on existing technology. Therefore, they will not be described in detail here. In one embodiment of this disclosure, the functional elements include at least a cleaning component and a vacuuming component.

[0107] The vacuuming assembly includes a main motor 112, a suction port 600, a roller brush 610, and a dust box 620. The suction port 600 is mounted on the chassis of the body 100. One end of the inner cavity of the dust box 620 is connected to the suction port 600, allowing dust or foreign objects from the work surface to be sucked into the dust box 620 for storage. The main motor 112 is connected to the dust box 620. When the main motor 112 operates, it creates a negative pressure within the dust box 620, causing debris from the work surface to enter the dust box 620 through the suction port 600 under this negative pressure. A filter can be installed inside the dust box 620 or in the air duct connecting to the dust box 620, ensuring that debris entering the dust box 620 is deposited within it and does not flow out.

[0108] like Figure 9 As shown, in one embodiment of this disclosure, the vacuuming assembly further includes a roller brush 610, which is rotatably connected to the body 100 for cleaning the work surface. Specifically, as... Figure 9 As shown, the chassis has a receiving groove for a roller brush 610. The roller brush 610 cleans the bottom surface by rotating relative to the working surface. The suction port 600 is set on the groove wall of the receiving groove, so that it can better suck up the garbage.

[0109] The cleaning robot disclosed herein includes two cleaning components, each comprising a movable cleaner 210 and a drive unit 225. The movable cleaner 210 may be a mop tray or other disc-shaped cleaning structures well known to those skilled in the art, such as... Figure 9As shown, the central axis L of the movable cleaner 210 is perpendicular to the working surface. The drive unit 225 is used to drive the movable cleaner 210 to rotate on the working surface, so that the working surface can be cleaned when the movable cleaner 210 rotates. Figure 9 As shown, in each cleaning component, the projections of the movable cleaner 210 and the corresponding drive unit 225 on the horizontal plane at least partially overlap; this not only enables a single movable cleaner 210 to be controlled by a single drive unit 225 without the need for a dual-output transmission unit, thereby effectively reducing the overall cost of the cleaning robot, but also optimizes the layout of the cleaning components, making the layout of the cleaning robot more compact.

[0110] Specifically, in one embodiment of this disclosure, such as Figure 9 and Figure 10 As shown, the drive unit 225 is configured to be coaxially arranged with the movable cleaner 210. The drive unit 225 includes a rotary motor 224 and a gearbox 222 located between the rotary motor 224 and the movable cleaner 210. The gearbox 222 is used to transmit the power provided by the rotary motor 224 to the movable cleaner 210 and adjust the speed and torque output by the rotary motor 224 as needed. Specifically, the vertical projections of the rotary motor 224, the gearbox 222, and the movable cleaner 210 overlap. Alternatively, it can be understood as the rotary motor 224, the gearbox 222, and the movable cleaner 210. The output shaft of the rotary motor 224 is connected to the input end of the gearbox 222, and the output end of the gearbox 222 is connected to the movable cleaner 210 via a rotating shaft. Because the drive unit 225 is coaxially arranged with the movable cleaner 210, the central axes of the drive unit 225 and the movable cleaner 210 can be aligned, thereby saving space occupied by the drive unit 225.

[0111] Of course, in another embodiment of this disclosure, the rotary motor 224, gearbox 222 and movable cleaner 210 in the drive unit 225 can also be arranged on different axes, but are staggered in the horizontal direction, that is, in a horizontal structure. This arrangement is relatively simple, the transmission relationship is reliable, and the cost is low.

[0112] It should be noted that the above description of the vacuuming component and the cleaning component is only one specific embodiment. In other embodiments of this disclosure, the vacuuming component and the cleaning component may include other structures, as long as the vacuuming component includes the main motor 112 and the cleaning component includes the movable cleaner 210 and the drive unit 225.

[0113] The direction in which the cleaning robot moves forward is denoted as the Y-axis, and the direction perpendicular to the Y-axis and in the same horizontal plane as the Y-axis is denoted as the X-axis. The two drive units 225 are configured to be distributed in the X-axis direction and located on both sides of the main motor 112. (Reference) Figure 8The cleaning robot moves upwards as shown in the diagram. The vertical direction of the cleaning robot is designated as the X-axis, and the horizontal direction is designated as the Y-axis. Two drive units 225 are located on the left and right sides of the main motor 112.

[0114] In the cleaning robot disclosed herein, two movable cleaners 210 are driven by two drive units 225 respectively, and the two drive units 225 are located on both sides of the main motor 112. This allows for a more reasonable layout of the main motor 112 and the cleaning components, avoids the main motor 112 occupying the area of ​​the cleaning components, and also ensures the maximum cleaning working surface of the cleaning components.

[0115] In one embodiment of this disclosure, please continue to refer to Figure 8 The suction port 600 is configured to extend along the X-axis and is located on one side in the forward direction of the main motor 112. Since the suction port 600 extends along the X-axis, with a fixed length of suction port 600, the orthogonal projection length of suction port 600 in the X-axis direction is the longest, and the area swept is the largest, so that more garbage can be sucked up from the working surface.

[0116] In one embodiment of this disclosure, such as Figure 8 and Figure 10 As shown, the vacuuming assembly also includes an air inlet surface 630, which is configured to extend along the X-axis direction. The main motor 112 is configured to create a negative pressure at the air inlet surface 630. The two drive units 225 and the main motor 112 are all located on the side of the air inlet surface 630 away from the forward direction.

[0117] Both drive units 225 and the main motor 112 are located on the side of the air inlet surface 630 away from the forward direction, which saves space on the side of the air inlet surface 630 in the forward direction, allowing the dust box 620 to be made larger and increasing the garbage storage capacity of the dust box 620.

[0118] like Figure 8 As shown, the centerline of the body 100 in the Y-axis direction is taken as the Y-axis, and the axis passing through the air inlet surface 630 is denoted as the X-axis. In the rectangular coordinate system established by the X-axis and Y-axis, the drive unit 225 is located on both sides of the Y-axis and within a region deviating from the X-axis by a predetermined angle. In the coordinate system established above, the origin is point O in the figure. The drive unit rotates by a predetermined angle (i.e., ...) in the Y-axis direction with the half-axis on both sides of the X-axis. Figure 8The two areas swept by the two angles (A and B) are the areas within the predetermined angle. In one embodiment of this disclosure, the two drive units 225 are respectively located within the predetermined angle areas on both sides of the Y-axis. Since the drive units 225 are respectively located within the predetermined angle areas on both sides of the Y-axis, it can avoid interference between the movable cleaners 210 due to excessive offset angle, which would affect normal cleaning, and it can also avoid excessive distance between the two movable cleaners 210 due to small offset angle, which would cause some areas to be missed.

[0119] In one embodiment of this disclosure, the predetermined angle is 0 to 75°. When the predetermined angle is in the range of 0 to 75°, while ensuring the cleaning area of ​​the movable cleaner 210, it can effectively avoid interference between the movable cleaners 210 due to excessive offset angle, which would affect normal cleaning.

[0120] In one embodiment of this disclosure, such as Figure 8 As shown, the two drive units 225 are configured to be symmetrically distributed with respect to the Y-axis. Because the drive units 225 are symmetrically distributed with respect to the Y-axis, the weight on both sides of the body 100 can be balanced, thereby preventing the cleaning robot from shifting during movement.

[0121] In one embodiment of this disclosure, such as Figure 8 As shown, the orthographic projections of the main motor 112 and the two drive units 225 on the Y-axis at least partially overlap. Because the orthographic projections of the main motor 112 and the two drive units 225 on the Y-axis at least partially overlap, the motor and the two drive units 225 can save some space in the Y-axis direction, thereby allowing the dust box 620 to be made larger and increasing the waste storage capacity of the dust box 620.

[0122] In one embodiment of this disclosure, such as Figure 8 and Figure 9 As shown, the cleaning robot of this disclosure also includes a water tank assembly 113, which is disposed on the side of the body 100 opposite to the direction of travel of the body 100. (See reference...) Figure 8 In the view direction, the water tank assembly 113 is located on the lower edge or rear edge of the body 100. The drive unit 225 and the main motor 112 are located between the water tank assembly 113 and the suction port 600. Since the two drive units 225 and the main motor 112 are sandwiched between the water tank assembly 113 and the suction port 600, not only can some space be saved and the storage capacity of the water tank assembly 113 be increased, but the water tank assembly 113 can also be located on the edge of the body 100, making the water tank assembly 113 easier to disassemble and install.

[0123] In one embodiment of this disclosure, such as Figure 8As shown, the cleaning robot of this disclosure also includes a dust discharge channel 114 communicating with the dust box 620 in the vacuuming assembly. The dust discharge channel 114 extends to one end of the water tank assembly 113 and is configured to interface with the vacuuming channel on the base station. (Reference) Figure 8 One end of the dust discharge channel 114 is connected to the dust box 620, and the other end extends to the water tank assembly 113. When the cleaning robot of this disclosure is performing dust collection work, the outlet of the dust discharge channel 114 is connected to the suction channel on the base station. The base station turns on negative pressure to suck the garbage and dust in the dust box 620 out of the dust box 620, and sequentially pass through the dust outlet channel, the dust discharge channel 114 and the suction channel, and finally reach the main dust box 620 on the base station.

[0124] Furthermore, in one embodiment of this disclosure, such as Figure 8 As shown, a dust barrier valve (not shown in the figure) can also be installed at the dust outlet of the dust box 620 to prevent garbage or dust in the dust box 620 from flying out of the dust box 620 and contaminating the cleaned work surface during normal operation of the cleaning robot.

[0125] like Figure 8 As shown, one of the drive units 225 is located in the area enclosed by the dust discharge channel 114, the water tank assembly 113, the main motor 112, and the suction port 600. This can save some space, so that the dust discharge channel 114 and the water tank assembly 113 can be made larger. This not only makes the dust discharge channel 114 move more smoothly when collecting dust, but also increases the storage capacity of the water tank assembly 113.

[0126] In one embodiment of this disclosure, such as Figure 8 As shown, the cleaning robot of this disclosure also includes a water pump assembly 115 disposed on the body 100 adjacent to the other end of the water tank assembly 113. The water pump assembly 115 is connected to the water tank assembly 113, and a water spray nozzle is disposed above or near the movable cleaner 210. During the operation of the cleaning robot of this disclosure, the water pump assembly 115 pumps water from the water tank assembly 113 into the movable cleaner 210, so that the moistened movable cleaner 210 can clean the working surface.

[0127] like Figure 8 As shown, another drive unit 225 is located in the area enclosed by the water pump assembly 115, the main motor 112 and the dust suction port 600. This can save some space, thereby increasing the layout range of the water pump assembly 115 and making the water tank assembly 113 larger, thereby increasing the storage capacity of the water tank assembly 113.

[0128] Application Scenario 1

[0129] The cleaning robot disclosed herein is a floor-mopping robot. When the floor-mopping robot is working, its cleaning device is used to clean the work surface. When the floor-mopping robot moves close to walls, corners, etc., the drive mechanism can drive the movable cleaner 210 to the edge position, thereby cleaning hard-to-reach cleaning dead corners such as walls and corners, achieving thorough cleaning. When the body 100 moves, since the movable cleaner 210 is located at the edge position and protrudes from the body 100, when it encounters obstacles such as furniture, the movable cleaner 210 moves back to its initial position under the pressure of the obstacle, overcoming the action of the elastic part 400, that is, moving towards the edge of the body 100. This allows the movable cleaner 210 to easily cross obstacles without being trapped by them.

[0130] Specifically, after being subjected to an external force, the movable cleaner 210 can move a certain distance towards its initial position according to the magnitude of the external force. At this time, under the action of the elastic part 400, the movable cleaner 210 closely adheres to the outer edge of the obstacle that is in contact with the movable cleaner 210 to perform cleaning work, further reducing cleaning dead angles, expanding the cleaning area, and also preventing the cleaning robot from being trapped by obstacles such as furniture, thus ensuring cleaning efficiency.

[0131] When the cleaning robot needs to clean other areas, the drive mechanism can drive the movable cleaner 210 from the edge position to the initial position, so that the movable cleaner 210 moves to the point where its edge is within the maximum edge of the body 100. At this time, the cleaning robot moves forward to clean the ground.

[0132] Application Scenario 2

[0133] The cleaning robot disclosed herein includes two cleaning components. Each cleaning component comprises a movable cleaner 210 rotatably connected to the body 100, and a drive unit 225 for driving the movable cleaner 210 to rotate. Each movable cleaner 210 is driven by its respective drive unit 225, thereby allowing for a more rational arrangement of the connection positions and relationships between the drive unit 225 and the movable cleaner 210. The two drive units 225 are respectively located on both sides of the main motor, which allows for a more rational layout of the main motor and the cleaning components, and enables both cleaning components to have a larger cleaning surface, ensuring the cleaning efficiency of the cleaning robot.

[0134] With the centerline of the body 100 along the Y-axis as the Y-axis, and the axis passing through the air inlet surface 630 as the X-axis, in the rectangular coordinate system established by the X-axis and Y-axis, the origin is point O on the diagram. Rotate the body by a preset angle (i.e., ) along the two semi-axis points of the X-axis in the Y-axis direction. Figure 1The two areas swept by the two drive units 225 (angles A and B) are the predetermined areas, and the two drive units 225 are located in the predetermined areas on both sides of the Y-axis. Since the two drive units 225 are located in the predetermined areas on both sides of the Y-axis, it can avoid the main motor 112 from being affected by the offset angle being too large, and it can also avoid the two movable cleaners 210 being too far apart due to the offset angle being too small, thus missing some cleaning areas.

[0135] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: Body (100); A swing mechanism (200) includes a movable cleaner (210) for applying water and mopping the surface to be cleaned; the movable cleaner (210) has an initial position and an edge position; in the initial position, the edge of the movable cleaner (210) is within the maximum edge of the body (100), and in the edge position, at least a portion of the edge of the movable cleaner (210) is outside the maximum edge of the body (100); A drive mechanism (300) is configured to drive the swing mechanism (200) to move the movable cleaner (210) from the edge position to the initial position; When the drive mechanism (300) disengages from the swing mechanism (200), the movable cleaner (210) is configured to move to the edge position under the force of the elastic part (400), and to move from the edge position to the initial position under the action of an external force.

2. The cleaning robot according to claim 1, characterized in that, The swing mechanism (200) further includes a swing part (220), one end of which is rotatably connected to the body (100) and the other end is fixed to the movable cleaner (210); the swing part (220) is configured to drive the movable cleaner (210) to swing relative to the body (100).

3. The cleaning robot according to claim 2, characterized in that, The elastic part (400) is disposed between the swing mechanism (200) and the body (100), and is configured to drive the swing part (220) to move in the direction of the edge position under the action of its own elastic force.

4. The cleaning robot according to claim 2, characterized in that, The output end of the drive mechanism (300) is provided with a drive member (310), which is configured to push the swing mechanism (200) so that the movable cleaner (210) moves from the edge position to the initial position.

5. The cleaning robot according to claim 4, characterized in that, The movable cleaner (210) is provided with a flange (211) for engaging with the drive member (310); the drive member (310) is configured to push the flange (211) toward the initial position or disengage from the flange (211) during rotation.

6. The cleaning robot according to claim 5, characterized in that, The movable cleaner (210) includes a gearbox (222) disposed on the swing part (220), a wiping disc (223) connected to the output end of the gearbox (222), and a rotary motor (224) connected to the input end of the gearbox (222); the flange (211) is disposed on the outer wall of the gearbox (222) or the rotary motor (224).

7. The cleaning robot according to claim 4, characterized in that, The drive mechanism (300) is a drive motor (301) mounted on the body (100), and the rotation axis of the drive motor (301) is coaxial with the rotation axis of the swing part (220).

8. The cleaning robot according to claim 2, characterized in that, The body (100) is provided with a swing track (110), which is configured to guide and cooperate with the swing mechanism (200).

9. The cleaning robot according to claim 8, characterized in that, The swing track (110) is a through hole (111) provided on the body (100); the movable cleaner (210) includes a rotating shaft (221) rotatably connected to the swing part (220) and a wiping plate (223) fixed on the rotating shaft (221); the rotating shaft (221) passes through the through hole (111) and is guided and engaged with the through hole (111).

10. The cleaning robot according to claim 9, characterized in that, The swing track (110) has two opposite ends, referred to as the initial end and the edge end respectively; when the rotating shaft (221) is located at the initial end, the movable cleaner (210) is located at the initial position, and when the rotating shaft (221) is located at the edge end, the movable cleaner (210) is located at the edge position.

11. The cleaning robot according to claim 1, characterized in that, The body (100) has at least one movable cleaner (210) on one side and at least one fixed cleaner (500) on the other side.

12. The cleaning robot according to claim 1, characterized in that, The bottom of the body (100) is provided with a dust suction port (600), and a roller brush (610) is provided at the dust suction port (600).

13. The cleaning robot according to claim 12, characterized in that, The movable cleaner (210) is a mop (223) for mopping with water to clean the surface. The movable cleaner (210) is located behind the suction port (600).

14. A swing assembly, characterized in that, include: A swing mechanism (200) includes a movable cleaner (210) for applying water and mopping the surface to be cleaned; the movable cleaner (210) has an initial position and an edge position; in the initial position, the movable cleaner (210) is configured to move such that its edge is within the maximum edge of the body (100), and in the edge position, the movable cleaner (210) is configured to move such that at least a portion of its edge is outside the maximum edge of the body (100); A drive mechanism (300) is configured to drive the swing mechanism (200) to move the movable cleaner (210) from the edge position to the initial position; When the drive mechanism (300) disengages from the swing mechanism (200), the movable cleaner (210) is configured to move to the edge position under the force of the elastic part (400), and to move from the edge position to the initial position under the action of an external force.

15. A control method for a cleaning robot, wherein the cleaning robot is the cleaning robot according to any one of claims 1 to 13, characterized in that, The method includes the following steps: Start the cleaning robot; When the current movement of the cleaning robot meets the edge cleaning conditions, the control drive mechanism (300) disengages from the swing mechanism (200), so that the movable cleaner (210) moves to the edge position under the force of the elastic part (400); When the current movement of the cleaning robot does not meet the edge cleaning conditions, the drive mechanism (300) is controlled to drive the swing mechanism (200) to move, so that the movable cleaner (210) moves from the edge position to the initial position.

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