Cleaning robot

Abstract

The application provides a cleaning robot, comprising: a base; a cleaning assembly comprising a base body and a cleaning unit, the cleaning unit being rotatably arranged on the base body, a swing arm being arranged on a side of the base body, the swing arm being rotatably connected with the base; a driving device arranged on the base body, comprising a first shaft, a clutch structure, a transmission structure, a driving member with an output shaft, the first shaft being in transmission connection with the output shaft, the first shaft being connected with the cleaning unit for driving the cleaning unit to rotate, the clutch structure being arranged between the output shaft and the transmission structure, the clutch structure being switched to a disengaged state in response to the output shaft moving in a first rotation direction and being switched to an engaged state in response to the output shaft moving in a second rotation direction, the transmission structure being connected with the base for driving the base to swing relative to the base under the driving of the output shaft to lift the cleaning assembly. In the scheme, the cleaning unit can be driven to swing through the forward rotation or the reverse rotation of the output shaft of the driving member, so that the cleaning unit realizes position lifting through swinging.

Description

Technical Field

[0001] The present invention relates to the field of cleaning robots, in particular to a cleaning robot. Background Art

[0002] Existing cleaning robots are developing towards the direction of all-in-one washing, mopping and sweeping machines. In this composite mode, the roller brush, middle sweeper and other components used to perform the cleaning function need to have the function of automatic lifting. This requires separate driving parts for the roller brush, middle sweeper and other components as the power source for automatic lifting. This undoubtedly increases the number of driving parts, making the robot structure more complex and the cost higher, and correspondingly making the power supply of the robot more complicated. Summary of the Invention

[0003] One purpose of the present invention is to propose a cleaning robot that utilizes the same driving component to not only drive the cleaning unit to rotate to perform the cleaning function, but also can drive the cleaning unit to swing by rotating forward or reverse (such as rotating along a first rotation direction and rotating along a second rotation direction) through the output shaft of the driving component, so that the cleaning unit can be lifted by swinging, which can significantly save product space and cost, and also avoid the problem of the power supply circuit becoming complicated.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The technical solution of one aspect of the present invention proposes a cleaning robot, comprising: a base; a cleaning component, comprising a base and a cleaning unit, wherein the cleaning unit is rotatably arranged on the base, and a swing arm is provided on the side of the base, and the swing arm is rotatably connected to the base; a driving device, arranged on the base, comprising a first shaft, a clutch structure, a transmission structure, and a driving member with an output shaft, the first shaft is transmission-connected to the output shaft, the first shaft is connected to the cleaning unit for driving the cleaning unit to rotate, the clutch structure is arranged between the output shaft and the transmission structure, the clutch structure responds to the output shaft moving along a first rotational direction to switch to a disengaged state, and responds to the output shaft moving along a second rotational direction to switch to an engaged state, the first rotational direction is opposite to the second rotational direction, and the transmission structure is connected to the base for driving the base to swing relative to the base under the drive of the output shaft to lift the cleaning component.

[0006] According to some technical solutions of the present application, the transmission structure includes: an output disk, the clutch structure is arranged between the output shaft and the output disk, and when the clutch structure is in an engaged state, the output shaft can drive the output disk to rotate through the clutch structure; a hanging ear, eccentrically arranged on the output disk, wherein a track groove is provided on the base, and the hanging ear extends into the track groove and can slide along the track groove.

[0007] According to some technical solutions of the present application, the track groove includes a first extension segment and a second extension segment, one end of the first extension segment intersects and penetrates with one end of the second extension segment, the first extension segment and the second extension segment are arranged at an angle, and the first extension segment and the second extension segment are inclined downward from the intersection position toward both sides, and the lowest point of the first extension segment is lower than the lowest point of the second extension segment.

[0008] According to some technical solutions of the present application, the cleaning robot also includes a second shaft, which is transmission-connected to the output shaft, and the second shaft passes through the output disk and is rotationally connected to the output disk. The clutch structure includes: an input disk, nested on the second shaft, located on one axial side of the output disk, the input disk is provided with a first tooth on the side close to the output disk, a spirally extending slide is provided in the input disk, and the second shaft is provided with a shift fork, which is located in the slide; a second tooth, the output disk is provided with the second tooth on the side close to the input disk; the input disk moves in response to the output shaft along the first rotation direction to move away from the output disk, so that the first tooth is separated from the second tooth, and the input disk moves in response to the output shaft along the second rotation direction to approach the output disk, so that the first tooth is engaged with the second tooth.

[0009] According to some technical solutions of the present application, the input disc includes a first sub-disc and a second sub-disc, the first sub-disc is located between the second sub-disc and the output disc, the first tooth is provided on the side of the first sub-disc close to the output disc, at least one spirally extending first slope is provided on the side of the first sub-disc facing away from the output disc, and at least one spirally extending second slope is provided on the side of the second sub-disc close to the first sub-disc, the first sub-disc is axially coupled to the second sub-disc, and the spirally extending slide is formed between the first slope and the second slope; and / or retaining walls are provided at both ends of the extension direction of the slide.

[0010] According to some technical solutions of the present application, the driving device also includes a transmission mechanism, and the output shaft is connected to the first shaft and the second shaft through the transmission mechanism; the driving device also includes a box body, the box body is connected to the base, and the transmission mechanism is accommodated in the box body; the first shaft and the second shaft both extend out of the box body, the driving member is connected to the box body and is arranged outside the box body, and the first shaft, the second shaft and the driving member are protruded on the same side of the box body, the base is arranged to be able to semi-enclosedly accommodate the cavity shell of the cleaning unit, the box body is arranged at one axial end of the cavity shell, the first shaft passes through the wall at one axial end of the cavity shell and is connected to the cleaning unit, and the second shaft and the driving member are located on the side of the cavity shell facing away from the cleaning unit.

[0011] According to some technical solutions of the present application, the transmission mechanism includes a first pulley, a second pulley, a third pulley, a fourth pulley, a first transmission belt, and a second transmission belt. The first pulley is connected to the output shaft, the second pulley and the third pulley are connected to the second shaft, and the fourth pulley is connected to the first shaft. The first transmission belt is nested in the first pulley and the second pulley, and the second transmission belt is nested in the third pulley and the fourth pulley.

[0012] According to some technical solutions of the present application, the cleaning robot also includes an in-place detection device, which is used to send a signal in response when the base body swings to a preset position, and the in-place detection device includes at least one of a proximity switch and a current sensor; and / or the cleaning component includes at least one of a roller brush component and a middle sweep component.

[0013] According to some technical solutions of the present application, the base is formed with a accommodating cavity with an opening facing downward, and the cleaning component is arranged corresponding to the opening. The base swings relative to the base so that the cleaning unit is upwardly stored in the accommodating cavity, or the cleaning unit is downwardly passed through the opening to extend out of the accommodating cavity.

[0014] According to some technical solutions of the present application, the cleaning robot also includes: an elastic member connected to the base, wherein when the base swings upward relative to the base, the elastic member can be elastically deformed, and the elastic force of the elastic member is used to drive the base to swing downward relative to the base.

[0015] In the present application, the base is connected to the base via a swing arm on its side. In this way, the base can be swung relative to the base along the swing arm to adjust its position. The cleaning unit is rotatably arranged on the base so that the cleaning unit can be raised and lowered along with the base. The driving device includes a first shaft, a clutch structure, a transmission structure, and a driving member having an output shaft. The first shaft is in driving connection with the output shaft of the driving member and is connected to the cleaning unit. In this way, the first shaft can drive the cleaning unit to rotate under the drive of the output shaft to perform the cleaning function. The transmission structure is connected to the base, and a clutch structure is provided between the output shaft and the transmission structure. In this way, when the output shaft moves along a first rotational direction, the clutch structure responds to the output shaft moving along the first rotational direction to switch to a disengaged state. In this case, the clutch structure will not transmit the power from the output shaft to the transmission structure. Accordingly, the transmission structure will not drive the base to swing upward, that is, the cleaning assembly will not be lifted under the drive of the driving member. At this time, the cleaning unit can rotate under the drive of the first shaft to effectively perform the cleaning function; when the output shaft moves along a second rotational direction, the clutch structure responds to the output shaft moving along the second rotational direction to switch to an engaged state. In this case, the clutch structure can transmit the power from the output shaft to the transmission structure, so that the transmission structure further drives the base to swing relative to the base, so that the cleaning unit is lifted by the swing. In this way, the cleaning drive and lifting drive of the cleaning assembly are satisfied by the same driving member, which can significantly save product space and cost, and also avoid the problem of the power supply circuit becoming complicated.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0018] Figure 1 It is a structural diagram of a cleaning robot in one embodiment of the present application.

[0019] Figure 2 yes Figure 1 Schematic diagram of the decomposed structure of the cleaning robot.

[0020] Figure 3 yes Figure 2 Schematic diagram of further decomposition of the cleaning robot.

[0021] Figure 4 It is a schematic diagram of the cross-sectional structure of the cleaning robot described in one embodiment of the present application.

[0022] Figure 5 This is a schematic diagram of the assembly structure of the cleaning component and the driving device in one embodiment of the present application.

[0023] Figure 6 yes Figure 5 Schematic diagram of the exploded structure of the cleaning component and drive device.

[0024] Figure 7 yes Figure 5 Schematic diagram of further decomposition of the cleaning component and drive device.

[0025] Figure 8 yes Figure 5 A cross-sectional diagram of the cleaning component and the driving device in the clutch structure separation state.

[0026] Figure 9 yes Figure 5 A cross-sectional diagram of the cleaning component and the drive device in the clutch structure engaged state.

[0027] Figure 10 It is a schematic diagram of the exploded structure of the driving device in one embodiment of the present application.

[0028] Figure 11 It is a schematic diagram of the exploded structure of the input disk in one embodiment of the present application.

[0029] Figure 12 yes Figure 11 Schematic diagram of the decomposition structure of the input disk from another perspective.

[0030] Figure 13 It is a structural schematic diagram of the clutch structure in a disengaged state in one embodiment of the present application.

[0031] Figure 14 It is a structural schematic diagram of the clutch structure in a transition state in one embodiment of the present application.

[0032] Figure 15 It is a structural schematic diagram of the clutch structure in an engaged state in one embodiment of the present application.

[0033] Figure 16 This is a structural diagram of a driving device in one embodiment of the present application in different working positions of a roller brush.

[0034] Figure 17 This is a structural diagram of a cleaning robot in one embodiment of the present application in different working positions of the roller brush.

[0035] The reference numerals are as follows:

[0036] 10. Base; 11. Base body; 12. Bottom cover; 13. Accommodating cavity; 14. Opening; 15. Track groove; 151. First extension section; 152. Second extension section;

[0037] 20. Cleaning assembly; 21. Base; 22. Swing arm; 23. Cleaning unit;

[0038] 30. Driving device;

[0039] 31. Driving parts;

[0040] 32. First shaft; 321. Shaft body; 322. Connector;

[0041] 33, second shaft; 331, shift fork;

[0042] 34. Clutch structure; 341. Input plate; 3410. Slideway; 3411. First sub-plate; 3412. First slope; 3413. Second sub-plate; 3414. Second slope; 3416. Retaining wall; 342. First tooth; 343. Second tooth;

[0043] 35. Transmission structure; 351. Output disk; 352. Mounting lug;

[0044] 36. Transmission mechanism; 361. First pulley; 362. Second pulley; 363. Third pulley; 364. Fourth pulley; 365. First transmission belt; 366. Second transmission belt;

[0045] 37. Box body; 371. Box seat; 372. Box cover;

[0046] 381. Cap screw; 382. Bearing; 383. Bearing;

[0047] 40. Middle sweep assembly. DETAILED DESCRIPTION

[0048] Although the present invention is susceptible of being embodied in different forms, only some of the specific embodiments are shown in the drawings and will be described in detail in this specification. It should be understood that this description should be regarded as an exemplary illustration of the principles of the invention and is not intended to limit the invention to that described herein.

[0049] Thus, a feature indicated in this specification is intended to illustrate one of the features of one embodiment of the present invention, rather than to imply that every embodiment of the present invention must have the described feature. In addition, it should be noted that this specification describes many features. Although certain features can be combined together to illustrate possible system designs, these features can also be used in other, not explicitly described, combinations. Thus, unless otherwise noted, the described combinations are not intended to be limiting.

[0050] In the embodiments shown in the accompanying drawings, directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of various components of the present invention are not absolute but relative. These descriptions are applicable when these components are in the positions shown in the accompanying drawings. If the descriptions of the positions of these components are changed, these directional indications will also change accordingly.

[0051] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of the present invention will be more comprehensive and complete, and will fully convey the concepts of the example embodiments to those skilled in the art. The accompanying drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. Identical reference numerals in the figures indicate identical or similar parts, and thus repeated descriptions thereof will be omitted.

[0052] Combine Figures 1 to 6 and Figure 8 and Figure 9 It can be understood that an embodiment of one aspect of the present invention provides a cleaning robot, comprising: a base 10 , a cleaning component 20 , and a driving device 30 .

[0053] The base 10 includes a base body 11 and a bottom cover 12 covering the bottom of the base body 11. The base body 11 is provided with a receiving cavity 13, and the bottom cover 12 is provided with an opening 14 at a position corresponding to the receiving cavity 13.

[0054] The cleaning assembly 20 is used to perform cleaning functions. For example, the cleaning assembly 20 may include a roller brush assembly for mopping and a middle sweep assembly 40 for sweeping. For example, a cleaning robot with both sweeping and mopping functions is equipped with a roller brush assembly and a middle sweep assembly. Both the roller brush assembly and the middle sweep assembly are arranged to be movable, lowering to contact the ground and raising to lift off the ground. Preferably, the lifting and lowering movements of the roller brush assembly and the middle sweep assembly are independently controlled. When the cleaning robot is performing a single sweeping function, the middle sweep assembly is lowered to perform cleaning operations, while the roller brush assembly is raised off the ground. This position allows for smooth cleaning of complex surfaces such as carpets. When the cleaning robot is performing a single mopping function, the roller brush assembly is lowered to perform cleaning operations, while the middle sweep assembly is raised off the ground. This allows the roller brush assembly to clean dirt from the ground while preventing large amounts of water from wetting the middle sweep assembly or reducing the risk of water entering the dust bin. When the cleaning robot is performing a double mopping and sweeping function, both the middle sweep assembly and the roller brush assembly are lowered to perform cleaning operations, improving cleaning efficiency. After cleaning, lift the middle sweeper and roller brush assembly to prevent dirty roller brushes from contaminating the floor. When the robot is navigating bumps or recharging, lift the middle sweeper and roller brush assembly for more efficient navigating bumps and recharging.

[0055] In this embodiment, the roller brush assembly is mainly used as an example for detailed explanation. Of course, those skilled in the art can understand that the roller brush assembly or cleaning assembly 20 described later can be replaced with a middle sweep assembly, or, in other embodiments, the cleaning assembly 20 can also be replaced with other cleaning components in the cleaning robot except the middle sweep assembly and the roller brush assembly.

[0056] The cleaning assembly 20 is mounted on the base 10. Specifically, the cleaning assembly 20 is raisable within the accommodating cavity 13 of the base 10. The cleaning assembly 20 is exposed at the bottom of the cleaning robot through an opening 14 in the bottom cover 12, while the rest of the base 11 is covered by the bottom cover 12. The cleaning assembly 20 descends relative to the base 10 and extends downward through the opening 14 into the accommodating cavity 13 to perform cleaning operations. When cleaning is no longer required, the cleaning assembly 20 can be lifted off the ground and returned to the accommodating cavity 13.

[0057] The cleaning assembly 20 includes a base 21 and a cleaning unit 23. If the cleaning assembly 20 is a roller brush assembly, the cleaning unit 23 is a corresponding roller brush. The cleaning unit 23 is rotatably mounted on the base 21. A swing arm 22 is provided on the side of the base 21 and is rotatably connected to the base 10. This allows the cleaning assembly 20 to be substantially hingedly mounted on the base 10. This allows the base 21 to swing relative to the base 10 along the swing arm 22, allowing the cleaning assembly 20 to be raised and lowered relative to the base 10. This simplifies the structure and facilitates assembly.

[0058] The number of the swing arms 22 on the base 21 can be as shown in the following figure. Figure 2 and Figure 3 As shown, two are provided to make the swing of the base 21 more stable while taking into account the convenience of assembly. Of course, in other embodiments, the number of swing arms 22 can be adjusted to 1, 3, 4, 5, etc. according to needs.

[0059] The driving device 30 is arranged on the base 21. The driving device 30 includes a first shaft 32, a clutch structure 34, a transmission structure 35, and a driving member 31 with an output shaft. The first shaft 32 is connected to the output shaft for transmission. The first shaft 32 is connected to the cleaning unit 23 for driving the cleaning unit 23 to rotate. The clutch structure 34 is arranged between the output shaft and the transmission structure 35. The clutch structure 34 switches to a disengaged state in response to the output shaft moving along a first rotational direction and switches to an engaged state in response to the output shaft moving along a second rotational direction. The first rotational direction is opposite to the second rotational direction. The transmission structure 35 is connected to the base 10. The transmission structure 35 is configured to convert the rotational motion of the output shaft into a displacement motion for output. In this way, when the output shaft rotates along the second rotational direction, the clutch structure 34 switches to an engaged state so that the power of the output shaft can be transmitted to the transmission structure 35. At this time, the transmission structure 35 can drive the base 21 to swing relative to the base 10 under the drive of the output shaft to lift the cleaning component 20.

[0060] In this way, by controlling the output shaft to rotate along the first rotation direction, the cleaning unit 23 can be driven to rotate to perform the cleaning work. When the output shaft rotates along the first rotation direction, the clutch structure 34 is correspondingly switched to a disengaged state. The power of the output shaft will not be transmitted to the transmission structure 35 through the clutch structure 34, thus ensuring the cleaning drive efficiency and not lifting the cleaning unit 23 to affect the cleaning effect. By controlling the output shaft to rotate along the second rotation direction, the clutch structure 34 can be switched to an engaged state. At this time, the power of the output shaft can be transmitted to the transmission structure 35 along the clutch structure 34, and further driven by the transmission structure 35 to swing the base 21 relative to the base 10 to lift the cleaning assembly 20. In this way, the driving member 31 used to drive the cleaning unit 23 to rotate is reused to drive the cleaning unit 23 to lift. And only by switching the rotation direction of the output shaft can the cleaning function be switched to the lifting function. This reduces the number of driving members 31 in the product and avoids the complexity of the power supply circuit, which is beneficial to product cost reduction.

[0061] like Figure 4 As shown, the transmission structure 35 includes an output disk 351 and a lug 352 eccentrically disposed on the output disk 351. A clutch structure 34 is disposed between the output shaft and the output disk 351. When the clutch structure 34 is engaged, the output shaft can drive the output disk 351 to rotate via the clutch structure 34. A track groove 15 is disposed on the base 10, and the lug 352 extends into the track groove 15 and can slide along the track groove 15. Utilizing this transmission structure 35, the rotational motion of the output shaft can be converted into angular displacement motion of the lug 352 for output. Specifically, when the output disk 351 rotates under the drive of the output shaft, the lug 352 performs an arc-shaped angular displacement motion. Since the lug 352 is located in the track groove 15, the track groove 15 guides the lug 352, causing the lug 352 to climb along the track groove 15 during the arc-shaped angular displacement motion, thereby driving the base 21 to swing relative to the base 10 to lift the cleaning assembly 20. Of course, the present design is not limited thereto. In other embodiments, the transmission structure 35 may also adopt a cam mechanism or a crank slider mechanism.

[0062] Preferably, if Figure 16As shown, the track groove 15 includes a first extension section 151 and a second extension section 152. The first extension section 151 and the second extension section 152 are arranged at an angle. One end of the first extension section 151 and one end of the second extension section 152 intersect and penetrate at position B. The first extension section 151 and the second extension section 152 are inclined downward toward both sides from the intersection position. The end of the first extension section 151 away from position B is position A, and the end of the second extension section 152 away from position B is position C. Position A is the lowest point of the first extension section 151, and position C is the lowest point of the second extension section 152. Among them, the lowest point A of the first extension section 151 is lower than the lowest point C of the second extension section 152.

[0063] Combined with attachment Figure 16 Detailed description, attached Figure 16 The dotted line in the figure is a horizontal reference line for the position of the opening 14 of the accommodating cavity 13 of the base 10. The horizontal reference lines of the left, middle and right figures are in the same horizontal plane for the convenience of comparison and explanation.

[0064] The output disc 351 is provided with a lug 352, the axis of the lug 352 is misaligned with the axis of the output disc 351, and when the driving member 31 drives the cleaning unit 23 to work along the first rotation direction, the lug 352 is in the roller brush working position A (i.e., the roller brush is attached to the cleaning unit 23). Figure 16 When the cleaning assembly 20 needs to be lifted, the output shaft of the driving member 31 is switched to rotate along the second rotation direction, which causes the clutch structure 34 between the output disc 351 and the output shaft to switch from the separated state to the engaged state, and the driving force of the output shaft is transmitted to the output disc 351, causing the output disc 351 to rotate under the force. At this time, the hanging ear 352 swings upward from the A position in the track groove 15, driving the cleaning assembly 20 to swing upward to achieve the position lifting, that is, the cleaning assembly 20 is lifted from Figure 16 The position below the horizontal dotted line shown in the leftmost figure is raised to Figure 16 The position shown in the middle figure is higher than or equal to the horizontal dotted line until the ear 352 moves to the B position in the track groove 15. At this time, the cleaning component 20 can no longer continue to swing up, and the output disk 351 continues to rotate so that the ear 352 rotates from the B position to the roller brush stop position C (i.e., the attached figure) through an arc-shaped angular displacement movement. Figure 16 (As shown in the C position, it can be understood that since the C position is higher than the A position, at this time, the cleaning component 20 is correspondingly higher than the case where the hanging ear 352 is in the A position, that is, when the hanging ear 352 is in the C position, the cleaning component 20 is still accommodated in the accommodating cavity 13, and since the hanging ear 352 is supported by the track groove 15 in the C position, the cleaning component 20 can be correspondingly stabilized in the accommodating cavity 13, and there is no need for the driving member 31 to be continuously powered, thereby saving more energy.

[0065] Preferably, the second extension section 152 is configured to be arc-shaped to better fit the angular displacement movement of the hanging ear.

[0066] Optionally, the first extension section 151 is configured to be linear. Of course, in other embodiments, the first extension section 151 can also be configured to be arc-shaped as required to fit the angular displacement movement of the hanging ear.

[0067] In order to avoid the problem of overloading of the driving member 31 or the hanging ear 352, it is preferred to set the cleaning robot to also include an in-place detection device, which is used to send a signal in response when the base 21 swings to a preset position, so that the cleaning robot can timely cut off the power to the driving member 31 based on the signal sent by the in-place detection device to protect the driving member 31 and the hanging ear 352.

[0068] Optionally, the in-position detection device includes a proximity switch. For example, the proximity switch is used to detect the position of the hanging ear 352. When the hanging ear 352 reaches the C position or passes the B position, the proximity switch sends a signal in response. Alternatively, the proximity switch is used to detect the position of the cleaning unit 23 or the base 21. When the cleaning unit 23 or the base 21 reaches the position of the cleaning unit 23 or the base 21 in the accommodating cavity 13 corresponding to the moment when the hanging ear 352 is in the C position or the B position, the proximity switch sends a signal in response.

[0069] Optionally, the in-position detection device includes a current sensor. For example, when the in-position detection device detects that the current peak value of the driving member 31 reaches above a preset value, the current sensor sends a signal in response.

[0070] In this way, we can use the current size of the proximity switch or the driving member 31 to determine whether the roller brush assembly is lifted into place or not, thereby avoiding overload problems, and also helping to improve the lifting control accuracy of the cleaning assembly 20, avoiding situations such as inadequate lifting.

[0071] like Figure 8 and Figure 9 As shown, the cleaning robot also includes a second shaft 33, which is transmission-connected to the output shaft. The second shaft 33 passes through the output disk 351 and is rotationally connected to the output disk 351. The driving device 30 also includes a transmission mechanism 36, and the output shaft is connected to the first shaft 32 and the second shaft 33 through the transmission mechanism 36. In this way, the transmission mechanism 36 can be used to conveniently configure the transmission ratios of the first shaft 32 and the second shaft 33, so as to better meet the rotational drive speed requirements and lifting speed requirements of the cleaning unit 23. In addition, this structure can also more conveniently configure the positions of the driving member 31, the first shaft 32, and the second shaft 33, so as to facilitate the internal space design of the cleaning robot.

[0072] For example, further combining Figure 5 、 Figure 6 、 Figure 7It is understood that the drive device 30 further includes a box body 37, which is connected to the base 21, and the transmission mechanism 36 is accommodated in the box body 37. In this way, the transmission mechanism 36 is dustproof and waterproof, reducing the risk of damage and failure.

[0073] For example, Figure 7 As shown, the box body 37 includes a box seat 371 and a box cover 372. The box seat 371 and the box cover 372 are connected to form a receiving space. The transmission mechanism 36 is accommodated between the box seat 371 and the box cover 372. The box seat 371 is connected to the base 21. For example, the box body 37 is fixed to the base 21 by screws. The driving member 31, the first shaft 32, the second shaft 33, etc. are all arranged on the box body 37, thereby realizing a stable connection between the driving device 30 and the base 21, which is more conducive to unloading the driving member 31.

[0074] Preferably, combined Figure 5 、 Figure 6 and Figure 10 It can be understood that the first shaft 32 and the second shaft 33 both extend out of the box body 37, the driving member 31 is connected to the box body 37 and is disposed outside the box body 37, and the first shaft 32, the second shaft 33 and the driving member 31 are protruding from the same side of the box body 37. The base 21 is configured as a cavity shell that can semi-enclose the cleaning unit 23. The box body 37 is disposed at one axial end of the cavity shell. The first shaft 32 passes through the wall of the axial end of the cavity shell and is connected to the cleaning unit 23. The second shaft 33 and the driving member 31 are located on the side of the cavity shell that is away from the cleaning unit 23. In this way, when the box body 37 is disposed at the end of the base 21, so that the first shaft 32 passes through one end of the base 21 and is connected to the cleaning unit 23 to drive the cleaning unit 23, the driving member 31 and the second shaft 33 can extend to the position of the peripheral side of the base 21, thereby achieving a compact layout of product components and saving the internal space size of the product. The base 21 is used to semi-enclose the cleaning unit 23, and the second shaft 33 and the driving member 31 are located on the side of the cavity shell facing away from the cleaning unit 23, so that the second shaft 33 and the driving member 31 can be dustproof and waterproof, achieving a compact layout while also ensuring the protection of product components.

[0075] like Figure 7As shown, the transmission mechanism 36 includes a first pulley 361, a second pulley 362, a third pulley 363, a fourth pulley 364, a first transmission belt 365, and a second transmission belt 366. The first pulley 361 is connected to the output shaft, the second pulley 362 and the third pulley 363 are connected to the second shaft 33, and the fourth pulley 364 is connected to the first shaft 32. The first transmission belt 365 is nested between the first pulley 361 and the second pulley 362, and the second transmission belt 366 is nested between the third pulley 363 and the fourth pulley 364. In this way, the output shaft can smoothly drive the first shaft 32 and the second shaft 33 to rotate, and the transmission ratios of the first shaft 32 and the second shaft 33 can be more flexibly configured, with the advantages of simple structure and low cost.

[0076] Preferably, the transmission belt is a synchronous belt.

[0077] Of course, the present design is not limited thereto. In other embodiments, the transmission mechanism 36 may also be a gear mechanism, a chain mechanism, etc.

[0078] Optionally, the cleaning robot further includes an elastic member connected to the base 21. When the base 21 swings upward relative to the base 10, the elastic member deforms elastically, and the elastic force of the elastic member is used to drive the base 21 to swing downward relative to the base 10. In this way, the elastic force of the elastic member drives the base 21 to swing downward, so that the cleaning unit 23 can contact the ground under the action of the elastic force, thereby enhancing the cleaning effect. Preferably, the elastic member can be a spring or a spring.

[0079] The driving member 31 is specifically a motor, and the output shaft is specifically a motor shaft. The driving member 31 is disposed on a box seat 371 of the box body 37 and is disposed so as to protrude relative to the box seat 371 toward a side facing away from the box cover 372. The output shaft of the driving member 31 passes through the box seat 371 and extends into the box body 37 to be connected to the transmission mechanism 36 in the box body 37.

[0080] The first shaft 32 specifically includes a shaft body 321 and a connector 322. The shaft body 321 is passed through the box body 37. A bearing 383 is supported between the box body 37 and the shaft body 321. One end of the shaft body 321 passes through the box seat 371 to extend out of the box body 37. The protruding end of the shaft body 321 is provided with the connector 322 adapted to the cleaning unit 23, so that the connector 322 can be used to penetrate into one axial end of the cleaning unit 23 to drive the cleaning unit 23 to rotate. The part of the shaft body 321 located in the box body 37 is connected to the transmission mechanism 36, so that the first shaft 32 rotates relative to the box body 37 under the drive of the output shaft.

[0081] The second shaft 33 is provided on the box body 37. The part of the second shaft 33 located inside the box body 37 is connected to the transmission mechanism 36, so that the second shaft 33 rotates relative to the box body 37 under the drive of the output shaft. One end of the second shaft 33 passes through the box seat 371 to extend outside the box body 37.

[0082] The clutch mechanism 34 includes an input disc 341 with first teeth 342 and second teeth 343 mounted on an output disc 351. The output disc 351 is nested and connected to the extended end of the second shaft 33 via a bearing 382. A cap screw 381 is mounted on the end of the extended end of the second shaft 33. One axial end of the output disc 351 is restrained by the cap screw 381, while the other end is restrained by a shoulder on the second shaft 33. This allows the input disc 341 to rotate only relative to the second shaft 33, preventing displacement. The input disc 341 is movably disposed axially between the housing 37 and the output disc 351 along the second shaft 33. The first teeth 342 are located on the side of the input disc 341 near the output disc 351. A helically extending slideway 3410 is disposed within the input disc 341. A shift fork 331 is mounted on the second shaft 33 and positioned within the slideway 3410. The second teeth 343 are located on the side of the output disc 351 near the input disc 341.

[0083] When the second shaft 33 rotates under the drive of the output shaft, if the output shaft is currently rotating in the first direction, the interaction between the shift fork and the slideway 3410 causes the input disc 341 to move away from the output disc 351 along the axial direction of the second shaft 33, thereby correspondingly separating the first tooth 342 from the second tooth 343. If the output shaft is currently rotating in the second direction, the interaction between the shift fork and the slideway 3410 causes the input disc 341 to move toward the output disc 351 along the axial direction of the second shaft 33, thereby meshing the first tooth 342 with the second tooth 343. This enables the clutch structure 34 to switch between a disengaged state and an engaged state in response to the first or second rotational direction of the output shaft, and has the advantages of a simple structure and smoother clutch drive.

[0084] It is understood that, in the process of driving the first teeth 342 of the input disc 341 and the second teeth 343 of the output disc 351 from full engagement to full separation, the input disc 341 needs to move a certain distance away from the output disc 351. The time of this distance traveled can be used to drive the cleaning assembly 20 downward. That is, by using the clutch structure 34, the transmission structure can be reused to drive the cleaning assembly 20 downward, so that the lowering process of the cleaning assembly 20 is the opposite of the lifting process. Specifically, Figure 16It can be understood that when the cleaning component 20 is in the roller brush parking position C, since the clutch structure 34 has not yet separated, the output shaft of the driving member 31 rotates along the first rotation direction, so that the clutch structure 34 drives the ear 352 on the output disk 351 to rotate in the opposite direction along the axis of the output shaft to the roller brush lifting position B. When the ear 352 passes the roller brush lifting position B, the first tooth 342 of the input disk 341 of the clutch structure 34 is completely separated from the second tooth 343 of the output disk 351. The output disk 351 is not subject to the driving force of the output shaft. Under the action of inertia and gravity or spring force, the cleaning component 20 swings downward, and accordingly, the ear 352 moves to the roller brush working position A. At this time, the cleaning unit 23 can perform the cleaning work normally.

[0085] like Figure 17 As shown, the structure of the cleaning robot is shown in different working positions of the roller brush. Figure 17 The leftmost figure shows the structure of the cleaning robot when the roller brush is in the working position. At this time, the clutch structure 34 is in the separated state, and the ear 352 is in the A position in the track groove 15 (see Figure 16 Leftmost attached); Figure 17 The middle position of the figure shows the structure of the cleaning robot when the roller brush is in the raised position. At this time, the clutch structure 34 is in the engaged state, and the ear 352 is in the B position in the track groove 15 (see Figure 16 Figure in the middle position); Figure 17 The rightmost figure shows the structure of the cleaning robot when the roller brush is parked. At this time, the clutch structure 34 is in the engaged state, and the ear 352 is in the C position in the track groove 15 (see Figure 16 (rightmost picture).

[0086] Preferably, the input disc 341 includes a first sub-disc 3411 and a second sub-disc 3413, the first sub-disc 3411 is located between the second sub-disc 3413 and the output disc 351, a first tooth 342 is provided on the side of the first sub-disc 3411 close to the output disc 351, at least one spirally extending first slope 3412 is provided on the side of the first sub-disc 3411 facing away from the output disc 351, and at least one spirally extending second slope 3414 is provided on the side of the second sub-disc 3413 close to the first sub-disc 3411. The first sub-disc 3411 and the second sub-disc 3413 are axially coupled to each other, and a spirally extending slideway 3410 is formed between the first slope 3412 and the second slope 3414. This structure makes it easier to form the slide 3410 in the product and to install the shift fork 331 into the slide 3410. A first slope 3412 and a second slope 3414 are formed on both sides of the slide 3410, which can drive the input disk 341 to move closer to and away from the output disk 351 as the second shaft 33 rotates forward and reverse, making the drive more stable.

[0087] Preferably, retaining walls 3416 are respectively provided at both ends of the extension direction of the slideway 3410. In this way, after the first tooth 342 of the input disc 341 is engaged with the second tooth 343 of the output disc 351, the shift fork can abut against the retaining wall 3416 to transmit torque to the input disc 341 to drive the lug 352 to slide along the track groove 15. In this way, during the process of driving the lug 352 to move in angular displacement, the axial force between the input disc 341 and the output disc 351 will not continue to increase, which is beneficial to reducing the risk of damage to the input disc 341 and the output disc 351.

[0088] For example, Figures 11 to 15 As shown, the number of the first slopes 3412 on the first sub-disk 3411 can be as follows: Figure 12 As shown, two first slope surfaces 3412 are arranged symmetrically along the circumferential direction. Of course, in other embodiments, the number of the first slope surfaces 3412 can also be set to 1, 3, 4, 5 or even more.

[0089] Accordingly, the number of the second slopes 3414 on the second sub-disk 3413 can be as follows: Figure 11 As shown, two second slope surfaces 3414 are arranged symmetrically along the circumferential direction. Of course, in other embodiments, the number of the second slope surfaces 3414 can also be set to 1 or 3, 4, 5 or even more.

[0090] Each first slope surface 3412 has a slope foot position and a slope top position. A retaining wall 3416 is protrudingly provided at the slope foot position of each first slope surface 3412 , and the retaining wall 3416 is connected to the slope top position of the adjacent first slope surface 3412 .

[0091] Each second slope surface 3414 has a slope foot position and a slope top position. A retaining wall 3416 is protrudingly provided at the slope foot position of each second slope surface 3414 , and the retaining wall 3416 is connected to the slope top position of the adjacent second slope surface 3414 .

[0092] When the first sub-disc 3411 and the second sub-disc 3413 are axially aligned, the first slope 3412 and the second slope 3414 correspond in position, and the top of the first slope 3412 corresponds to the foot of the second slope 3414, so that a spiral slide 3410 with a roughly uniform axial height is formed between the first slope 3412 and the second slope 3414, and retaining walls 3416 are provided at both ends of the extension direction of the slide 3410.

[0093] When the output shaft rotates along the second rotation direction, the second shaft 33 rotates along the corresponding direction. Figure 13 As shown in the N1 direction, the shift fork 331 moves up along the slide 3410 (as shown in the N1 direction). Figure 14 ), until the shift fork 331 contacts the retaining wall 3416 in the input disk 341 (as shown in FIG. Figure 15As shown in FIG, the first tooth 342 is meshed with the second tooth 343. On the contrary, when the output shaft rotates along the first rotation direction, the second shaft 33 rotates along the corresponding direction. Figure 15 The shift fork 331 is rotated in the opposite direction of the N1 direction until it contacts the retaining wall 3416 in the output disk 351 (as shown in FIG. Figure 13 As shown), the first tooth 342 is separated from the second tooth 343. In this process, the input disc 341 moves along the second shaft 33 within a certain range to engage with or disengage from the output disc 351, thereby achieving the switching of the clutch structure 34 state.

[0094] Preferably, the first sub-disc 3411 and the second sub-disc 3413 are fastened together by screws to facilitate uniform transmission of torque. Of course, in other embodiments, the first sub-disc 3411 and the second sub-disc 3413 can also be connected in other ways, such as snap-fit, plastic welding, etc.

[0095] In the present application, the base 21 is connected to the base 10 via a swing arm 22 on its side. In this way, the base 21 can be swung relative to the base 10 along the swing arm 22 to adjust its position. The cleaning unit 23 is rotatably arranged on the base 21 so that the cleaning unit 23 can be raised and lowered along with the base 21. The driving device 30 includes a first shaft 32, a clutch structure 34, a transmission structure 35, and a driving member 31 having an output shaft. The first shaft 32 is in driving connection with the output shaft of the driving member 31 and is connected to the cleaning unit 23. In this way, the first shaft 32 can drive the cleaning unit 23 to rotate under the drive of the output shaft to perform the cleaning function. The transmission structure 35 is connected to the base 10, and a clutch structure 34 is provided between the output shaft and the transmission structure 35. In this way, when the output shaft moves along the first rotational direction, the clutch structure 34 responds to the output shaft moving along the first rotational direction to switch to a disengaged state. In this case, the clutch structure 34 does not transmit the power from the output shaft to the transmission structure 35. Accordingly, the transmission structure 35 does not drive the base 21 to swing. At this time, the cleaning unit 23 can rotate under the drive of the first shaft 32 to perform the cleaning function; when the output shaft moves along the second rotational direction, the clutch structure 34 responds to the output shaft moving along the second rotational direction to switch to an engaged state. In this case, the clutch structure 34 can transmit the power from the output shaft to the transmission structure 35, so that the transmission structure 35 further drives the base 21 to swing relative to the base 10, so that the cleaning unit 23 is lifted by the swing. In this way, the same driving member 31 satisfies the cleaning drive and lifting drive of the cleaning assembly 20, which can significantly save product space and cost, and also avoid the problem of the power supply circuit becoming complicated.

[0096] While the present invention has been described with reference to several exemplary embodiments, it should be understood that the terms used are intended to be illustrative and exemplary rather than restrictive. Since the present invention can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above-described embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope of the appended claims. All changes and modifications that fall within the scope of the claims or their equivalents are intended to be covered by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: base; A cleaning assembly comprises a base and a cleaning unit, wherein the cleaning unit is rotatably disposed on the base, a swing arm is provided on a side of the base, and the swing arm is rotatably connected to the base; The driving device is provided on the base, and includes a first shaft, a clutch structure, a transmission structure, and a driving member having an output shaft, the transmission structure including an output disk and a hanging ear eccentrically arranged on the output disk, the first shaft is connected to the output shaft in a transmission manner, the first shaft is connected to the cleaning unit for driving the cleaning unit to rotate, the clutch structure is provided between the output shaft and the output disk, the clutch structure responds to the output shaft moving along a first rotational direction to switch to a disengaged state, and responds to the output shaft moving along a second rotational direction to switch to an engaged state, the first rotational direction is opposite to the second rotational direction, and the transmission structure is connected to the base, so as to drive the base to swing relative to the base under the drive of the output shaft to lift the cleaning component; Wherein, when the clutch structure is in an engaged state, the output shaft can drive the output disk to rotate through the clutch structure, a track groove is provided on the base, and the hanging ear extends into the track groove and can slide along the track groove.

2. The cleaning robot according to claim 1, characterized in that: The track groove includes a first extension section and a second extension section, one end of the first extension section intersects and penetrates with one end of the second extension section, the first extension section and the second extension section are arranged at an angle, and the first extension section and the second extension section are inclined downward from the intersection position toward both sides, and the lowest point of the first extension section is lower than the lowest point of the second extension section.

3. The cleaning robot according to claim 1, characterized in that: The cleaning robot further includes a second shaft, the second shaft being in driving connection with the output shaft, the second shaft passing through the output disk and being in rotational connection with the output disk, and the clutch structure including: an input disc, nested on the second shaft and located on one axial side of the output disc, the input disc being provided with a first tooth on a side close to the output disc, a spirally extending slideway being provided in the input disc, a shift fork being provided on the second shaft, and the shift fork being located in the slideway; a second tooth, the second tooth being provided on a side of the output disc close to the input disc; The input disc moves away from the output disc in response to the output shaft in the first rotational direction, separating the first tooth from the second tooth. The input disc moves toward the output disc in response to the output shaft in the second rotational direction, meshing the first tooth with the second tooth.

4. The cleaning robot according to claim 3, characterized in that: The input disc includes a first sub-disc and a second sub-disc, the first sub-disc is located between the second sub-disc and the output disc, the first tooth is provided on a side of the first sub-disc close to the output disc, at least one spirally extending first slope is provided on a side of the first sub-disc facing away from the output disc, and at least one spirally extending second slope is provided on a side of the second sub-disc close to the first sub-disc, the first sub-disc is axially coupled to the second sub-disc, and the spirally extending slideway is formed between the first slope and the second slope; and / or Retaining walls are respectively provided at both ends of the slideway in the extension direction.

5. The cleaning robot according to claim 3, characterized in that: The driving device further includes a transmission mechanism, and the output shaft is connected to the first shaft and the second shaft through the transmission mechanism; The driving device further comprises a box body, the box body is connected to the base body, and the transmission mechanism is accommodated in the box body; The first shaft and the second shaft both extend out of the box body, the driving member is connected to the box body and is arranged outside the box body, and the first shaft, the second shaft and the driving member are protruded on the same side of the box body, and the base is configured to semi-enclose a cavity shell that can accommodate the cleaning unit, the box body is arranged at one axial end of the cavity shell, the first shaft passes through the wall of one axial end of the cavity shell and is connected to the cleaning unit, and the second shaft and the driving member are located on the side of the cavity shell facing away from the cleaning unit.

6. The cleaning robot according to claim 5, characterized in that: The transmission mechanism includes a first pulley, a second pulley, a third pulley, a fourth pulley, a first transmission belt, and a second transmission belt. The first pulley is connected to the output shaft, the second pulley and the third pulley are connected to the second shaft, and the fourth pulley is connected to the first shaft. The first transmission belt is nested in the first pulley and the second pulley, and the second transmission belt is nested in the third pulley and the fourth pulley.

7. The cleaning robot according to claim 1 or 2, characterized in that: The cleaning robot further includes an in-place detection device, which is used to send a signal in response when the base body swings to a preset position, and the in-place detection device includes at least one of a proximity switch and a current sensor; and / or The cleaning component includes at least one of a roller brush component and a middle sweep component.

8. The cleaning robot according to claim 1 or 2, characterized in that: The base is formed with a accommodating cavity with an opening facing downward, and the cleaning component is arranged corresponding to the opening. The base swings relative to the base so that the cleaning unit is upwardly stored in the accommodating cavity, or the cleaning unit is downwardly passed through the opening to extend out of the accommodating cavity.

9. The cleaning robot according to claim 1 or 2, characterized in that: Also includes: An elastic member is connected to the base, wherein when the base swings upward relative to the base, the elastic member can be elastically deformed, and the elastic force of the elastic member is used to drive the base to swing downward relative to the base.

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