cleaning robots

Abstract

The present invention discloses a cleaning robot. The cleaning robot includes a body and a cleaning component. The cleaning component is movably arranged at the bottom of the body and can be raised and lowered relative to the bottom of the body. The body is provided with a mounting slot. The cleaning component includes: a cleaning member; a first rotating member connected to the cleaning member; a one-way bearing connected to the first rotating member and coaxially arranged; a lifting swing arm, including a shaft connection and a swinging member, the shaft connection is connected to the one-way bearing, and the swinging member is connected to the mounting slot. When the first rotating member rotates along a first direction, the one-way bearing can rotate. After the first rotating member drives the swinging member to move to a first position of the mounting slot through the one-way bearing, the first rotating member can drive the cleaning member to rotate. When the first rotating member rotates along a second direction, the one-way bearing is locked. The first rotating member drives the swinging member to move to a second position of the mounting slot through the locked one-way bearing. The second position is higher than the first position. The cleaning robot of the present invention can adapt to more usage scenarios.

Description

Technical Field

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

[0002] A cleaning robot is an automated device for cleaning the floor. The cleaning robot comprises a body and a cleaning component, and the cleaning component can clean the floor.

[0003] In some use cases of cleaning robots, it is necessary to lift the cleaning component relative to the bottom of the body to get off the ground. For example, after the cleaning robot finishes cleaning an area, it is necessary to lift the cleaning component when returning to the base station to prevent the dirty cleaning component from causing secondary contamination of the ground. However, existing cleaning robots are unable to achieve this. Summary of the Invention

[0004] The present invention provides a cleaning robot, the cleaning components of which can be raised and lowered, so that the cleaning robot can adapt to more usage scenarios.

[0005] 18. The cleaning robot of claim 17, wherein the cleaning component is movably arranged at the bottom of the body and can be lifted and lowered relative to the bottom of the body, the body being provided with a mounting slot, and the cleaning component comprising: a rotatable cleaning member; a first rotating member connected to the cleaning member; a one-way bearing connected to the first rotating member and coaxially arranged; a lifting swing arm comprising a shaft connection and a swinging member, the shaft connection being connected to the one-way bearing, and the swinging member being connected to the mounting slot, wherein when the first rotating member rotates along a first direction, the one-way bearing is rotatable, and after the first rotating member drives the swinging member to move to a first position of the mounting slot through the one-way bearing, the first rotating member can drive the cleaning member to rotate; when the first rotating member rotates along a second direction, the one-way bearing is locked, and the first rotating member drives the swinging member to move to a second position of the mounting slot through the locked one-way bearing, and the second position is higher than the first position.

[0006] According to the aforementioned embodiment of the first aspect of the present invention, the cleaning assembly further comprises: a rotating driving member, which is transmission-connected to the first rotating member.

[0007] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning assembly further comprises: a swing arm shaft, which fixedly connects the inner ring of the one-way bearing to the shaft connection portion, and the outer ring of the one-way bearing to the first rotating member.

[0008] According to any of the aforementioned embodiments of the first aspect of the present invention, the end of the swing arm shaft facing the shaft connection portion is polygonal in shape and is embedded in the shaft connection portion.

[0009] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning assembly further includes: a tooth box, the first rotating part and the one-way bearing are located inside the tooth box, and the lifting swing arm is at least partially located outside the tooth box; a bearing, which is sleeved on the swing arm shaft, and the outer ring of the bearing is fixedly connected to the tooth box.

[0010] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning assembly further includes: a tooth box, the first rotating member and the one-way bearing are located inside the tooth box, and the lifting swing arm is at least partially located outside the tooth box, wherein the outer wall of the tooth box is provided with a fan-shaped groove, and the lifting swing arm is swung in the fan-shaped groove and limited by the fan-shaped groove.

[0011] According to any of the aforementioned embodiments of the first aspect of the present invention, the fan-shaped groove includes a first abutment wall and a second abutment wall that are angled to each other and arranged opposite to each other. When the first rotating member rotates along the first direction, the swinging portion can rotate to abut the first abutment wall and move to the first position of the mounting groove, so that the cleaning member is in the working position. When the first rotating member rotates along the second direction, the swinging portion can rotate to abut the second abutment wall and move to the second position of the mounting groove, so that the cleaning member is in the raised position.

[0012] According to any of the aforementioned embodiments of the first aspect of the present invention, the swinging portion includes a connecting protrusion extending axially parallel to the one-way bearing, and the mounting groove has a recessed structure at the first position and the second position respectively that matches the shape of at least part of the outer peripheral surface of the connecting protrusion.

[0013] According to any of the aforementioned embodiments of the first aspect of the present invention, the mounting groove includes a support wall connected between the first position and the second position, the connecting protrusion can move between the first position and the second position under the support of the support wall, and the support wall is arc-shaped.

[0014] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning assembly further includes: a cleaning member shell, the cleaning member is rotatably arranged on the cleaning member shell, the cleaning member shell includes a connecting arm extending toward the front or rear side of the fuselage, the connecting arm is rotatably connected to the bottom of the fuselage, and the connecting arm swings relative to the bottom of the fuselage so that the cleaning assembly rises and falls relative to the bottom of the fuselage.

[0015] According to an embodiment of the present invention, a cleaning robot comprises a cleaning assembly movably disposed at the bottom of a body and capable of being raised and lowered relative to the bottom of the body. The cleaning assembly comprises a first rotating member, a one-way bearing, and a lifting swing arm. The lifting swing arm comprises a shaft connection portion and a swinging portion. The shaft connection portion is connected to the one-way bearing, and the swinging portion is connected to a mounting slot. When the first rotating member rotates along a first direction, the one-way bearing is rotatable. The first rotating member, via the one-way bearing, drives the swinging portion to a first position in the mounting slot. At this point, the cleaning assembly is at a lower height, facilitating contact between the cleaning member and the ground. When the first rotating member rotates along the first direction, the first rotating member can also drive the cleaning member to rotate, thereby driving the cleaning assembly to a lower height position and the cleaning member to properly clean the ground. When the first rotating member rotates along a second direction, the one-way bearing is locked. The first rotating member, via the locked one-way bearing, drives the swinging portion to a second position in the mounting slot. The second position is higher than the first position. At this point, the cleaning assembly is raised to a higher height, thereby achieving lift relative to the ground. This facilitates use in scenarios requiring the cleaning assembly to be raised, thereby increasing the applicability of the cleaning robot to a wide range of usage scenarios. The cleaning robot of the embodiment of the present invention can realize the control of the lifting and lowering of the cleaning component by controlling the first rotating part to rotate along the first direction or the second direction, and still realize the normal rotation of the cleaning part in the working state, so that only one power source is required to drive the cleaning component to lift and drive the cleaning part to rotate for cleaning, reducing the manufacturing cost of the cleaning robot and saving hardware layout space.

[0016] In some embodiments, the cleaning component also includes a swing arm shaft, which fixedly connects the inner ring of the one-way bearing to the shaft connection part. By setting the swing arm shaft, a stable connection between the inner ring of the one-way bearing and the lifting swing arm is achieved. The lifting swing arm and the one-way bearing can be arranged at intervals along the axial direction to avoid interference between the one-way bearing and the surrounding components of the one-way bearing and the swinging motion of the lifting swing arm, thereby providing structural reliability of the cleaning component.

[0017] In some embodiments, the end of the swing arm shaft facing the shaft connection portion is polygonal and embedded in the shaft connection portion. When the swing arm shaft rotates, the polygonal end can more stably drive the lifting swing arm to rotate, thereby preventing the swing arm shaft from slipping relative to the lifting swing arm when rotating, and improving the stability of the rotational motion transmission.

[0018] In some embodiments, the cleaning assembly further comprises a tooth box and a bearing, wherein the first rotating member and the one-way bearing are located within the tooth box, and the swing arm shaft is at least partially located outside the tooth box. The provision of the swing arm shaft facilitates the connection between the one-way bearing within the tooth box and the lifting swing arm outside the tooth box, thereby facilitating the transmission of rotational motion. The bearing is sleeved on the swing arm shaft, and the outer ring of the bearing is fixedly connected to the tooth box. The bearing can enhance the load-bearing capacity of the swing arm shaft. During the movement of the swing portion from the first position to the second position of the mounting slot, the cleaning assembly is lifted upward with the swing portion as the fulcrum. At this time, the swing arm shaft and the bearing can jointly bear the weight of the cleaning assembly, thereby stably lifting the cleaning assembly.

[0019] In some embodiments, the cleaning component also includes a tooth box, and a fan-shaped groove is provided on the outer wall of the tooth box. The fan-shaped groove can provide a limit for the swing of the swing arm shaft. When the lifting swing arm swings to raise or lower the cleaning component, the lifting swing arm can first swing to a position stably limited by the fan-shaped groove, thereby making the lifting process of the cleaning component more stable and smooth.

[0020] In some embodiments, the swinging portion includes a connecting protrusion, and the mounting groove has a recessed structure in the first position and the second position, respectively, that matches the shape of at least a portion of the outer peripheral surface of the connecting protrusion. When the swinging portion moves to either the first position or the second position, the recessed structure temporarily limits the swinging portion to that position, thereby avoiding unnecessary shaking of the cleaning component after it is raised or lowered into place, thereby avoiding noise caused by unnecessary shaking, and improving the stability and quietness of the cleaning component in various states.

[0021] In some embodiments, the mounting groove includes a support wall connected between the first position and the second position, and the support wall is arc-shaped, so that during the switching and movement of the connecting protrusion between the first position and the second position, the movement trajectory is smoother and more stable, thereby ensuring the smoothness of the cleaning component lifting process.

[0022] In some embodiments, the cleaning component also includes a cleaning member shell, which includes a connecting arm extending toward the front or rear side of the fuselage, and the connecting arm is rotatably connected to the bottom of the fuselage. At this time, the connecting arm swings relative to the bottom of the fuselage to cause the cleaning component to rise and fall relative to the bottom of the fuselage. The connection point between the connecting arm and the bottom of the fuselage provides a stable support point for the cleaning component, thereby sharing the gravity of the cleaning component carried by the lifting swing arm, thereby facilitating improving the service life of the cleaning component. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 the structures shown in these drawings without paying any creative work.

[0024] Figure 1 A schematic bottom view of an embodiment of a cleaning robot according to the present invention;

[0025] Figure 2 A schematic half-section diagram of a portion of the bottom body and cleaning components of a cleaning robot according to an embodiment of the present invention;

[0026] Figure 3 This is a three-dimensional schematic diagram of a cleaning component of a cleaning robot according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic exploded perspective view of a cleaning component of a cleaning robot according to an embodiment of the present invention;

[0028] Figure 5 A half-section schematic diagram of a portion of the structure of an embodiment of the cleaning robot of the present invention when the cleaning component is lowered;

[0029] Figure 6 is a cross-sectional schematic diagram of an embodiment of the cleaning robot of the present invention when the cleaning component is lowered;

[0030] Figure 7 A half-sectional schematic diagram of a portion of the structure of an embodiment of the cleaning robot of the present invention when the cleaning component is raised;

[0031] Figure 8 This is a cross-sectional schematic diagram of an embodiment of the cleaning robot of the present invention when the cleaning component is raised.

[0032] In the picture:

[0033] 1000-cleaning robot;

[0034] 100-cleaning components;

[0035] 110-cleaning parts;

[0036] 121-first rotating member; 122-second rotating member; 123-belt;

[0037] 130-one-way bearing;

[0038] 140-lifting swing arm; 141-shaft connection; 142-swing part;

[0039] 150-cleaning element housing; 151-connecting arm;

[0040] 160-swing arm shaft;

[0041] 170 - tooth box; 171 - tooth box seat; 172 - tooth box cover; 173 - fan-shaped groove; 173a - first abutting wall; 173b - second abutting wall;

[0042] 180-bearing;

[0043] 200 - fuselage; 210 - mounting slot; 211 - first position; 212 - second position; 213 - support wall.

[0044] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] The cleaning robot includes a body and a cleaning component. In some usage scenarios of the cleaning robot, the cleaning component needs to be lifted relative to the bottom of the body to leave the ground. For example, after the cleaning robot finishes cleaning an area, it needs to lift the cleaning component when returning to the base station to avoid secondary contamination of the ground by the already dirty cleaning component. For example, when the cleaning component includes a mop drum, if a carpet is detected during the cleaning process, the cleaning component including the mop drum needs to be lifted to avoid wetting the carpet. For example, when cleaning tiles or floor areas, the ground is mainly dust or stains. At this time, the cleaning component including the brush can be lifted and only the mop drum can be used to mop the floor. For example, when the cleaning robot is crossing a ridge or recharging, lifting the cleaning component can ensure more efficient crossing and recharging actions.

[0049] Figure 1 This is a bottom view of an embodiment of the cleaning robot of the present invention. Figure 1 The cleaning robot 1000 includes a body 200 and a cleaning assembly 100 . Figure 2 The cleaning assembly 100 is movably mounted on the bottom of the body 200 and can be raised and lowered relative to the bottom of the body 200. The body 200 is provided with a mounting slot 210.

[0050] Figure 3 This is a three-dimensional schematic diagram of a cleaning component of a cleaning robot according to an embodiment of the present invention. Figure 4 The figure is a perspective exploded view of a cleaning assembly of an embodiment of a cleaning robot according to the present invention. The cleaning assembly 100 includes a rotatable cleaning member 110 , a first rotating member 121 , a one-way bearing 130 , and a lifting swing arm 140 .

[0051] In some embodiments, the cleaning member 110 is a brush. In some embodiments, the cleaning member 110 is a mop. In other embodiments, the cleaning member 110 may be other components that achieve a cleaning function by rotating.

[0052] The first rotating member 121 is connected to the cleaning member 110. The first rotating member 121 is, for example, a roller or a gear. In this embodiment, the first rotating member 121 and the cleaning member 110 are coaxial and rotate synchronously. In other embodiments, the cleaning member 110 may be arranged non-coaxially with the cleaning member 110, as long as the cleaning member 110 can directly or indirectly drive the cleaning member 110 to rotate.

[0053] The one-way bearing 130 is coaxially connected to the first rotating member 121. The one-way bearing 130 is, for example, a one-way needle roller bearing. The lifting swing arm 140 includes a shaft connection portion 141 and a swing portion 142. The shaft connection portion 141 is connected to the one-way bearing 130, and the swing portion 142 is connected to the mounting slot 210.

[0054] like Figure 5 and Figure 6 , Figure 5 This is a half-section schematic diagram of a portion of the structure of an embodiment of the cleaning robot of the present invention when the cleaning component is lowered. Figure 6 This is a cross-sectional schematic diagram of an embodiment of the cleaning robot of the present invention when the cleaning component is lowered. When the first rotating member 121 rotates along the first direction, the one-way bearing 130 can rotate. After the first rotating member 121 drives the swinging part 142 to move to the first position 211 of the mounting groove 210 through the one-way bearing 130, the first rotating member 121 can drive the cleaning member 110 to rotate.

[0055] like Figure 7 and Figure 8 , Figure 7 This is a half-section schematic diagram of a portion of the structure of an embodiment of the cleaning robot of the present invention when the cleaning component is raised. Figure 8 This is a cross-sectional schematic diagram of an embodiment of the cleaning robot of the present invention when the cleaning component is raised. When the first rotating member 121 rotates along the second direction, the one-way bearing 130 is locked. The first rotating member 121 drives the swinging portion 142 to move to the second position of the mounting groove 210 through the locked one-way bearing 130. The second position 212 is higher than the first position 211.

[0056] In the above embodiment, the cleaning assembly 100 is movably arranged at the bottom of the fuselage 200 and can be raised and lowered relative to the bottom of the fuselage 200. The cleaning assembly 100 includes a first rotating member 121, a one-way bearing 130, and a lifting swing arm 140. The lifting swing arm 140 includes a shaft connection portion 141 and a swing portion 142. The shaft connection portion 141 is connected to the one-way bearing 130, and the swing portion 142 is connected to the mounting groove 210. When the first rotating member 121 rotates along the first direction, the one-way bearing 130 can rotate, and the first rotating member 121 drives the swinging part 142 to move to the first position 211 of the mounting groove 210 through the one-way bearing 130. At this time, the cleaning component 100 is at a lower height position, which is convenient for the cleaning component 110 to contact the ground. When the first rotating member 121 rotates along the first direction, the first rotating member 121 can also drive the cleaning component 110 to rotate, so that the first rotating member 121 not only drives the cleaning component 100 to switch to a lower height position, but also drives the cleaning component 110, so as to realize normal cleaning of the ground by the cleaning component 100. When the first rotating member 121 rotates along the second direction, the one-way bearing 130 is locked. The first rotating member 121 drives the swinging portion 142 to move to the second position 212 of the mounting groove 210 through the locked one-way bearing 130. The second position 212 is higher than the first position 211. At this time, the cleaning assembly 100 is lifted to a higher position, thereby achieving lifting relative to the ground. This facilitates handling use scenarios that require lifting the cleaning assembly 100, and improves the applicability of the cleaning robot 1000 in a wide range of use scenarios. The cleaning robot 1000 of the embodiment of the present invention can achieve control of the lifting of the cleaning assembly 100 by controlling the first rotating member 121 to rotate along the first direction or the second direction, while still achieving normal rotation of the cleaning member 110 in the working state. Therefore, only one power source is required to drive the cleaning assembly 100 to lift and drive the cleaning member 110 to rotate for cleaning, thereby reducing the manufacturing cost of the cleaning robot 1000 and saving hardware layout space.

[0057] like Figures 1 to 3 In some embodiments, the cleaning component 100 further includes a cleaning member housing 150, the cleaning member 110 is rotatably disposed on the cleaning member housing 150, the cleaning member housing 150 includes a connecting arm 151 extending toward the front or rear side of the fuselage 200, the connecting arm 151 is rotatably connected to the bottom of the fuselage 200, and the connecting arm 151 swings relative to the bottom of the fuselage 200 so that the cleaning component 100 rises and falls relative to the bottom of the fuselage 200.

[0058] In the above embodiment, the cleaning component 100 also includes a cleaning member shell 150, which includes a connecting arm 151 extending toward the front or rear side of the fuselage 200, and the connecting arm 151 is rotatably connected to the bottom of the fuselage 200. At this time, the connecting arm 151 swings relative to the bottom of the fuselage 200 so that the cleaning component 100 rises and falls relative to the bottom of the fuselage 200. The connection point between the connecting arm 151 and the bottom of the fuselage 200 provides a stable support point for the cleaning component 100, thereby sharing the gravity of the cleaning component 100 carried by the lifting swing arm 140, thereby facilitating the improvement of the service life of the cleaning component 100.

[0059] In some embodiments, the cleaning assembly 100 further includes a rotating drive member (not shown), which is transmission-connected to the first rotating member 121. The rotating drive member is, for example, a rotating motor. In this embodiment, the rotating drive member and the first rotating member 121 are transmitted via a gear belt structure, wherein the first rotating member 121 is a gear, and the cleaning assembly 100 further includes a second rotating member 122, which is disposed on the rotating output shaft of the rotating drive member, and the second rotating member 122 is also a gear. The first rotating member 121 and the second rotating member 122 are transmitted via a belt 123. In some other embodiments, other transmission structures can be used to transmit the rotating drive member to the first rotating member 121. For example, in some alternative embodiments, the second rotating member 122 and the first rotating member 121 are both gears, and the second rotating member 122 is directly meshed with the first rotating member 121, or is meshed with each other through at least one other gear, that is, the transmission is achieved through a gear structure. For example, in another alternative embodiment, the second rotating member 122 and the first rotating member 121 are sprockets, and the second rotating member 122 and the first rotating member 121 are jointly engaged with a preset chain, thereby realizing a transmission connection between the rotating driving member and the first rotating member 121 through a chain sprocket structure, so that the rotating driving member can drive the first rotating member 121 to rotate along the first direction or the second direction.

[0060] In some of the above optional embodiments, the rotating drive member is indirectly connected to the first rotating member 121 through a specific transmission structure. In some embodiments, the rotating drive member can also be directly connected to the first rotating member 121, so that the rotating drive member can directly drive the first rotating member 121 to rotate along the first direction or the second direction.

[0061] The rotating drive member can rotate forward or reverse. In some embodiments, when the rotating drive member rotates forward, the transmission structure drives the first rotating member 121 to rotate along the first direction. The first rotating member 121 drives the swinging portion 142 to move to the first position 211 of the mounting groove 210 via the one-way bearing 130. At this time, the cleaning assembly 100 descends to a lower position. When the rotating drive member rotates forward, causing the first rotating member 121 to rotate along the first direction, the one-way bearing 130 is in a rotatable state. The first rotating member 121 continues to drive the cleaning member 110 to rotate, and the cleaning assembly 100 can operate normally and clean the floor normally. When the rotary drive member reverses, the transmission structure drives the first rotary member 121 to rotate along the second direction. At this time, the one-way bearing 130 is in a locked state, that is, the inner ring and outer ring of the one-way bearing 130 are locked and cannot rotate relative to each other. The first rotary member 121 drives the swing portion 142 to move to the second position 212 of the mounting groove 210 through the locked one-way bearing 130. At this time, the cleaning assembly 100 is lifted to a higher position, thereby achieving lifting relative to the ground. After the rotary drive member reverses and lifts the cleaning assembly 100 to a higher position, the rotary drive member can continue to be energized in the reverse state, so that the cleaning assembly 100 remains at this higher position and prevents the cleaning assembly 100 from falling under the action of gravity after being lifted.

[0062] In the above embodiment, only one rotating drive member needs to be set and its forward and reverse rotation needs to be controlled to drive the cleaning component 100 to rise and fall and drive the cleaning member 110 to rotate for normal cleaning work, thereby reducing the manufacturing cost of the cleaning robot 1000 and saving hardware layout space.

[0063] In some embodiments, the cleaning assembly 100 further includes a swing arm shaft 160, which securely connects the inner ring of the one-way bearing 130 to the shaft connection portion 141, and securely connects the outer ring of the one-way bearing 130 to the first rotating member 121. In some embodiments, the swing arm shaft 160 and the shaft connection portion 141 are securely connected via a threaded connector, such as a screw.

[0064] In some embodiments, the first rotating member 121 is annular, and the outer ring of the one-way bearing 130 is embedded in the inner annular surface of the first rotating member 121. The outer ring of the one-way bearing 130 and the first rotating member 121 are interference-fitted or bonded to each other, allowing the first rotating member 121 and the outer ring of the one-way bearing 130 to rotate synchronously. In other embodiments, the outer ring of the one-way bearing 130 can be connected to the first rotating member 121 via other components and configured to rotate synchronously.

[0065] In the above embodiment, by setting the swing arm shaft 160, a stable connection between the inner ring of the one-way bearing 130 and the lifting swing arm 140 is achieved. The lifting swing arm 140 and the one-way bearing 130 can be arranged at intervals along the axial direction to avoid interference between the one-way bearing 130 and the surrounding components of the one-way bearing 130 and the swinging motion of the lifting swing arm 140, thereby providing structural reliability of the cleaning component 100.

[0066] In some embodiments, the end of the swing arm shaft 160 facing the shaft connection portion 141 is polygonal in shape and is embedded in the shaft connection portion 141. In one example, the end of the swing arm shaft 160 facing the shaft connection portion 141 is square in shape. In other embodiments, the end of the swing arm shaft 160 facing the shaft connection portion 141 may also be a triangle, a hexagon, or other polygonal shape. Preferably, the end of the swing arm shaft 160 facing the shaft connection portion 141 is a regular polygon, so that when the swing arm shaft 160 rotates, the rotational load between the swing arm shaft 160 and the shaft connection portion 141 is more evenly distributed along the circumferential direction.

[0067] In the above embodiment, the end of the swing arm shaft 160 facing the shaft connection portion 141 is polygonal and embedded in the shaft connection portion 141. When the swing arm shaft 160 rotates, the polygonal end can more stably drive the lifting swing arm 140 to rotate, thereby preventing the swing arm shaft 160 from slipping relative to the lifting swing arm 140 when rotating, thereby improving the stability of the rotational motion transmission.

[0068] In the above embodiment, the lifting swing arm 140 includes a shaft connection portion 141 and a swing portion 142. The swing arm shaft 160 connects the shaft connection portion 141 to the inner race of the one-way bearing 130, wherein the swing arm shaft 160 and the shaft connection portion 141 are detachably connected. In other embodiments, the swing arm shaft 160 may be integrally formed with the lifting swing arm 140, that is, the swing arm shaft 160 and the shaft connection portion 141 are interconnected to form a one-piece structure, thereby further improving the structural stability of the lifting swing arm 140 and the swing arm shaft 160.

[0069] In some embodiments, the cleaning assembly 100 further includes a tooth box 170 and a bearing 180. The first rotating member 121 and the one-way bearing 130 are located within the tooth box 170, and the lifting swing arm 140 is at least partially located outside the tooth box 170. The bearing 180 is sleeved on the swing arm shaft 160, and the outer ring of the bearing 180 is fixedly connected to the tooth box 170.

[0070] In some embodiments, the tooth box 170 includes a tooth box seat 171 and a tooth box cover 172. The tooth box seat 171 is provided with a receiving groove. The tooth box seat 171 can be fixedly connected to the cleaning member housing 150. The rotating drive member is installed on the outer surface of the tooth box seat 171, and the rotating drive member penetrates into the receiving groove of the tooth box seat 171. The first rotating member 121 and the one-way bearing 130 are accommodated in the receiving groove of the tooth box seat 171. The tooth box cover 172 can be covered on the tooth box seat 171, and the tooth box cover 172 is detachably connected to the tooth box seat 171. The swing arm shaft 160 passes through the tooth box cover 172 to connect the lifting swing arm 140 outside the tooth box 170 with the one-way bearing 130 inside the tooth box 170. A sleeve is provided on one side of the gear box cover 172 facing the gear box seat 171 , and the outer ring of the bearing 180 is fixedly connected to the sleeve of the gear box cover 172 . For example, the outer ring of the bearing 180 is tightly connected to the sleeve by interference fit.

[0071] When the tooth box 170 includes a tooth box seat 171 and a tooth box cover 172, the tooth box cover 172 can be detachably connected to the tooth box seat 171. For example, the edge of the tooth box cover 172 matches the shape of the opening edge of the tooth box seat 171 facing the tooth box cover 172 and is provided with a snap-fit ​​structure, and the tooth box cover 172 and the tooth box seat 171 are connected to each other or detached through the snap-fit ​​structure. For example, the tooth box cover 172 and the tooth box seat 171 are respectively provided with connection holes with matching positions, and a tooth box connector passes through the connection hole of the tooth box cover 172 and is connected to the connection hole of the tooth box seat 171, so that the tooth box cover 172 and the tooth box seat 171 are detachably connected, and the tooth box connector is, for example, a screw.

[0072] In some embodiments, a drive member connection structure is provided on the tooth box 170. The drive member connection structure is, for example, a hole structure, a groove structure, a snap structure, etc. The rotating drive member is installed on the tooth box 170 through the drive member connection structure.

[0073] In some embodiments, the tooth box 170 and the cleaning component housing 150 are detachably connected, so that the tooth box 170 and multiple components installed on the tooth box 170 can be connected or removed from the cleaning component housing 150 as a whole. On the one hand, it is convenient for the modular assembly of the cleaning component 100. On the other hand, when the tooth box 170 and multiple components installed on the tooth box 170 need to be inspected, maintained, or replaced, it is more convenient to perform corresponding operations on the corresponding components.

[0074] In the above embodiment, the cleaning assembly 100 further includes a tooth box 170 and a bearing 180. The first rotating member 121 and the one-way bearing 130 are located within the tooth box 170, and the swing arm shaft 160 is at least partially located outside the tooth box 170. The arrangement of the swing arm shaft 160 facilitates the connection between the one-way bearing 130 within the tooth box 170 and the lifting swing arm 140 outside the tooth box 170, thereby facilitating the transmission of rotational motion. The bearing 180 is sleeved on the swing arm shaft 160, and the outer ring of the bearing 180 is fixedly connected to the tooth box 170. The bearing 180 can enhance the load-bearing capacity of the swing arm shaft 160. During the movement of the swing portion 142 from the first position 211 to the second position 212 of the mounting groove 210, the cleaning assembly 100 is lifted upward with the swing portion 142 as the fulcrum. At this time, the swing arm shaft 160 and the bearing 180 can jointly bear the gravity of the cleaning assembly 100, thereby stably lifting the cleaning assembly 100.

[0075] As mentioned above, in some embodiments, the cleaning assembly 100 also includes a tooth box 170, the first rotating member 121 and the one-way bearing 130 are located in the tooth box 170, and the lifting swing arm 140 is at least partially located outside the tooth box 170, wherein the outer wall of the tooth box 170 is provided with a fan-shaped groove 173, and the lifting swing arm 140 is swung in the fan-shaped groove 173 and limited by the fan-shaped groove 173.

[0076] In the above embodiment, a fan-shaped groove 173 is provided on the outer wall of the tooth box 170, and the fan-shaped groove 173 can provide a limit for the swing of the swing arm shaft 160. When the lifting swing arm 140 swings to raise or lower the cleaning component 100, the lifting swing arm 140 can first swing to a position stably limited by the fan-shaped groove 173, thereby making the lifting and lowering process of the cleaning component 100 more stable and smooth.

[0077] In some embodiments, the fan-shaped groove 173 includes a first abutting wall 173 a and a second abutting wall 173 b that are arranged at an angle to each other and opposite to each other.

[0078] like Figure 5 and Figure 6 When the first rotating member 121 rotates along the first direction, the swinging portion 142 can rotate to abut against the first abutting wall 173a and move to the first position 211 of the mounting groove 210, so that the cleaning member 110 is in the working position.

[0079] like Figure 7 and Figure 8 When the first rotating member 121 rotates along the second direction, the swinging portion 142 can rotate to abut the second abutting wall 173b and move to the second position 212 of the mounting groove 210, so that the cleaning member 110 is in a raised position.

[0080] In the fan-shaped groove 173, the first abutting wall 173a and the second abutting wall 173b form an angle with each other, wherein the angle between the first abutting wall 173a and the second abutting wall 173b is within 180 degrees. In some preferred embodiments, the angle between the first abutting wall 173a and the second abutting wall 173b is between 45 degrees and 135 degrees. Furthermore, in some embodiments, the angle between the first abutting wall 173a and the second abutting wall 173b is between 60 degrees and 100 degrees.

[0081] In some embodiments, the swing portion 142 includes a connecting protrusion extending parallel to the axial direction of the one-way bearing 130, and the mounting groove 210 has a recessed structure at the first position 211 and the second position 212 respectively that matches the shape of at least part of the outer circumferential surface of the connecting protrusion. In this embodiment, the connecting protrusion is a cylindrical protrusion, and the recessed structure is, for example, an arc-shaped recessed structure. In some other embodiments, the connecting protrusion is not limited to a cylindrical protrusion, and can be a shape, for example, it can be a prism. In some preferred embodiments, the circumferential surface of the connecting protrusion that abuts the mounting groove 210 is configured as a curved surface, so that the displacement movement of the swing portion 142 in the mounting groove 210 is smoother. In some embodiments, a rolling element can be provided on the outer periphery of the connecting protrusion of the swing portion 142, for example, a rolling bearing is provided on the outer periphery of the connecting protrusion of the swing portion 142, thereby further improving the smoothness of the displacement movement of the swing portion 142 in the mounting groove 210.

[0082] In the above embodiment, the swinging portion 142 includes a connecting protrusion, and the mounting groove 210 has a recessed structure at the first position 211 and the second position 212, respectively, which matches the shape of at least part of the outer peripheral surface of the connecting protrusion. When the swinging portion 142 moves to any of the first position 211 and the second position 212, the recessed structure temporarily limits the swinging portion 142 to this position, thereby avoiding unnecessary shaking of the cleaning component 100 after it is raised or lowered into place, thereby avoiding noise caused by unnecessary shaking, and improving the stability and quietness of the cleaning component 100 in various states.

[0083] In some embodiments, the mounting slot 210 includes a support wall 213 connected between the first position 211 and the second position 212. The connecting protrusion is supported by the support wall 213 and can move between the first position 211 and the second position 212. The support wall 213 is arc-shaped. In this embodiment, the support wall 213 is arc-shaped and arches toward the space within the mounting slot 210.

[0084] In the above embodiment, the mounting groove 210 includes a support wall 213 connected between the first position 211 and the second position 212. The support wall 213 is arc-shaped, so that during the switching and movement of the connecting protrusion between the first position 211 and the second position 212, the movement trajectory is smoother and more stable, thereby ensuring the smoothness of the lifting and lowering process of the cleaning component 100.

[0085] According to the cleaning robot 1000 according to an embodiment of the present invention, the cleaning component 100 is movably arranged at the bottom of the fuselage 200 and can be raised and lowered relative to the bottom of the fuselage 200. The cleaning component 100 includes a first rotating part 121, a one-way bearing 130, and a lifting swing arm 140. The lifting swing arm 140 includes a shaft connection part 141 and a swing part 142. The shaft connection part 141 is connected to the one-way bearing 130, and the swing part 142 is connected to the mounting groove 210. When the first rotating member 121 rotates along the first direction, the one-way bearing 130 can rotate, and the first rotating member 121 drives the swinging part 142 to move to the first position 211 of the mounting groove 210 through the one-way bearing 130. At this time, the cleaning component 100 is at a lower height position, which is convenient for the cleaning component 110 to contact the ground. When the first rotating member 121 rotates along the first direction, the first rotating member 121 can also drive the cleaning component 110 to rotate, so that the first rotating member 121 not only drives the cleaning component 100 to switch to a lower height position, but also drives the cleaning component 110, so as to realize normal cleaning of the ground by the cleaning component 100. When the first rotating member 121 rotates along the second direction, the one-way bearing 130 is locked. The first rotating member 121 drives the swinging portion 142 to move to the second position 212 of the mounting groove 210 through the locked one-way bearing 130. The second position 212 is higher than the first position 211. At this time, the cleaning assembly 100 is lifted to a higher position, thereby achieving lifting relative to the ground. This facilitates handling use scenarios that require lifting the cleaning assembly 100, and improves the applicability of the cleaning robot 1000 in a wide range of use scenarios. The cleaning robot 1000 of the embodiment of the present invention can achieve control of the lifting of the cleaning assembly 100 by controlling the first rotating member 121 to rotate along the first direction or the second direction, while still achieving normal rotation of the cleaning member 110 in the working state. Therefore, only one power source is required to drive the cleaning assembly 100 to lift and drive the cleaning member 110 to rotate for cleaning, thereby reducing the manufacturing cost of the cleaning robot 1000 and saving hardware layout space.

[0086] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that: The device comprises a body and a cleaning assembly, wherein the cleaning assembly is movably arranged at the bottom of the body and can be raised and lowered relative to the bottom of the body, the body is provided with a mounting slot, and the cleaning assembly comprises: a rotatable cleaning member; a first rotating member connected to the cleaning member; a one-way bearing connected to the first rotating member and coaxially arranged; The lifting swing arm includes a shaft connection part and a swing part, wherein the shaft connection part is connected to the one-way bearing, and the swing part is connected to the mounting groove. Wherein, when the first rotating member rotates along the first direction, the one-way bearing can rotate, and after the first rotating member drives the swinging portion to move to the first position of the mounting groove through the one-way bearing, the first rotating member can drive the cleaning member to rotate; When the first rotating member rotates along the second direction, the one-way bearing is locked, and the first rotating member drives the swinging part to move to the second position of the installation slot through the locked one-way bearing, and the second position is higher than the first position.

2. The cleaning robot according to claim 1, wherein: The cleaning component also includes: A rotating driving member is in transmission connection with the first rotating member.

3. The cleaning robot according to claim 1, wherein: The cleaning component also includes: A swing arm shaft, wherein the swing arm shaft fixedly connects the inner ring of the one-way bearing to the shaft connecting portion, and the outer ring of the one-way bearing is fixedly connected to the first rotating member.

4. The cleaning robot according to claim 3, wherein: The end portion of the swing arm shaft facing the shaft connection portion is polygonal and is embedded in the shaft connection portion.

5. The cleaning robot according to claim 3, wherein: The cleaning component also includes: A gear box, wherein the first rotating member and the one-way bearing are located inside the gear box, and the lifting swing arm is at least partially located outside the gear box; A bearing is sleeved on the swing arm shaft, and an outer ring of the bearing is fixedly connected to the gear box.

6. The cleaning robot according to claim 1, wherein: The cleaning component also includes: The tooth box, the first rotating part and the one-way bearing are located in the tooth box, and the lifting swing arm is at least partially located outside the tooth box, wherein the outer wall of the tooth box is provided with a fan-shaped groove, and the lifting swing arm is swung in the fan-shaped groove and limited by the fan-shaped groove.

7. The cleaning robot according to claim 6, wherein: The fan-shaped groove includes a first abutting wall and a second abutting wall which are arranged at an angle to each other and opposite to each other. When the first rotating member rotates along the first direction, the swing portion can rotate to abut against the first abutting wall and move to the first position of the mounting groove, so that the cleaning member is in the working position. When the first rotating member rotates along the second direction, the swing portion can rotate to abut against the second abutting wall and move to the second position of the mounting groove, so that the cleaning member is in a raised position.

8. The cleaning robot according to claim 1, wherein: The swing portion includes a connecting protrusion extending parallel to the axial direction of the one-way bearing, and the mounting groove has a recessed structure matching the shape of at least a portion of the outer circumferential surface of the connecting protrusion at the first position and the second position respectively.

9. The cleaning robot according to claim 8, wherein: The mounting groove includes a supporting wall connected between the first position and the second position. The connecting protrusion can move between the first position and the second position under the support of the supporting wall, and the supporting wall is arc-shaped.

10. The cleaning robot according to claim 1, wherein: The cleaning component also includes: A cleaning member housing, wherein the cleaning member is rotatably arranged on the cleaning member housing, the cleaning member housing includes a connecting arm extending toward the front or rear side of the fuselage, the connecting arm is rotatably connected to the bottom of the fuselage, and the connecting arm swings relative to the bottom of the fuselage so that the cleaning component rises and falls relative to the bottom of the fuselage.

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