Cleaning robot and cleaning mechanism thereof

Abstract

The present application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning robot and a cleaning mechanism thereof. The cleaning mechanism comprises a box shell, a driving device, a transmission assembly and a lifting assembly. The driving device has an output shaft. The transmission assembly comprises a first transmission member and a second transmission member connected with the first transmission member. The first transmission member is connected with the output shaft. The driving device drives the cleaning assembly to rotate synchronously through the first transmission member and the second transmission member. The lifting assembly comprises a screw nut, a lead screw, a one-way bearing and a reset member. The lead screw is coaxially arranged with the rotation axis of the second transmission member. The lead screw is connected with the second transmission member through the one-way bearing. When the second transmission member rotates in a preset direction, the second transmission member drives the lead screw to rotate through the one-way bearing, so as to drive the cleaning assembly to ascend. The reset member is used for providing an elastic reset force. The technical scheme of the present application solves the problem of complex design of the lifting structure for lifting the cleaning mechanism in the existing cleaning robot.

Description

Technical Field

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

[0002] In existing cleaning robots, the structure that drives the cleaning assembly up or down is complex. In addition to requiring a separate drive motor relative to the motor that drives the cleaning assembly to clean the floor, this structure also requires other modules, such as a clutch module. This clutch module allows the power output of the motor and the power output of the drive motor to be transmitted to the cleaning assembly relatively independently, thereby avoiding motion interference. Therefore, the lifting structure that drives the cleaning mechanism up and down in existing cleaning robots is complex, resulting in high production costs for the cleaning robots. Summary of the Invention

[0003] The object of the present invention is to provide a cleaning robot and a cleaning mechanism thereof, aiming to solve the problem of complex design of a lifting structure for lifting the cleaning mechanism in existing cleaning robots.

[0004] To achieve the above object, the present invention adopts the following technical solution: a cleaning mechanism comprising:

[0005] box shell;

[0006] A driving device, the driving device is mounted on the housing and has an output shaft;

[0007] A transmission assembly is mounted on the housing, comprising a first transmission member and a second transmission member linked to the first transmission member, wherein the first transmission member is connected to the output shaft, and the second transmission member is used to connect to the cleaning assembly, and the driving device drives the cleaning assembly to rotate synchronously via the first transmission member and the second transmission member;

[0008] The lifting assembly includes a lead screw nut, a lead screw, a one-way bearing and a reset member. The lead screw nut is installed on the box shell, the lead screw is coaxially arranged with the rotation axis of the second transmission member, one end of the lead screw is threadedly connected to the lead screw nut, and the other end of the lead screw is connected to the second transmission member through the one-way bearing. When the second transmission member rotates along a preset direction, the second transmission member drives the lead screw to rotate through the one-way bearing, so that the lead screw moves axially relative to the lead screw nut to drive the cleaning assembly to rise; the reset member is used to provide an elastic reset force to rotate the lead screw in a direction opposite to the preset direction.

[0009] The present invention has at least the following beneficial effects:

[0010] The cleaning mechanism provided by the embodiment of the present invention is used to clean the ground. The driving device is started to provide cleaning power, and the cleaning power is transmitted through the transmission assembly. Since the second transmission member and the lead screw are connected by a one-way bearing, the lead screw does not rotate with the second transmission member at this time. When the driving device provides lifting power, the lifting power is also transmitted through the transmission assembly. Since the lead screw nut is fixedly installed on the box shell, the second transmission member rotates in a preset direction and drives the lead screw to rotate, so that the lead screw moves axially relative to the lead screw nut, thereby driving the cleaning assembly to lift. When the cleaning assembly needs to be lowered to the ground again, the driving device outputs cleaning power again. At this time, the reset component can provide the lead screw with an elastic reset force to rotate it in the opposite direction of the preset direction, and the lead screw will drive the cleaning assembly to descend axially until the cleaning assembly contacts the ground. Therefore, the cleaning mechanism provided in the embodiment of the present invention only uses a drive device, a set of transmission components and a one-way bearing for assembly, which not only realizes the transmission of cleaning power to the cleaning component, but also realizes the transmission of lifting power to the lifting component. Compared with the complex lifting structure design of the existing cleaning robot that makes the cleaning mechanism rise and fall, the cleaning mechanism structural design is simple and forms a modular design, which is easy to mass produce and assemble.

[0011] In one embodiment, the first transmission member is provided with a first gear, the second transmission member is provided with a second gear, and the transmission assembly further includes a transmission gear set, the transmission gear set is transmission-connected between the first gear and the second gear, the transmission gear set includes a third gear meshing with the second gear, the third gear is cylindrical, and the third gear has a cylindrical tooth surface, the extension direction of the cylindrical tooth surface is arranged parallel to the rotation axis direction of the third gear, the axial extension length of the cylindrical tooth surface is greater than the axial movement distance of the lead screw, when the lead screw moves axially relative to the lead screw nut, the second gear of the second transmission member slides along the cylindrical tooth surface. The mutual transmission between the first gear, the transmission gear set 33, and the second gear achieves the effect of speed reduction and distance increase.

[0012] In one embodiment, the first transmission member is provided with a first pulley, the second transmission member is provided with a first transmission gear, and the transmission assembly further includes a third transmission member and a transmission belt, the third transmission member is provided with a second pulley and a second transmission gear coaxially arranged with the second pulley, the transmission belt is connected between the first pulley and the second pulley, the second transmission gear is meshed with the first transmission gear, the second transmission gear has a cylindrical tooth surface, the extension direction of the cylindrical tooth surface is arranged parallel to the rotation axis direction of the second transmission gear, the axial extension length of the cylindrical tooth surface is greater than the axial movement distance of the lead screw, when the lead screw moves axially relative to the lead screw nut, the second gear of the second transmission member slides along the cylindrical tooth surface. The mutual transmission between the first pulley, the transmission belt and the second pulley achieves the effect of speed reduction and distance increase.

[0013] In one embodiment, one of the inner ring and the outer ring of the one-way bearing is fixedly connected to the second transmission member, and the other of the inner ring and the outer ring of the one-way bearing is fixedly connected to the end of the screw.

[0014] In one embodiment, the helix angle of the thread of the lead screw is greater than 30°. The technical solution of this embodiment of the present invention can prevent the external thread of the lead screw and the internal thread of the lead screw nut from self-locking during the relative rotation of the lead screw and the lead screw nut.

[0015] In one embodiment, the lead screw and the lead screw nut form a threaded pair, and the equivalent friction coefficient of the threaded pair is less than tan30°. For the reset member in which the elastic reset force exerted by a rectangular spring, a coil spring, or the like is an axial force, the equivalent friction coefficient of the threaded pair needs to be designed to achieve a non-self-locking condition for the threaded pair, so that the threaded pair can be reset under the axial elastic reset force of the reset member when not self-locking.

[0016] In one embodiment, the lead screw and the lead nut form a threaded pair, and the lead angles of the lead screw and the lead angles of the lead nut are greater than the equivalent friction angle of the threaded pair. For a reset member in which the elastic reset force exerted by a rectangular spring, a coil spring, or the like is an axial force, the equivalent friction angle of the threaded pair must be designed to achieve a non-self-locking condition for the threaded pair, so that the threaded pair can be reset under the axial elastic reset force of the reset member when not self-locking.

[0017] In one embodiment, the reset member is installed between the screw nut and the screw, which is an assembly method of the reset member for the case where the elastic reset force applied by a rectangular spring, a coil spring, etc. is an axial force; or, the reset member is installed between the box shell and the screw, which is an assembly method of the reset member for the case where the elastic reset force applied by a coil spring, a torsion spring, a spring piece, etc. is a rotational torque; or, the reset member is installed between the second transmission member and the box shell, which is also an assembly method of the reset member for the case where the elastic reset force applied by a coil spring, a torsion spring, a spring piece, etc. is a rotational torque.

[0018] In one embodiment, the reset member is a rectangular spring, and the reset member is elastically telescopically deformed when the screw rotates and moves axially relative to the screw nut, that is, the elastic reset force exerted by the rectangular spring is an axial force; or, the reset member is a coil spring, a torsion spring or a spring sheet, and the reset member is elastically torsionally deformed when the screw rotates and moves axially relative to the screw nut, that is, the elastic reset force exerted by the coil spring, the torsion spring or the spring sheet is a rotational torque.

[0019] According to another aspect of an embodiment of the present invention, a cleaning robot is provided. Specifically, the cleaning robot includes the aforementioned cleaning mechanism. Since the cleaning robot is assembled using the aforementioned cleaning mechanism, and the aforementioned cleaning mechanism provided in the embodiment of the present invention is assembled using only one driving device, one set of the transmission assembly, and one one-way bearing, it not only transmits cleaning power to the cleaning assembly, but also transmits lifting power to the lifting assembly. Compared with the complex lifting structure design of the existing cleaning robot that enables the cleaning mechanism to rise and fall, the cleaning mechanism has a simple structural design and forms a modular design, which is easy to mass-produce and assemble. When assembled into the cleaning robot as a whole, the production cost of the cleaning robot is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A top view of the cleaning mechanism of an embodiment of the present invention in use;

[0022] Figure 2 for Figure 1 Cross-sectional view in the AA direction;

[0023] Figure 3This is an exploded view of the cleaning mechanism according to an embodiment of the present invention, wherein the reset member is not shown.

[0024] Among them, the reference numerals in the figures are:

[0025] 10. Box shell; 11. First shell; 12. Second shell;

[0026] 20. Driving device; 21. Output shaft;

[0027] 30. Transmission assembly; 31. First transmission member; 32. Second transmission member; 33. Transmission gear set; 331. Columnar tooth surface;

[0028] 40. Cleaning assembly; 41. Connecting end; 42. Mounting plate; 401. Bracket; 402. Cleaning piece;

[0029] 50. Lifting assembly; 51. Screw nut; 52. Screw; 53. Reset member;

[0030] 60. One-way bearing;

[0031] 70. Bushing;

[0032] 80. Screws. DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0035] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0036] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] like Figures 1 to 3 As shown, the cleaning mechanism provided by the embodiment of the present invention includes a box shell 10, a driving device 20, a transmission assembly 30 and a lifting assembly 50, the driving device 20 is installed on the box shell 10, the driving device 20 has an output shaft 21, the transmission assembly 30 is installed on the box shell 10, the transmission assembly 30 is provided with a first transmission member 31 and a second transmission member 32, the first transmission member 31 and the second transmission member 32 are linked to each other, the first transmission member 31 is connected to the output shaft 21, the second transmission member 32 is used to connect the connection end 41 of the cleaning assembly 40, the second transmission member 32 drives the connection end 41 to rotate synchronously, that is, the driving device 20 drives the cleaning assembly 40 to rotate synchronously via the first transmission member 31 and the second transmission member 32. The lifting assembly 50 includes a lead screw nut 51, a lead screw 52, ​​a one-way bearing 60, and a reset member 53. The lead screw nut 51 is fixedly mounted on the housing 10 by a screw 80. The lead screw 52 is coaxially arranged with the rotation axis of the second transmission member 32. One end of the lead screw 52 is screwed to the lead screw nut 51, and the other end of the lead screw 52 is connected to the second transmission member 32 by the one-way bearing. When the second transmission member 32 rotates in a preset direction, the second transmission member 32 drives the lead screw 52 to rotate synchronously through the one-way bearing 60, so that the lead screw 52 moves axially relative to the lead screw nut 51, thereby driving the cleaning assembly 40 to lift. Moreover, when the second transmission member 32 rotates in the opposite direction of the preset direction, the reset member 53 is used to provide the lead screw 52 with an elastic reset force to rotate in the opposite direction of the preset direction.

[0038] It can be understood that the housing 10 can be the body housing part of the cleaning robot, or the water tank housing part or the dust box housing part of the cleaning robot.

[0039] The cleaning mechanism provided in the embodiment of the present invention is used to clean the floor, and the driving device 20 is started to provide cleaning power, which is transmitted through the transmission assembly 30, that is, the cleaning power is output from the output shaft 21 and drives the first transmission member 31 to rotate, and the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30, and the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate, so that the cleaning assembly 40 rotates on the floor to clean the floor. Since the second transmission member 32 and the screw 52 are connected by the one-way bearing 60, the screw 52 does not rotate with the second transmission member 32 at this time. When the driving device 20 provides lifting power (at this time, the rotation direction of the output shaft 21 is opposite to the rotation direction of the output shaft 21 when outputting cleaning power), the lifting power is also transmitted through the transmission assembly 30, that is: the lifting power is output from the output shaft 21 and drives the first transmission member 31 to rotate, and the lifting power is transmitted to the second transmission member 32 through the transmission assembly 30. At this time, the second transmission member 32 rotates in a preset direction, and the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate synchronously in the preset direction. At the same time, the second transmission member 32 drives the lead screw 52 to rotate synchronously in the preset direction. Since the lead screw nut 51 is fixedly installed on the box shell 10, the lead screw 52 rotates in the preset direction, causing the lead screw 52 to move axially, thereby driving the cleaning assembly 40 to lift (definition: the preset direction can be clockwise or counterclockwise). When it is necessary to lower the cleaning assembly 40 to the ground again, the driving device 20 outputs cleaning power again. At this time, the reset member 53 can provide the lead screw 52 with an elastic reset force to rotate it in the opposite direction of the preset direction. The lead screw 52 rotating in the opposite direction of the preset direction will drive the cleaning assembly 40 to descend axially until the cleaning assembly 40 touches the ground. Therefore, the cleaning mechanism provided in the embodiment of the present invention is assembled with only one driving device 20, one set of the transmission assembly 30 and one one-way bearing 60, which not only transmits cleaning power to the cleaning assembly 40, but also transmits lifting power to the lifting assembly 50. Compared with the complex lifting structure design of the existing cleaning robot that makes the cleaning mechanism rise and fall, the cleaning mechanism has a simple structural design and forms a modular design, which is easy to mass produce and assemble. When it is assembled into the cleaning robot as a whole, the production cost of the cleaning robot is greatly reduced.

[0040] In the embodiment of the present invention, Figure 2 and Figure 3As shown, the first transmission member 31 is provided with a first gear, the second transmission member 32 is provided with a second gear, and the transmission assembly 30 further includes a transmission gear set 33, which is transmission-connected between the first gear and the second gear. The transmission gear set 33 includes a third gear meshing with the second gear. The third gear is cylindrical and has a cylindrical tooth surface 331. The extension direction of the cylindrical tooth surface 331 is arranged parallel to the rotation axis of the third gear. The axial extension length of the cylindrical tooth surface 331 is greater than the axial movement distance of the lead screw 52. When the lead screw 52 moves axially relative to the lead screw nut 51, the second gear of the second transmission member 32 slides along the cylindrical tooth surface 331. Through the mutual transmission between the first gear, the transmission gear set 33, and the second gear, the effect of speed reduction and distance increase is achieved. When the driving device 20 outputs cleaning power, there is only relative rotational movement of meshing transmission between the cylindrical tooth surface 331 and the second gear; when the driving device 20 outputs lifting power, there is both relative rotational movement of meshing transmission between the cylindrical tooth surface 331 and the second gear, and at the same time, there is relative movement in the axial direction between the cylindrical tooth surface 331 and the second gear; after the cleaning component 40 is lifted to the highest position and it is desired to lower the cleaning component 40 to contact the ground again, the driving device 20 outputs cleaning power and drives the cylindrical tooth surface 331 and the second gear to perform relative rotational movement of meshing transmission, and the screw 52 rotates in the opposite direction of the preset direction under the action of the elastic reset force applied by the reset member 53, so that the screw 52 drives the cleaning component 40 to descend.

[0041] In this embodiment, the box housing 10 includes a first shell 11 and a second shell 12. Figure 2 and Figure 3 As shown, the first shell 11 and the second shell 12 cover each other to form an accommodating space, and the transmission assembly 30 and the lifting assembly 50 are both assembled in the accommodating space.

[0042] In another embodiment, the first transmission member 31 is provided with a first pulley, the second transmission member 32 is provided with a first transmission gear, and the transmission assembly 30 further includes a third transmission member and a transmission belt. The third transmission member is provided with a second pulley and a second transmission gear coaxially arranged with the second pulley. The transmission belt is connected between the first pulley and the second pulley, and the second transmission gear is meshed with the first transmission gear. The second transmission gear has a cylindrical tooth surface 331, and the extension direction of the cylindrical tooth surface 331 is arranged parallel to the rotation axis direction of the second transmission gear. The axial extension length of the cylindrical tooth surface 331 is greater than the axial movement distance of the lead screw. When the lead screw 52 moves axially relative to the lead screw nut 51, the second gear of the second transmission member 32 slides along the cylindrical tooth surface 331. The implementation principle of the belt drive is basically the same as that of the gear drive, and thus will not be repeated here.

[0043] like Figure 2 and Figure 3 As shown, in the embodiment of the present invention, the one-way bearing 60 can be purchased from the market or assembled by oneself. Since the one-way bearing 60 is a widely used and mature product, it will not be described in detail here. During assembly, one of the inner ring and the outer ring of the one-way bearing 60 is fixedly connected to the second transmission member 32, and the other of the inner ring and the outer ring of the one-way bearing 60 is fixedly connected to the end of the screw 52. In the embodiment of the present invention, as Figure 2 As shown, the inner ring of the one-way bearing 60 is fixedly connected to the second transmission member 32. Specifically, the second transmission member 32 is provided with a connecting column on the side facing the screw 52, ​​and is interference fit with the inner ring of the one-way bearing 60 through the connecting column; the outer ring of the one-way bearing 60 is fixedly connected to the end of the screw 52. Specifically, the screw 52 is provided with an assembly hole on one end facing the second transmission member 32, and the outer ring of the one-way bearing 60 is interference fit in the assembly hole.

[0044] In this embodiment, the reset member 53 can be a rectangular spring. In this case, the rectangular spring can produce elastic expansion and contraction deformation when the lead screw 52 rotates and moves axially relative to the lead screw nut 51 in a preset direction, thereby storing elastic potential energy, that is, storing elastic reset force. Moreover, after the cleaning assembly 40 is lifted to the highest position, the drive device 20 continues to output the lifting power to maintain a balance with the elastic potential energy of the rectangular spring, so that the cleaning assembly 40 remains in the highest position. When the drive device 20 outputs the cleaning power again, at this time, the output gear loses the lifting force output from the drive device 20 to balance the elastic potential energy of the rectangular spring, and the second transmission member 32 descends axially under the elastic reset force applied by the rectangular spring until the cleaning assembly 40 contacts the ground again, and then the cleaning assembly 40 cleans the ground under the cleaning power output by the drive device 20.

[0045] like Figure 2 As shown, the reset member 53 of the cleaning mechanism of the embodiment of the present invention includes a coil spring, which is sleeved on the lead screw 52, ​​and one end of the coil spring abuts the lead screw nut 51, and the other end of the coil spring abuts the end of the lead screw 52 toward the cleaning assembly 40. In this way, when the driving device 20 outputs a lifting force to cause the lead screw 52 to rotate in the forward direction and move in the vertical direction relative to the lead screw nut 51, the coil spring is compressed by the lead screw 52 and stores elastic potential energy, that is, stores an elastic reset force. Moreover, when the cleaning assembly 40 is lifted to the highest position, the driving device 20 continues to output a lifting force to maintain a balance with the elastic potential energy of the coil spring, so that the cleaning assembly 40 remains in the highest position. When the driving device 20 outputs cleaning power again, the output gear loses the lifting force output by the driving device 20 for balancing the elastic potential energy of the coil spring, and the output gear drops vertically downward under the reset force exerted by the coil spring until the cleaning component 40 contacts the ground again, and then the cleaning component 40 cleans the ground under the cleaning power output by the driving device 20.

[0046] In another embodiment, the reset member 53 includes a plurality of coil springs, which are arranged circumferentially around the lead screw 52, ​​one end of each coil spring presses against the lead screw nut 51, and the other end of each coil spring presses against one end of the lead screw 52 toward the cleaning assembly 40. The working principle of the plurality of coil springs in this embodiment is the same as the working principle of the single coil spring in the aforementioned embodiment, and thus will not be repeated.

[0047] In another embodiment, the reset member 53 can also be a coil spring, a torsion spring or a spring. In this case, the reset member 53 can generate perceptual torsional deformation when the lead screw 52 rotates in a preset direction relative to the lead screw nut 51 and moves axially, thereby storing elastic potential energy, that is, storing an elastic reset force. Moreover, after the cleaning assembly 40 is lifted to the highest position, the drive device 20 continues to output the lifting power to maintain a balance with the elastic potential energy of the reset member 53, so that the cleaning assembly 40 remains in the highest position. When the drive device 20 outputs the cleaning power again, at this time, the output gear loses the lifting force output from the drive device 20 to balance the elastic potential energy of the reset member 53, and the second transmission member 32 descends axially under the elastic reset force applied by the reset member 53 until the cleaning assembly 40 contacts the ground again, and then the cleaning assembly 40 cleans the ground under the cleaning power output by the drive device 20.

[0048] In order to prevent the external thread of the lead screw 52 and the internal thread of the lead screw nut 51 from self-locking during the relative rotation of the lead screw 52 and the lead screw nut 51 , the helix angle of the thread of the lead screw 52 is greater than 30°.

[0049] Furthermore, the lead screw and the lead screw nut form a thread pair, and the equivalent friction coefficient of the thread pair is less than tan30°.

[0050] Furthermore, the lead screw and the lead screw nut form a thread pair, and the lead angles of the lead screw and the lead angles of the lead screw nut are greater than the equivalent friction angle of the thread pair.

[0051] For the reset member 53 whose elastic reset force is an axial force, such as a rectangular spring or a coil spring, the thread lead angle, the equivalent friction coefficient, and the equivalent friction angle of the thread pair must be designed to ensure that the thread pair does not self-lock. This allows the thread pair to be reset under the axial elastic reset force of the reset member 53 when not self-locking. Furthermore, for the reset member 53 whose elastic reset force is an axial force, such as a rectangular spring or a coil spring, the reset member 53 is installed between the lead screw nut 51 and the lead screw 52.

[0052] Furthermore, for the reset member 53 whose elastic reset force, such as a coil spring, torsion spring, or spring clip, is a rotational torque, the elastic reset force can directly drive the lead screw 52 to rotate in the reverse direction in a predetermined direction, eliminating the need to design the thread lead angle, equivalent friction coefficient, and equivalent friction angle of the thread pair. Furthermore, for the reset member 53 whose elastic reset force, such as a coil spring, torsion spring, or spring clip, is a rotational torque, the reset member 53 can be installed between the housing 10 and the lead screw 52; alternatively, the reset member 53 can be installed between the second transmission member 32 and the housing 10.

[0053] like Figures 1 to 3 As shown, in the cleaning mechanism of an embodiment of the present invention, the cleaning assembly 40 includes a bracket 401 and a cleaning member 402. Generally, the cleaning member 402 is a wiping member, i.e., a rag. The bracket 401 is provided with a mounting plate 42 and a shaft connected to the mounting plate 42 and serving as the connecting end 41. The cleaning member 402 is mounted on the mounting plate 42. During assembly of the cleaning assembly 40, the mounting plate 42 is fixedly connected to one end of the shaft via the screws 80. The output gear is fixedly connected to the other end of the shaft. The cleaning member 402 is then detachably mounted on the mounting plate 42.

[0054] In order to ensure smooth lifting of the cleaning assembly 40, the cleaning mechanism further includes a sleeve 70, which is fixedly mounted on the housing 10. The connecting end 41 passes through the sleeve 70 and is connected to the second transmission member 32. In this way, the sleeve 70 can guide the lifting and lowering movement of the connecting end 41 in the sleeve 70, ensuring that the cleaning assembly 40 does not deflect during the lifting process and maintains stable lifting.

[0055] The complete assembly process of the cleaning mechanism is described below using the transmission assembly 30 including the transmission gear set 33 as an example:

[0056] First, prepare all the components. Then, install the sleeve 70 on the second housing 12. Pass the shaft, which serves as the connecting end 41, through the sleeve 70. Then, connect the second transmission member 32 to the connecting end 41. Install the transmission gears in the transmission gear set 33 on the second housing 12, ensuring that adjacent gears mesh with each other and that the cylindrical tooth surfaces 331 of the transmission gear set 33 mesh with the gear teeth of the second transmission member 32. Next, securely connect the inner ring of the one-way bearing 60 to the second transmission member 32. Securely connect the outer ring of the one-way bearing 60 to the lead screw 52, ​​and then fit the rectangular spring over the lead screw 52. Then, securely install the lead screw nut 51 on the first housing 11 using the screw 80. Then, screw the lead screw nut 51 onto the lead screw 52. At this point, the lead screw nut 51, along with the first housing 11, rests on top of the lead screw 52. At this time, the first shell 11 is fixed, and then the screw 52 is driven to rotate in a preset direction by rotating the connecting end 41, so that the screw 52 moves axially, and the rectangular spring is compressed, and the first shell 11 and the second shell 12 approach each other until the first shell 11 and the second shell 12 cover each other, and then the first shell 11 and the second shell 12 are fixedly connected by bolting or welding, and the connecting end 41 can be released. Then, the output shaft 21 of the drive device 20 passes through the first shell 11 and extends to the first transmission member 31. The output shaft 21 and the first transmission member 31 can be driven by a key connection, so that the output shaft 21 drives the first transmission member 31 to rotate synchronously to continue to output cleaning power or lifting power backward, and then the outer shell of the drive device 20 is fixed to the first shell 11 by bolting. Next, the cleaning assembly 40 is assembled by first connecting the cleaning member 402 to the mounting plate 42, and then fixing the mounting plate 42 to the end of the connecting end 41 away from the second transmission member 32 using the screws 80. In this way, the assembly of the entire cleaning mechanism is completed.

[0057] According to another aspect of an embodiment of the present invention, a cleaning robot (not shown) is provided. Specifically, the cleaning robot includes the aforementioned cleaning mechanism. Furthermore, the cleaning robot includes a control device (not shown), which is electrically connected to the drive device 20, so that the output shaft 21 of the drive device 20 is controlled to rotate by the control device, thereby being able to drive the cleaning component 40 to rotate to clean the floor, and also being able to drive the lead screw 52 to rotate to drive the cleaning component 40 to lift. Compared with the complex lifting structure design of the existing cleaning robot that makes the cleaning mechanism rise and fall, the cleaning mechanism structural design is simple, and a modular design is formed, which is easy to mass produce and assemble, and is assembled into the cleaning robot as a whole, greatly reducing the production cost of the cleaning robot.

[0058] When the cleaning robot provided in the embodiment of the present invention is used to clean the floor, the driving device 20 is started to provide cleaning power, and the cleaning power is transmitted through the transmission assembly 30, that is, the cleaning power is output from the output shaft 21 and drives the first transmission member 31 to rotate, and the cleaning power is transmitted to the second transmission member 32 through the transmission assembly 30, and the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate, so that the cleaning assembly 40 rotates on the floor to clean the floor. Since the second transmission member 32 and the screw 52 are connected by the one-way bearing 60, the screw 52 does not rotate with the second transmission member 32 at this time.

[0059] When the cleaning robot finishes cleaning the floor or needs to return to the cleaning base station to clean the cleaning member 402 during the cleaning process, the driving device 20 provides lifting power (at this time, the rotation direction of the output shaft 21 is opposite to the rotation direction of the output shaft 21 when outputting the cleaning power), and the lifting power is also transmitted through the transmission assembly 30, that is, the lifting power is output from the output shaft 21 and drives the first transmission member 31 to rotate, and the lifting power is transmitted to the second transmission member 32 through the transmission assembly 30. At this time, the second transmission member 32 rotates in a preset direction, and the second transmission member 32 drives the connecting end 41 of the cleaning assembly 40 to rotate synchronously in the preset direction. At the same time, the second transmission member 32 drives the lead screw 52 to rotate synchronously in the preset direction. Since the lead screw nut 51 is fixedly installed on the box shell 10, the lead screw 52 rotates in the preset direction, causing the lead screw 52 to move axially, thereby driving the cleaning assembly 40 to lift. After the cleaning assembly 40 is lifted, the walking system of the cleaning robot works and returns to the cleaning base station.

[0060] When the cleaning robot returns to the cleaning base station, the cleaning robot needs to lower the cleaning component 40 again to clean the cleaning component 40, and the driving device 20 outputs cleaning power again. At this time, the reset member 53 can provide the lead screw 52 with an elastic reset force to rotate it in the opposite direction of the preset direction. The lead screw 52 rotating in the opposite direction of the preset direction will drive the cleaning component 40 to descend axially until the cleaning component 40 contacts the cleaning plate of the cleaning base station. Then, the driving device 20 outputs cleaning power to drive the cleaning component 40 to continue rotating on the cleaning plate, thereby cleaning the cleaning member 402.

[0061] After the cleaning element 402 is cleaned in the cleaning base station, the driving device 20 outputs the lifting power again to lift the cleaning element 40. Then, the walking system of the cleaning robot operates to make the cleaning robot leave the cleaning base station and return to the original return position. Then, the driving device 20 outputs the cleaning power again to continue cleaning the floor. Alternatively, after the cleaning element 402 is cleaned in the cleaning base station and the cleaning robot has completed cleaning the floor when returning, the cleaning robot stays in the cleaning robot, that is, the cleaning robot is in a standby state, and waits until it receives a cleaning instruction again before leaving the cleaning base station to clean the floor.

[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 in the scope of protection of the present invention.

Claims

1. A cleaning mechanism, characterized in that: include: box shell; A driving device, the driving device is mounted on the housing and has an output shaft; A transmission assembly is mounted on the housing, comprising a first transmission member and a second transmission member linked to the first transmission member, wherein the first transmission member is connected to the output shaft, and the second transmission member is used to connect to the cleaning assembly, and the driving device drives the cleaning assembly to rotate synchronously via the first transmission member and the second transmission member; The lifting assembly includes a lead screw nut, a lead screw, a one-way bearing and a reset member. The lead screw nut is installed on the box shell, the lead screw is coaxially arranged with the rotation axis of the second transmission member, one end of the lead screw is threadedly connected to the lead screw nut, and the other end of the lead screw is connected to the second transmission member through the one-way bearing. When the second transmission member rotates along a preset direction, the second transmission member drives the lead screw to rotate through the one-way bearing, so that the lead screw moves axially relative to the lead screw nut to drive the cleaning assembly to rise; the reset member is used to provide an elastic reset force to rotate the lead screw in a direction opposite to the preset direction.

2. The cleaning mechanism according to claim 1, characterized in that: The first transmission member is provided with a first gear, the second transmission member is provided with a second gear, and the transmission assembly also includes a transmission gear set, which is transmission-connected between the first gear and the second gear. The transmission gear set includes a third gear meshing with the second gear, and the third gear is columnar and has a columnar tooth surface. The extension direction of the columnar tooth surface is arranged parallel to the rotation axis direction of the third gear, and the axial extension length of the columnar tooth surface is greater than the axial movement distance of the screw. When the screw moves axially relative to the screw nut, the second gear of the second transmission member slides along the columnar tooth surface.

3. The cleaning mechanism according to claim 1, characterized in that: The first transmission member is provided with a first pulley, the second transmission member is provided with a first transmission gear, and the transmission assembly further includes a third transmission member and a transmission belt, the third transmission member is provided with a second pulley and a second transmission gear coaxially arranged with the second pulley, the transmission belt is connected between the first pulley and the second pulley, the second transmission gear is meshed with the first transmission gear, the second transmission gear has a columnar tooth surface, the extension direction of the columnar tooth surface is arranged parallel to the rotation axis direction of the second transmission gear, the axial extension length of the columnar tooth surface is greater than the axial movement distance of the screw, when the screw moves axially relative to the screw nut, the second gear of the second transmission member slides along the columnar tooth surface.

4. The cleaning mechanism according to claim 1, characterized in that One of the inner ring and the outer ring of the one-way bearing is fixedly connected to the second transmission member, and the other of the inner ring and the outer ring of the one-way bearing is fixedly connected to the end of the screw.

5. The cleaning mechanism according to claim 1, characterized in that: The helix angle of the thread of the lead screw is greater than 30°.

6. The cleaning mechanism according to claim 1, characterized in that: The lead screw and the lead screw nut form a thread pair, and the equivalent friction coefficient of the thread pair is less than tan30°.

7. The cleaning mechanism according to claim 1, characterized in that: The lead screw and the lead screw nut form a thread pair, and the lead angle of the lead screw and the lead angle of the lead screw nut are greater than the equivalent friction angle of the thread pair.

8. The cleaning mechanism according to claim 1, wherein: The reset member is installed between the lead screw nut and the lead screw; or, the reset member is installed between the box housing and the lead screw; or, the reset member is installed between the second transmission member and the box housing.

9. The cleaning mechanism according to claim 1, wherein: The reset member is a rectangular spring, and the reset member generates elastic telescopic deformation when the screw rotates and moves axially relative to the screw nut; or, the reset member is a coil spring, a torsion spring or a spring sheet, and the reset member generates elastic torsional deformation when the screw rotates and moves axially relative to the screw nut.

10. A cleaning robot, characterized in that: The cleaning device comprises the cleaning mechanism according to any one of claims 1 to 9.

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