Lateral translation mechanism, cleaning robot and control method

Abstract

The invention relates to the field of cleaning robots. The invention discloses a lateral translation mechanism, a cleaning robot and a control method.The lateral translation mechanism is applied to the cleaning robot and comprises a lateral translation driving assembly, and the lateral translation driving assembly is connected with a wet type cleaning piece; the lateral translation driving assembly is used for driving the wet-type cleaning piece to translate between a recovery position and an extension position; the union set of the projection of the wet-type cleaning piece on the operation surface and the projection of the bottom shell on the operation surface when the wet-type cleaning piece is located at the recovery position is larger than the union set of the projection of the wet-type cleaning piece on the operation surface and the projection of the bottom shell on the operation surface when the wet-type cleaning piece is located at the recovery position; and the translation direction of the wet cleaning piece in the operation surface intersects with the movement direction of the bottom shell. According to the lateral translation mechanism, the wet type cleaning piece can be driven to stretch out of the machine body to sweep the edge area, and the wet type cleaning piece can be driven to be recycled into the machine body.

Description

Technical Field

[0001] The invention relates to the field of cleaning robots, and in particular to a lateral translation mechanism, a cleaning robot and a control method. Background Art

[0002] When the wet cleaning parts of the household sweeping robot perform wet cleaning on corner areas, there are cleaning dead corners, resulting in poor cleaning effect. Summary of the invention

[0003] In view of this, the present invention provides a lateral translation mechanism, a cleaning robot and a control method.

[0004] Specifically, the following technical solutions are included:

[0005] In a first aspect, a lateral translation mechanism is provided, which is applied to a cleaning robot, wherein the cleaning robot comprises a bottom shell and a wet cleaning member; the wet cleaning member reciprocates and vibrates relative to an operating surface to clean the operating surface;

[0006] The lateral translation mechanism comprises a lateral translation drive assembly, the lateral translation drive assembly is connected to the bottom shell, the lateral translation drive assembly is connected to the wet cleaning member, and the lateral translation drive assembly is used to drive the wet cleaning member to translate between a retracted position and an extended position relative to the bottom shell;

[0007] When the wet cleaning element is in the extended position, the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface is greater than the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface when the wet cleaning element is in the retracted position;

[0008] The translation direction of the wet cleaning member relative to the bottom shell is the width direction of the cleaning robot.

[0009] Optionally, the outer contour of the wet cleaning piece is a chamfered arc shape, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; and / or, the number of the wet cleaning piece is one.

[0010] Optionally, the lateral translation driving assembly includes a driving motor, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are transmission-connected, and the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor into translation; the rotating assembly and the driving shaft of the driving motor are coupled; the driving motor is mounted on the bottom shell, the linear motion assembly is connected to the wet cleaning member to drive the wet cleaning member to translate, and the wet cleaning member is supported below the bottom shell;

[0011] or,

[0012] The lateral translation mechanism also includes a translation bracket; the lateral translation drive assembly includes a drive motor, a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the rotation assembly and the drive shaft of the drive motor are coupled; the drive motor is installed on the bottom shell, the linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning component is supported below the translation bracket.

[0013] Optionally, the rotating component includes a screw, the linear motion component includes a screw nut, and the screw nut and the screw are connected by a thread; or, the rotating component includes a gear, the linear motion component includes a rack, and the gear and the rack are meshingly connected; or, the rotating component includes a first synchronous wheel and a second synchronous wheel, and the linear motion component includes a synchronous belt, and the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel.

[0014] Optionally, the translation bracket is connected to the bottom shell via a support member, and the support member is fixed to the bottom shell;

[0015] A limiting hole is provided on the translation bracket, the central axis of the limiting hole is perpendicular to the operating surface, and the length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning component; the support member and the limiting hole are clamped together, and when the translation bracket translates, the limiting hole translates relative to the support member along the length extension direction of the limiting hole.

[0016] Optionally, the hole wall of the limiting hole includes a side wall, and the support member and the side wall have rolling friction, and / or the hole wall of the limiting hole includes a top wall, and the support member and the top wall have rolling friction.

[0017] Optionally, the linear motion assembly also includes a guide member; a guide groove is provided on the translation bracket, and the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning member; the guide member is located in the guide groove, and the guide member and the guide groove are slidably connected.

[0018] Optionally, the lateral translation mechanism also includes a guide rod and an elastic member; the wet cleaning member includes a guide plate perpendicular to the translation direction, or the translation bracket includes a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; the first end of the guide rod is fixedly connected to the linear motion component, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic member is sleeved on the outer periphery of the guide rod located between the linear motion component and the guide plate; the elastic member is in a compressed state between the linear motion component and the guide plate; or, the elastic member is in a stretched state between the linear motion component and the guide plate.

[0019] Optionally, the lateral translation mechanism also includes a guide rod, and the linear motion component is connected to the translation bracket through the guide rod; the rotating component includes a screw rod, and the linear motion component includes a screw nut, and the screw nut and the screw rod are connected by threads; the screw nut is provided with a screw hole and guide rod holes on both sides of the screw hole, and the axis of the guide rod hole is arranged parallel to the axis of the screw hole; the screw rod and the screw hole are threadedly connected; the guide rod hole and the guide rod are arranged correspondingly, the first end of the guide rod is fixedly connected to the guide rod hole, and the second end of the guide rod is connected to the translation bracket.

[0020] Optionally, the lateral translation mechanism further comprises a position sensor, and the position sensor is used to detect whether the wet cleaning element is in the retracted position and / or whether the wet cleaning element is in the extended position.

[0021] Optionally, a mounting structure is provided on the translation bracket; the cleaning robot also includes: a lifting bracket, fixedly connected to the mounting structure; a retractable supporting structure, one end of the supporting structure is connected to the lifting bracket, and the other end is connected to the wet cleaning piece; the wet cleaning piece is supported by the lifting bracket and the supporting structure below the translation bracket.

[0022] Optionally, the translation bracket includes an avoidance structure of the lifting bracket, the avoidance structure includes a first avoidance groove for accommodating the lifting bracket and / or a step portion recessed toward the bottom shell, the distance between the step portion and the wet cleaning piece is greater than the distance between the non-step portion of the translation bracket and the wet cleaning piece, and an accommodating space for the lifting bracket is formed between the step portion and the wet cleaning piece.

[0023] Optionally, the lifting bracket is inserted into the first avoidance groove, and the bottom shell is provided with a second avoidance groove, and the second avoidance groove is used to accommodate the lifting bracket inserted through the first avoidance groove; when the wet cleaning piece is translated, the lifting bracket is translated in the second avoidance groove along the length extension direction of the second avoidance groove.

[0024] Optionally, the outer contour of the wet cleaning piece is a chamfered arc, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a chamfered arc that matches the projection of the wet cleaning piece on the operating surface.

[0025] Optionally, the translation bracket includes an avoidance structure for the lifting bracket, the avoidance structure includes a step portion recessed toward the bottom shell for accommodating the lifting bracket, the distance between the step portion and the wet cleaning piece is greater than the distance between the non-step portion of the translation bracket and the wet cleaning piece, and an accommodating space for the lifting bracket is formed between the step portion and the wet cleaning piece; the outer contour of the wet cleaning piece is a cut-angle bow, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a cut-angle bow that matches the projection of the wet cleaning piece on the operating surface; the projection of the bottom shell on the operating surface is a cut-angle bow, and the projection of the bottom shell on the operating surface and the projection of the step portion of the translation bracket on the operating surface form a cut-angle bow that matches the projection of the wet cleaning piece on the operating surface.

[0026] In a second aspect, a cleaning robot is provided, comprising the lateral translation mechanism of the first aspect, and further comprising a bottom shell and a wet cleaning member.

[0027] In a third aspect, a control method for a lateral translation mechanism is provided, which is optionally applied to the lateral translation mechanism of the first aspect or the cleaning robot of the second aspect, wherein the lateral translation drive assembly includes a drive motor, and the method includes: in response to detecting an extension instruction, controlling the drive motor to rotate forward to drive the wet cleaning element to translate from a retracted position to an extended position within the operating surface;

[0028] In response to detecting the recovery instruction, the drive motor is controlled to reverse to drive the wet cleaning element to translate from the extended position to the recovery position within the operating surface.

[0029] Optionally, the lateral translation drive assembly also includes a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the rotation assembly and the drive shaft of the drive motor are coupled; the drive motor is mounted on the bottom shell, and the lateral translation mechanism includes a translation bracket; the lateral translation mechanism also includes a guide rod and an elastic member, and the translation bracket is provided with a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; the first end of the guide rod is fixedly connected to the linear motion assembly, and the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic member is sleeved on the guide rod The rod is located at the periphery of the part between the linear motion component and the guide plate; when the wet cleaning component is in the retracted position, the elastic component is in an initial compression state between the linear motion component and the guide plate; controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retracted position to the extended position includes: controlling the drive motor to rotate forward so that the rotating component rotates in a first direction, the linear motion component translates in a second direction, the distance between the linear motion component and the guide plate tends to decrease, the elastic component tends to be further compressed relative to the initial compression state, and the compression elastic force of the elastic component drives the translation bracket to translate in the second direction, thereby driving the wet cleaning component to translate in the second direction.

[0030] Optionally, the lateral translation drive assembly also includes a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the rotation assembly and the drive shaft of the drive motor are coupled; the drive motor is installed on the bottom shell, and the lateral translation mechanism includes a translation bracket; the lateral translation mechanism also includes a guide rod and an elastic member; the translation bracket is provided with a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; the first end of the guide rod is fixedly connected to the linear motion assembly, and the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic member is sleeved on the guide The rod is located at the periphery of the part between the linear motion component and the guide plate; when the wet cleaning piece is in the retracted position, the elastic piece is in an initial stretched state between the linear motion component and the guide plate; controlling the drive motor to rotate forward to drive the wet cleaning piece to translate from the retracted position to the extended position includes: controlling the drive motor to rotate forward so that the rotating component rotates in a first direction, the linear motion component translates in a second direction, the distance between the linear motion component and the guide plate tends to increase, the elastic piece tends to be further stretched relative to the initial stretched state, and the stretching elastic force of the elastic piece drives the translation bracket to translate in the second direction, thereby driving the wet cleaning piece to translate in the second direction.

[0031] Optionally, the linear motion component also includes a guide member; a guide groove is provided on the translation bracket, and the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning member; the guide member is located in the guide groove; controlling the drive motor to reverse to drive the wet cleaning member to translate from the extended position to the retracted position includes: controlling the drive motor to reverse so that the rotating component rotates in a third direction and the linear motion component translates in a fourth direction, the guide member abuts against the guide groove and drives the translation bracket to translate in the fourth direction, thereby driving the wet cleaning member to translate in the fourth direction; the third direction is opposite to the first direction, and the fourth direction is opposite to the second direction.

[0032] Optionally, the method also includes: when the wet cleaning element is in the extended position and is subjected to the force of an obstacle, the translation bracket translates in the opposite direction of the second direction under the action of the force of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate becomes shorter and the elastic element is further compressed relative to the initial compression state; when the force of the obstacle is removed, the elastic element rebounds, and the translation bracket translates in the second direction under the action of the elastic force of the elastic element, driving the wet cleaning element back to the extended position.

[0033] Optionally, the method also includes: when the wet cleaning element is in the extended position and is subjected to the force of an obstacle, the translation bracket translates in the direction opposite to the second direction under the action of the force of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate becomes longer and the elastic element is further stretched relative to the initial stretched state; when the force of the obstacle is removed, the elastic element rebounds, and the translation bracket translates in the second direction under the action of the elastic force of the elastic element, driving the wet cleaning element back to the extended position.

[0034] Optionally, the lateral translation mechanism also includes a position sensor, which is used to detect whether the wet cleaning element is in the recovery position and whether the wet cleaning element is in the extended position; in response to detecting the extension instruction, controlling the drive motor to rotate forward to drive the wet cleaning element to translate from the recovery position to the extended position, including: in response to the position sensor detecting that the wet cleaning element is in the extended position, controlling the lateral translation drive component to stop driving the wet cleaning element; in response to detecting the recovery instruction, controlling the drive motor to reverse to drive the wet cleaning element to translate from the extended position to the recovery position, including: in response to the position sensor detecting that the wet cleaning element is in the recovery position, controlling the lateral translation drive component to stop driving the wet cleaning element.

[0035] The beneficial effects of the technical solution provided by the present invention include at least:

[0036] The lateral translation mechanism of the embodiment of the present application can drive the wet cleaning element to translate from the retracted position to the extended position, so that the wet cleaning element can be extended from the body to perform wet cleaning on the corner areas, thereby reducing the cleaning dead corners in the corner areas and improving the cleaning effect of the corner areas; the lateral translation mechanism can also drive the wet cleaning element to translate from the extended position to the retracted position, which can reduce the cleaning dead corners in the corner areas while avoiding scratching furniture or being affected by obstacles as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a schematic diagram of the structure of an existing cleaning robot;

[0039] Figure 2 This is a schematic diagram of the structure of an existing cleaning robot when viewed from above;

[0040] Figure 3 It is an exploded schematic diagram of the installation structure of the lateral translation mechanism according to one embodiment of the present invention;

[0041] Figure 4 A schematic diagram of the bottom shell structure of an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the installation structure of the lateral translation drive assembly on the bottom shell according to one embodiment of the present invention;

[0043] Figure 6 A schematic diagram of the translation support structure of an embodiment of the present invention;

[0044] Figure 7 It is another structural schematic diagram of a translation support according to an embodiment of the present invention;

[0045] Figure 8 It is a schematic diagram of the installation structure of a support member on a translation bracket according to an embodiment of the present invention;

[0046] Fig. 9 This is a schematic diagram of the support structure of an embodiment of the present invention;

[0047] Fig.10 A schematic structural diagram of a translation support in a recovered state according to an embodiment of the present invention;

[0048] Fig.11 This is a schematic structural diagram of a translation support in a working state according to an embodiment of the present invention;

[0049] Fig.12 It is a schematic structural diagram of a translation support in a passive recovery state according to an embodiment of the present invention.

[0050] The reference numerals in the figures represent respectively:

[0051] 100-cleaning robot; 110-main body; 111-forward part; 112-rearward part; 120-driving wheel module;

[0052] 1-fastener; 2-bottom shell; 3-elastic member; 4-guide rod; 5-screw rod; 6-screw rod nut; 7-coupling; 8-drive motor; 9-motor holder; 10-circuit board; 11-translation bracket; 12-support member; 121-first fixed plate; 122-second fixed plate; 123-first limiting column; 124-second limiting column; 13-sliding roller; 14-circuit spring; 15-wet cleaning member; 16-motor mounting plate; 17-coupling mounting hole; 18-screw rod mounting hole; 19-fixing hole; 20-circuit board mounting hole; 21-guide hole; 22-guide groove; 23-position baffle; 24-limiting hole; 25-matching plate; 26-first mounting structure; 27-second mounting structure; 28-first avoidance groove; 29-second lifting bracket; 30-first lifting bracket; 31-second avoidance groove; 32-third avoidance groove.

[0053] The above drawings have shown a clear embodiment of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper part", "lower part", "side part", etc., are Figure 1 The directions shown in the figure are for reference only and do not limit the protection scope of the present invention.

[0056] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0057] Embodiment 1

[0058] Automatic cleaning robots are becoming more and more popular in users' homes, greatly simplifying daily cleaning tasks. Figure 1-2 As shown, the cleaning robot 100, such as a sweeping robot, a mopping robot, and a sweeping and mopping robot, can automatically move on an operating surface to clean the operating surface. The operating surface may be a floor surface, a tile surface, a carpet, etc. The carpet may also include a short-pile carpet and a long-pile carpet, etc. The operating surface may be a horizontal surface, a vertical surface, an inclined surface, etc.

[0059] The cleaning robot 100 generally includes a main body 110, a sensing module, a controller, a driving module, a cleaning system, an energy system, and a human-machine interaction module. Figure 1 As shown, the main body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both the front and rear are circular), and may also have other shapes, including but not limited to an approximately D-shaped shape with a front and rear circular shape and a rectangular or square shape with a front and rear. The main body 110 includes a bottom shell.

[0060] The perception module includes a position determination device located on the main body 110, a collision sensor arranged on the front collision structure of the forward part 111 of the main body 110, a short-distance sensor (wall sensor) located on the side of the machine, a cliff sensor arranged at the lower part of the main body 110, and a magnetometer, accelerometer, gyroscope, odometer and other sensing devices arranged inside the main body 110, which are used to provide the controller with various position information and motion state information of the machine. In addition, the position determination device can also be used to determine the information of the obstacle, such as the height, width and other size information of the obstacle, to determine whether the robot can cross. The position determination device includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor). In some preferred implementations, the position determination device (such as a camera, a laser sensor, etc.) is located on the front side of the main body 110, that is, the front end of the forward part 111, so as to be able to more accurately sense the environment in front of the cleaning robot and achieve precise positioning.

[0061] The controller is arranged on the circuit board in the main body 110, and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory. The application processor uses a positioning algorithm, such as SLAM (Simultaneous Localization And Mapping), to draw a real-time map of the environment where the cleaning robot 100 is located based on the obstacle information fed back by the laser ranging device. And combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensor devices set on the front collision structure, it is comprehensively judged what working state the cleaning robot 100 is currently in, where it is located, and the current posture of the cleaning robot 100, such as passing the threshold, getting on the carpet, being on the cliff, being stuck above or below, the dust box is full, being picked up, etc., and specific next action strategies are given for different situations, so that the cleaning robot 100 has better cleaning performance and user experience.

[0062] The driving module can manipulate the main body 110 to travel across the ground based on a driving command with distance and angle information. The driving module includes a driving wheel module 120, and the driving wheel module 120 can control the left driving wheel and the right driving wheel. In order to more accurately control the movement of the robot, it is preferred that the driving wheel includes a left driving wheel module and a right driving wheel module respectively. The left and right driving wheel modules are arranged along the transverse axis defined by the main body 110. In order for the cleaning robot 100 to be able to move more stably or have stronger movement ability on the ground, the cleaning robot 100 may include one or more driven wheels, and the driven wheels include but are not limited to universal wheels. The driving wheel module includes a driving motor and a control circuit for controlling the driving motor, and the driving wheel module can also be connected to a circuit and an odometer for measuring the driving current. And the left driving wheel and the right driving wheel may have a biased drop-down suspension system, which is fastened in a movable manner, for example, attached to the main body 110 in a rotatable manner, and receives a spring bias biased downward and away from the main body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain pressure.

[0063] The cleaning system may include a dry cleaning system and / or a wet cleaning system. The dry cleaning system may include a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dry cleaning system may also include a side brush with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0064] The wet cleaning system may include: a wet cleaning member 15, a lifting unit, a water supply mechanism, a liquid storage tank, etc. The wet cleaning member 15 may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank is transmitted to the wet cleaning member 15 through the water supply mechanism, so that the wet cleaning member 15 performs wet cleaning on the operating surface. In some preferred embodiments, the cleaning liquid in the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the wet cleaning member 15 cleans the plane by evenly applying the cleaning liquid.

[0065] For example, when the wet cleaning element 15 is not temporarily involved in the work, the lifting unit can be used to lift the wet cleaning element 15 away from the operating surface, and when the wet cleaning element 15 is required to participate in the work, the lifting unit can be used to lower the wet cleaning element 15 to contact the operating surface. For example, when the cleaning robot 100 docks at the base station to clean the wet cleaning element, or encounters an operating surface that cannot be cleaned by the wet cleaning element 15, the wet cleaning element 15 is temporarily not involved in the work.

[0066] Exemplarily, the wet cleaning element 15 can be mounted on the bottom shell of the main body 110, for example, mounted on the bottom of the rear portion of the main body 110. In this case, the wet cleaning element 15 is installed at the tail of the sweeping robot.

[0067] Exemplarily, the wet cleaning member 15 includes a drag plate and a mop disposed on the drag plate. The wet cleaning system also includes a reciprocating motion driving unit, which drives the mop to reciprocate at high frequency and generates high-frequency friction with the operating surface, thereby removing stains on the operating surface. Exemplarily, the drag plate may include a drag plate body and a support portion, the drag plate body is detachably connected to the support portion, and the mop is disposed on the drag plate body. Exemplarily, the lifting unit may include a lifting driving unit, a lifting bracket, and a retractable support structure (for example, a connecting rod support structure, a scissor-type support structure, a mast support structure, a sleeve support structure, and a parallelogram telescopic frame type), and the following description is made by taking the supporting structure as a connecting rod pair as an example. When the supporting structure is a connecting rod pair, the lifting driving unit may include a motor, a bobbin and a rope, and the motor is used to control the winding length of the rope on the bobbin, thereby controlling the distance between the wet cleaning member and the bottom shell of the main body. Exemplarily, the wet cleaning member 15 is mounted to the bottom of the main body 110 through a lifting bracket. For example, when the wet cleaning member 15 is usually installed at the tail of the sweeping robot, the wet cleaning member 15 is mounted to the bottom of the rear portion of the main body 110 through a lifting bracket. For example, the two ends of the connecting rod pair are respectively hinged to the lifting bracket and the wet cleaning member 15 (for example, the support portion of the wet cleaning member 15), and the lifting drive unit drives the wet cleaning member 15 to lift relative to the lifting bracket. For example, the lifting unit can be arranged on a side of the support portion away from the operating surface.

[0068] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit. The host is charged by connecting to a charging pile through charging electrodes arranged on the side or bottom of the fuselage.

[0069] The human-computer interaction module includes buttons on the host panel, which are used by the user to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current mode of the machine or the function selection items to the user; it may also include a mobile client program. For the path navigation type automatic cleaning robot 100, the mobile client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide the user with more abundant and humanized functional items. Specifically, the cleaning robot has multiple modes, such as working mode, self-cleaning mode, etc. Among them, the working mode refers to the mode in which the cleaning robot performs automatic cleaning operations, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt from the roller brush and side brush on the base, and automatically collects dirt, and / or automatically washes and dries the mop.

[0070] For the convenience of description, the following directions are defined: the cleaning robot 100 can be calibrated by defining the following three mutually perpendicular axes: the transverse axis Y, the front-rear axis X, and the vertical axis Z. The direction indicated by the arrow along the front-rear axis X is marked as "backward", and the direction opposite to the arrow direction along the front-rear axis X is marked as "forward". The transverse axis Y is essentially along the width of the cleaning robot 100. The direction along the arrow of the transverse axis Y is marked as "left", and the direction opposite to the arrow of the transverse axis Y is marked as "right". The direction perpendicular to both the front-rear axis X and the transverse axis Y is the direction of the vertical axis Z.

[0071] like Figure 2 As shown, the wet cleaning element 15 is arranged at the tail of the cleaning robot. When cleaning corners, even if the main body moves along the corners, due to the shape limitation of the cleaning robot, the draggable area of ​​the wet cleaning element 15 is at a certain distance from the wall forming the corners, resulting in a cleaning dead corner along the corners. This problem is particularly significant when the wet cleaning element 15 is a single wet cleaning element that performs cleaning by reciprocating relative to the operating surface.

[0072] like Figure 3 , Fig.10 and Fig.11As shown, an embodiment of the present application provides a lateral translation mechanism, which is applied to a cleaning robot, and the cleaning robot includes a bottom shell 2 and a wet cleaning piece 15; the wet cleaning piece 15 reciprocates and vibrates relative to an operating surface to clean the operating surface; the lateral translation mechanism includes a lateral translation drive assembly, the lateral translation drive assembly is connected to the bottom shell 2, and the lateral translation drive assembly is connected to the wet cleaning piece 15, and the lateral translation drive assembly is used to drive the wet cleaning piece 15 to translate between a retracted position and an extended position relative to the bottom shell 2; when the wet cleaning piece 15 is in the extended position, the union of the projection of the wet cleaning piece 15 on the operating surface and the projection of the bottom shell 2 on the operating surface is greater than the union of the projection of the wet cleaning piece 15 on the operating surface and the projection of the bottom shell 2 on the operating surface when the wet cleaning piece 15 is in the retracted position; the translation direction of the wet cleaning piece 15 relative to the bottom shell 2 is the width direction of the cleaning robot.

[0073] The bottom shell 2 may be the bottom of the main body of the cleaning robot. The wet cleaning member 15 may perform various movements within the operating surface. For example, on the one hand, the wet cleaning member 15 may be translated or rotated within the operating surface driven by the bottom shell 2, and the center of the wet cleaning member 15 is stationary relative to the bottom shell 2 (without considering the high-frequency reciprocating motion of the wet cleaning member 15); on the other hand, the wet cleaning member 15 may be translated relative to the bottom shell 2 within the operating surface driven by the lateral translation mechanism, and the translation of the wet cleaning member 15 relative to the bottom shell 2 is between the retracted position and the extended position, and the translation direction is the width direction of the cleaning robot. It can be understood that when the wet cleaning element 15 is translated from the retracted position to the extended position relative to the bottom shell 2, the wet cleaning element 15 is translated toward the outside of the bottom shell 2 along the width direction of the cleaning robot; when the wet cleaning element 15 is translated from the extended position to the retracted position relative to the bottom shell 2, the wet cleaning element 15 is translated toward the inside of the bottom shell 2 along the width direction of the cleaning robot. In this way, relative to the forward and backward movement direction of the cleaning robot, the translation direction of the wet cleaning element 15 relative to the bottom shell 2 is a lateral translation.

[0074] It is understandable that the wet cleaning element 15 can be translated relative to the bottom shell 2 while the wet cleaning element 15 is translated or rotated within the operating surface driven by the bottom shell 2 , or it can be translated relative to the bottom shell 2 when the center of the wet cleaning element 15 is stationary.

[0075] In this embodiment, the wet cleaning member 15 moves relative to the bottom shell 2 by translation rather than swinging, which can make the structure of the lateral translation driving component for driving the wet cleaning member 15 to move relative to the bottom shell 2 simpler.

[0076] The lateral translation drive assembly drives the wet cleaning member 15 to extend or retract relative to the bottom shell 2 in the operating surface. When the wet cleaning member 15 needs to clean the corner area, the lateral translation drive assembly drives the wet cleaning member 15 to extend from the bottom shell 2 (such as Fig.11 When there is no need to clean the corners, for example, when the wet cleaning member 15 needs to clean an open area, the lateral translation drive assembly drives the wet cleaning member 15 to be recovered below the bottom shell 2 (as shown); Fig.10 shown).

[0077] When the wet cleaning member 15 is in the extended position, the extent to which the wet cleaning member 15 extends out of the bottom shell 2 can be determined as required, and the extended length of the wet cleaning member 15 is matched with the position of the cleaning robot 100, so that the mop of the wet cleaning member 15 and the corners have a certain interference amount. If the wet cleaning member 15 extends out of the bottom shell 2 too short, the cleaning effect on the corner area is limited. If the wet cleaning member 15 extends out of the bottom shell 2 too long, it is not only difficult to ensure the alignment and controllability of the translation, but also easy to collide with obstacles or be stuck by obstacles. When the wet cleaning member 15 is in the extended position, the extended portion of the wet cleaning member 15 can account for 1 / 10-1 / 2 of the total length of the wet cleaning member 15 in the width direction of the cleaning robot.

[0078] Exemplary, reference Fig.10 As shown, when the wet cleaning member 15 is in the retracted position, the union of the projection of the wet cleaning member 15 on the operating surface and the projection of the bottom shell 2 on the operating surface is equal to the projection of the bottom shell 2 on the operating surface; that is, the wet cleaning member 15 is completely located below the bottom shell 2; when the wet cleaning member 15 is in the extended position; the wet cleaning member 15 at least partially extends out from under the bottom shell 2, and the union of the projection of the wet cleaning member 15 on the operating surface and the projection of the bottom shell 2 on the operating surface is the projection of the portion of the wet cleaning member 15 extending out of the bottom shell 2 on the operating surface plus the projection of the bottom shell 2 on the operating surface, refer to Fig.11 shown.

[0079] Exemplarily, the bottom shell 2 may include a bottom surface and a side surface, the bottom surface and the side surface of the bottom shell 2 form a cavity, and a notch may be provided on the side surface of the bottom shell 2. When in the recovery position, the lateral translation drive assembly and the wet cleaning member 15 are located in the cavity, and when they need to be extended, the wet cleaning member 15 extends through the notch. In this way, the cleaning robot is better packaged and better integrated. Exemplarily, the bottom shell 2 may only include a bottom surface, and the lateral translation drive assembly and the wet cleaning member 15 are located outside the bottom shell 2.

[0080] Exemplarily, the outer contour of the wet cleaning member 15 may be substantially consistent with the outer contour of the bottom shell 2, for example, the outer contour of the wet cleaning member 15 includes a first outer edge arc, the outer contour of the bottom shell 2 includes a second outer edge arc, the first outer edge arc and the second outer edge arc are coaxially arranged, and the first outer edge arc and the second outer edge arc have the same radius as the bottom shell 2. Specifically, the outer contour of the wet cleaning member 15 and the outer contour of the bottom shell 2 may both be arcuate, except that the chord length of the first outer edge arc corresponding to the arcuate shape of the wet cleaning member 15 is slightly longer than the chord length of the second outer edge arc corresponding to the arcuate shape of the bottom shell 2, and the projection of the first outer edge arc in the operating surface coincides with the projection of the second outer edge arc in the operating surface of the bottom shell 2.

[0081] Alternatively, illustratively, the outer contour of the wet cleaning member 15 may be inconsistent with the outer contour of the bottom shell 2 , for example, the outer contour of the bottom shell 2 is arcuate or circular, and the outer contour of the wet cleaning member 15 is rectangular.

[0082] Exemplarily, the outer contour of the wet cleaning member 15 can be a chamfered arcuate shape, and at least part of the outer contour of the wet cleaning member 15 is parallel to the forward direction of the cleaning robot 100. Specifically, a portion of the outer side of the arcuate shape is cut off on the side of the wet cleaning member 15 close to the corner, so that the outer contour of the side of the wet cleaning member close to the corner is parallel to the forward direction of the cleaning robot, and is no longer in an arc shape. In this way, the dead corners that the wet cleaning member 15 cannot cover can be reduced when cleaning corners. Exemplarily, in order to ensure the overall symmetry of the cleaning robot, the wet cleaning member 15 can be chamfered on both sides along the Y-axis direction. In order to make the outer contour of the bottom shell 2 match the outer contour shape of the wet cleaning member 15, the bottom shell 2 can be chamfered on one side or both sides along the Y-axis direction.

[0083] For example, for a cleaning robot in which the wet cleaning member 15 needs to translate relative to the bottom shell 2, a lateral translation drive assembly needs to be added to the cleaning robot 100, and the wet cleaning member 15 is connected to the bottom shell 2 via the lateral translation drive assembly. It can be understood that in the Z-axis direction, the distances between the bottom surface of the bottom shell 2, the lateral translation drive assembly, and the wet cleaning member 15 and the operating surface are gradually approaching, that is, the bottom surface of the bottom shell 2 is farthest from the operating surface, and the wet cleaning member 15 is closest to the operating surface.

[0084] Exemplarily, the lateral translation drive assembly includes two ends, one end A does not translate relative to the bottom shell 2, and the other end B can translate relative to the bottom shell 2, and the wet cleaning element 15 is directly or indirectly connected to the B end. In this way, the lateral translation drive assembly can drive the wet cleaning element 15 to translate relative to the bottom shell 2.

[0085] Exemplarily, when the wet cleaning member 15 and the bottom shell 2 can be lifted relative to each other, the wet cleaning member 15 can be connected to the B end through a lifting bracket, and the lifting drive unit drives the wet cleaning member 15 to lift relative to the lifting bracket. Exemplarily, the lifting bracket is fixedly connected to the B end and is axially connected to one end of the connecting rod pair, and the other end of the connecting rod pair is axially connected to the wet cleaning member 15. Exemplarily, the wet cleaning member 15 can be a vibrating mopping component, which vibrates at a high frequency while mopping the floor (i.e., reciprocates at a high frequency relative to the operating surface), which can more efficiently remove stubborn stains on the cleaning surface.

[0086] Exemplarily, the wet cleaning element 15 is part or all of the multiple wet cleaning elements carried by the cleaning robot. For example, the cleaning robot is equipped with two wet cleaning elements, one of which can translate relative to the bottom shell 2, and the other cannot translate relative to the bottom shell 2.

[0087] Exemplarily, the wet cleaning member 15 can be moved out in one direction relative to the bottom shell 2, for example, the wet cleaning member 15 can be moved out in a rightward direction relative to the bottom shell 2. Exemplarily, the cleaning robot carries two wet cleaning members 15, one of which can be moved out in a rightward direction relative to the bottom shell 2, and the other wet cleaning member 15 can be moved out in a leftward direction relative to the bottom shell 2.

[0088] Exemplarily, one wet cleaning element 15 is provided, and the wet cleaning element 15 is the only wet cleaning element carried by the cleaning robot, that is, when cleaning an open area, the wet cleaning element 15 is in a retracted position, and when cleaning a corner area, the wet cleaning element 15 is in an extended position. In this way, there is no need to provide an additional wet cleaning element 15 for corner cleaning, which makes the structure and control system of the cleaning robot simpler on the one hand, and can prevent different wet cleaning elements 15 from having different cleaning effects on the operating surface or leaving different cleaning marks (such as water stains) on the other hand.

[0089] Specifically, the process of the lateral translation drive assembly driving the wet cleaning element 15 to move can be controlled by the control module of the cleaning robot. When the cleaning robot identifies that the cleaning area is a corner area, the control module controls the lateral translation drive assembly to drive the wet cleaning element 15 to move from the recovery position to the extended position. When the cleaning robot identifies that the corner area has been cleaned, the lateral translation drive assembly is controlled to drive the wet cleaning element 15 to move from the extended position to the recovery position.

[0090] The lateral translation mechanism of the embodiment of the present application can directly or indirectly drive the wet cleaning element 15 to translate from the recovery position to the extended position, so that the wet cleaning element 15 extends out of the bottom shell 2 to clean the corner area. The lateral translation mechanism can also drive the wet cleaning element 15 to be recovered into the body of the machine, which can clean the corner area without leaving dead corners and avoid scratching the furniture.

[0091] Preferably, in the first embodiment, the lateral translation drive assembly includes a drive motor 8, a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor 8 into translation. The drive shafts of the rotation assembly and the drive motor 8 are coupled (for example, through a coupling), the drive motor 8 is mounted on the bottom shell 2, and the linear motion assembly is connected to the wet cleaning member 15. A motor mounting structure is provided on the lower surface of the bottom shell 2, and the drive motor 8 is mounted on the motor mounting structure. The lateral translation drive assembly is used to drive the wet cleaning member 15 to translate between the retracted position and the extended position. The linear motion assembly is connected to the wet cleaning member to drive the wet cleaning member to translate, and the wet cleaning member is supported below the bottom shell.

[0092] Preferably, in the second embodiment, Figure 3 , Figure 5 and Figure 7 As shown, in addition to the lateral translation drive assembly, the lateral translation mechanism also includes a translation bracket 11, the lateral translation drive assembly includes a drive motor 8, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are connected in a transmission manner, and the rotating assembly and the linear motion assembly are used to convert the rotation of the drive motor 8 into translation. The rotating assembly is coupled to the drive shaft of the drive motor 8, the drive motor 8 is installed on the bottom shell 2, the linear motion assembly is connected to the translation bracket 11, the translation bracket 11 is connected to the bottom shell 2 in a translational manner, and the linear motion assembly drives the translation bracket 11 to translate relative to the bottom shell 2. The translation bracket 11 is connected to the wet cleaning member 15. The lateral translation drive assembly is used to drive the translation bracket 11 to drive the wet cleaning member 15 to translate between the recovery position and the extended position. In the Z-axis direction, the distance between the bottom surface of the bottom shell 2, the lateral translation drive assembly, the translation bracket 11 and the wet cleaning member 15 and the operating surface is gradually approaching, that is, the bottom surface of the bottom shell 2 is farthest from the operating surface, and the wet cleaning member 15 is closest to the operating surface. Exemplarily, when the wet cleaning member 15 and the bottom shell 2 can be lifted and lowered relative to each other, the wet cleaning member 15 is lifted and lowered relative to the bottom shell 2, and the translation bracket 11 has no Z-axis movement relative to the bottom shell 2. The linear motion component is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning member is supported below the translation bracket. Exemplarily, the translation bracket 11 is provided with mounting holes for the drive motor 8 and the rotating component so that the drive motor can be mounted on the bottom shell.

[0093] Specifically, the rotating assembly and the linear motion assembly in the above embodiment are introduced below:

[0094] In the first embodiment, the rotating assembly includes a screw 5, and the linear motion assembly includes a screw nut 6, and the screw nut 6 and the screw 5 are connected by threads. In the above first embodiment, the screw 5 is connected to the drive shaft of the drive motor 8, and the wet cleaning member 15 is connected to the screw nut 6. In the above second embodiment, the screw 5 is connected to the drive shaft of the drive motor 8, the translation bracket 11 is connected to the screw nut 6, and the wet cleaning member 15 is connected to the translation bracket 11. Further, the lateral translation drive assembly also includes a coupling 7, and the screw 5 is connected to the drive shaft of the drive motor 8 through the coupling 7, so that it can achieve synchronous rotation.

[0095] In the second embodiment, the rotating assembly includes a gear, the linear motion assembly includes a rack, and the gear and the rack are meshed and connected. In the first embodiment, the gear is connected to the drive shaft of the drive motor 8, and the wet cleaning element 15 is connected to the rack. In the second embodiment, the gear is connected to the drive shaft of the drive motor 8, the translation bracket 11 is connected to the rack, and the wet cleaning element 15 is connected to the translation bracket 11.

[0096] In the third embodiment, the rotating assembly includes a first synchronous wheel and a second synchronous wheel, and the linear motion assembly includes a synchronous belt, and the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel. In the above first embodiment, the first synchronous wheel is connected to the driving shaft of the driving motor 8, the second synchronous wheel is rotatably connected to the bottom shell 2, and the wet cleaning member 15 is connected to the synchronous belt. In the above second embodiment, the first synchronous wheel is connected to the driving shaft of the driving motor 8, the first synchronous wheel is the driving wheel, the second synchronous wheel is rotatably connected to the bottom shell 2, the second synchronous wheel is the driven wheel, the translation bracket 11 is connected to the synchronous belt, and the wet cleaning member 15 is connected to the translation bracket 11. Under the drive of the driving motor 8, the first synchronous wheel, the second synchronous wheel, the synchronous belt, the wet cleaning member 15 and the translation bracket 11 rotate synchronously.

[0097] Specifically, the staff can select any one of the first implementation scheme, the second implementation scheme, the third implementation scheme or other possible lateral translation drive component schemes according to the needs.

[0098] Exemplarily, the first embodiment described above is applied on the basis of the second embodiment. In a specific embodiment, the lateral translation mechanism further includes a guide rod 4, a screw nut 6 and a screw rod 5 are connected by threads, and a translation bracket 11 is connected to a wet cleaning member 15. The first end of the guide rod 4 is connected to the screw nut 6, and the second end of the guide rod 4 is connected to the translation bracket 11. The first end of the guide rod 4 and the screw nut 6 are fixedly connected by threads or fastened by two nuts, and the second end of the guide rod 4 and the translation bracket 11 can be fixedly connected by threads or fastened by two nuts to achieve synchronous and unidirectional movement of the guide rod 4 and the translation bracket 11.

[0099] Exemplarily, the first embodiment described above is applied on the basis of the second embodiment. In a specific embodiment, Figure 3 and Figure 7 As shown, the lateral translation mechanism also includes a guide rod 4 and an elastic member 3, and the length direction of the guide rod is parallel to the translation direction. Exemplarily, the elastic member 3 can be a spring. The screw nut 6 and the screw rod 5 are connected by threads, and the translation bracket 11 is connected to the wet cleaning member 15. The wet cleaning member includes a guide plate perpendicular to the translation direction, or the translation bracket 11 is provided with a guide plate perpendicular to the translation direction. The first end of the guide rod 4 is fixedly connected to the linear motion component, and the second end of the guide rod 4 passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic member 3 is sleeved on the outer periphery of the guide rod 4 located between the linear motion component and the guide plate; the elastic member 3 is in a compressed state between the linear motion component and the guide plate; or the elastic member is in a stretched state between the linear motion component and the guide plate.

[0100] Specifically, the first end of the guide rod 4 is connected to the screw nut 6, the second end of the guide rod 4 passes through the guide plate, the guide rod 4 and the guide plate are slidably connected, and the elastic member 3 is sleeved on the outer periphery of the guide rod 4 located between the screw nut 6 and the guide plate. Specifically, a guide hole 21 is provided on the guide plate, the second end of the guide rod 4 passes through the guide hole 21, and the guide rod 4 and the guide plate are slidably connected. When the wet cleaning member 15 is in the recovery position, the elastic member 3 is in a compressed state between the screw nut 6 and the guide plate; or, the elastic member 3 is in a stretched state between the screw nut 6 and the guide plate. This compressed state or stretched state can be slight (hereinafter referred to as the stretched state, that is, a certain preload is applied on the basis of the free state of the elastic member), so that the elastic force generated in this compressed state or stretched state is balanced with the friction between the cleaning robot and the operating surface, so that the wet cleaning member 15 does not have a relative translation with the bottom shell 2. The screw nut 6 performs a linear motion on the screw, thereby driving the translation bracket 11 to perform a linear motion, and then driving the wet cleaning member 15 to translate from the recovery position to the extended position. For example, when the wet cleaning member 15 is in the retracted position, the elastic member 3 is in a compressed state between the screw nut 6 and the guide plate; at this time, the screw nut 6 moves linearly in the direction close to the guide plate, so that the elastic member 3 is further compressed between the screw nut 6 and the guide plate. At this time, the elastic force generated is greater than the friction between the cleaning robot and the operating surface, and the translation bracket 11 moves linearly under the elastic force, thereby driving the wet cleaning member 15 to translate relative to the bottom shell 2. For another example, when the wet cleaning member 15 is in the retracted position, the elastic member 3 is in a stretched state between the screw nut 6 and the guide plate; at this time, the screw nut 6 moves linearly in the direction away from the guide plate, so that the elastic member 3 is further stretched between the screw nut 6 and the guide plate. At this time, the elastic force generated is greater than the friction between the cleaning robot and the operating surface, and the translation bracket 11 moves linearly under the elastic force, thereby driving the wet cleaning member 15 to translate relative to the bottom shell 2. By providing the elastic member 3, when the wet cleaning assembly is in the extended position and encounters an obstacle, the elastic member 3 generates an elastic force under the reaction force of the obstacle to passively avoid the obstacle. The specific process of passive recovery will be described later.

[0101] For example, Figure 4 and Figure 5 As shown, in this embodiment, a motor mounting structure and a screw rod 5 mounting structure are provided on the lower surface of the bottom shell 2, and a coupling 7 mounting structure may also be provided on the lower surface of the bottom shell 2. Exemplarily, the motor mounting structure includes a motor mounting plate 16 and a motor holder 9, and a plurality of motor mounting holes are provided on the motor mounting plate 16. Exemplarily, the coupling 7 mounting structure includes a coupling mounting hole 17, and exemplary, the screw rod 5 mounting structure includes a screw rod mounting hole 18, and the coupling mounting hole 17 and the screw rod mounting hole 18 are coaxially arranged.

[0102] Further, if Figure 3 and Figure 5 As shown, the driving motor 8 is arranged in the motor holder 9, and the motor holder 9 is connected to the motor mounting hole through the fastener 1. The coupling 7 is installed in the coupling mounting hole 17, and the coupling 7 can rotate relative to the coupling mounting hole 17. One end of the screw 5 is connected to the coupling 7, and the other end is installed in the screw mounting hole 18, and the screw 5 can rotate relative to the screw mounting hole 18. The screw nut 6 is arranged on the screw 5, and the axis of the screw 5 is arranged parallel to the operating surface. When the driving motor 8 drives the screw 5 to rotate through the coupling 7, the screw nut 6 moves along the axial direction of the screw 5, so as to realize that the translation bracket 11 drives the wet cleaning member 15 to move within the operating surface.

[0103] Further, if Figures 3 to 7 As shown, a retaining hole is provided on the translation bracket 11, and the motor retaining bracket 9 is arranged in the retaining hole. The length of the retaining hole along the translation direction of the translation bracket 11 is adapted to the translation distance of the translation bracket 11 to prevent the motor retaining bracket 9 from hindering the translation of the translation bracket 11, and this arrangement can effectively reduce the overall thickness and volume of the cleaning robot, making it easy to enter low spaces such as under the bed.

[0104] Specifically, Figure 3 and Figure 7 As shown, the linear motion assembly is connected via a guide rod 4 and a translation bracket 11, the rotating assembly includes a screw rod 5, and the linear motion assembly includes a screw nut 6, and the screw nut 6 and the screw rod 5 are connected by threads. The screw nut 6 includes a main board (which can be perpendicular to the Y direction) and a side plate (which can be perpendicular to the Y direction), and two side plates are provided. Exemplarily, the two side plates are distributed on both sides of the main board along the X-axis direction. A screw hole is provided on the main board, and the screw rod 5 is threadedly connected to the screw hole. A guide rod hole is provided on the side plate, and the guide rod hole and the guide rod 4 are correspondingly provided, and the axis of the guide rod hole is parallel to the axis of the screw rod hole. The first end of the guide rod 4 is connected to the screw nut 6, including: the first end of the guide rod 4 is connected to the guide rod hole. It can be understood that when two side plates are provided, there are also two guide rods 4.

[0105] Further, if Figure 7 As shown, after the first end of the guide rod 4 passes through the guide rod hole, a retaining spring 14 is arranged on the first end of the guide rod 4 to prevent the guide rod 4 from slipping out of the guide rod hole.

[0106] Furthermore, the guide hole 21 on the translation bracket 11 is as follows Figure 6 As shown, since the screw nut 6 moves along the axis of the screw 5 , the length of the guide rod 4 needs to be greater than the distance between the guide hole 21 and the guide rod hole to prevent the second end of the guide rod 4 from escaping from the guide hole 21 .

[0107] Furthermore, in other embodiments, the elastic member 3 can use a compression spring or a tension spring 3 or other elastic parts as needed, and cooperate with the lateral translation drive assembly to achieve the extension or retraction of the wet cleaning member 15. If necessary, the setting direction of the lateral translation drive assembly can be reasonably adjusted.

[0108] Preferably, the linear motion assembly further includes a guide member, and a guide groove 22 is provided on the translation bracket 11. The length extension direction of the guide groove 22 is parallel to the translation direction of the wet cleaning member 15 (i.e., the Y direction), and the central axis of the guide groove 22 is perpendicular to the operating surface. The guide member is located in the guide groove 22, and the guide member and the guide groove 22 are slidably connected. For example, the guide member may protrude from the linear motion assembly body and extend into the guide groove 22, so that the linear motion of the translation bracket 11 can be guided by limiting the movement of the guide member in the guide groove 22.

[0109] Preferably, Figure 3 and Figure 5 As shown, the guide member is a guide column on the side plate, and the axis of the guide column is in the Z-axis direction. Figure 6 As shown, a guide groove 22 is provided on the translation bracket 11, and the guide column and the guide groove 22 are slidably connected.

[0110] Specifically, the guide groove 22 is in the shape of a long strip, and the length of the guide groove 22 extends along the translation direction of the wet cleaning member 15. The length of the guide groove 22 needs to meet the requirement of the running distance of the screw nut 6, and the guide groove 22 has a limiting effect on the movement of the screw nut 6 in the operating surface. Moreover, in the active recovery process of the wet cleaning member 15 (the active recovery process will be described later), the guide member contacts the target end side wall of the guide groove, and the relative position of the target end side wall of the guide groove and the guide member is the same as the relative position of the recovery position and the extended position. Driven by the guide member, the translation bracket 11 is translated from the extended position to the recovery position.

[0111] Specifically, Figure 3 As shown, the guide post is inserted into the guide slot 22, and the guide slot 22 limits the movement of the screw nut 6 in the front-to-back direction and the left-to-right direction. In order to prevent the guide post from being separated from the guide slot 22 and to limit the movement of the screw nut 6 in the up-down direction, a limit screw is provided on the guide post. After the guide post is inserted into the guide slot 22, the limit screw is located below the translation bracket 11 and is installed on the guide post. The setting of the guide slot 22 also reduces the overall thickness and volume of the cleaning robot, making it easier to enter low spaces such as under the bed.

[0112] Specifically, the number of guide posts can be adjusted according to the requirements. In this embodiment, two guide posts are arranged on each side plate.

[0113] Preferably, Figure 3 , Figure 8 and Fig. 9 As shown, the translation bracket 11 is connected to the bottom shell 2 through the support member 12, and the support member 12 is fixed on the bottom shell 2. A limiting hole 24 is provided on the translation bracket 11, and the central axis of the limiting hole 24 is perpendicular to the operating surface, and the length extension direction of the limiting hole 24 is parallel to the translation direction of the wet cleaning member 15. The support member 12 and the limiting hole 24 are engaged, and when the translation bracket 11 translates, the limiting hole 24 translates relative to the support member 12 along the length extension direction of the limiting hole 24. In this way, the linear motion of the translation bracket 11 can be guided by limiting the support member 12 to only move relative to the limiting hole 24 within the limiting hole 24. Specifically, four support members 12 are provided, and the four support members 12 are respectively fixed on the bottom shell 2 to ensure the stability of the translation bracket 11 when it translates relative to the bottom shell 2.

[0114] Exemplarily, the hole wall of the limiting hole includes a side wall, and the support member and the side wall have rolling friction, and / or, the hole wall of the limiting hole includes a top wall, and the support member and the top wall have rolling friction. In this way, the limiting and guiding can be performed from one direction or from two mutually perpendicular directions, so that the translation is more aligned and smooth. Exemplarily, the limiting hole includes a side wall and a top wall, and the limiting hole can be a through hole, on this basis, the through hole has half of the top surface to form the top wall. Exemplarily, the rolling friction of the support member from two mutually perpendicular directions can be that the support member includes a roller structure located in two mutually perpendicular directions.

[0115] Specifically, the support member 12 includes a limit bracket and at least one friction member rotatably connected to the limit bracket, and the friction member can rotate circumferentially around the axis of the friction member; Figure 6 As shown, the translation bracket 11 is provided with a limiting hole 24 and a matching plate 25, the matching plate 25 is arranged on the limiting hole 24, the matching plate 25 is parallel to the operating surface, and the matching plate 25 is located on the side of the limiting hole 24 away from the operating surface. The limiting bracket includes a first fixing plate 121 and a second fixing plate 122, the first fixing plate 121 and the second fixing plate 122 are arranged vertically, the first fixing plate 121 is arranged parallel to the bottom shell 2 and connected to the bottom shell 2, the first fixing plate 121 is provided with a first limiting column 123, the second fixing plate 122 is provided with a second limiting column 124, the axis of the first limiting column 123 and the axis of the second limiting column 124 are arranged vertically, and the axis of the second limiting column 124 is arranged parallel to the operating surface. The first limiting column 123 is slidably connected to the hole wall of the limiting hole 24, and the second limiting column 124 is slidably connected to the matching plate 25.

[0116] Specifically, Figure 3As shown, during installation, the support member 12 is installed from the bottom of the translation bracket 11 into the limiting hole 24, the first fixing plate 121 is parallel to the bottom shell 2, the first limiting column 123 abuts against the hole wall of the limiting hole 24, and the second limiting column 124 abuts against the bottom surface of the matching plate 25. The first fixing plate 121 is provided with a fastening hole, and the bottom shell 2 is provided with a fixing hole 19 that matches the fastening hole, and the first fixing plate 121 and the bottom shell 2 are connected by the fastener 1.

[0117] Specifically, Figure 8 As shown, the support member 12 is provided in plurality, and the number of the position-limiting holes 24 and the matching plates 25 is matched with the number of the support members 12. In this embodiment, four support members 12 are provided, and four position-limiting holes 24 and matching plates 25 are provided respectively. The position of the position-limiting holes 24 and the matching plates 25 can be changed according to the requirements, and the stability requirements of the translation bracket 11 driving the wet cleaning member 15 to move need to be met.

[0118] Preferably, Fig. 9 As shown, a first friction member is provided on the first limiting column 123, and the first friction member is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the first limiting column 123. A second friction member is provided on the second limiting column 124, and the second friction member is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the second limiting column 124. The rotation axis of the first friction member and the rotation axis of the second friction member are perpendicular to each other. When the translation bracket 11 translates, rolling friction is generated between the first friction member and the side wall of the limiting hole 24, and rolling friction is generated between the second friction member and the matching plate 25. The provision of the sliding roller 13 or the sliding ball reduces the friction coefficient between the first limiting column 123 and the inner wall of the limiting hole 24, and the friction coefficient between the second limiting column 124 and the matching plate 25, thereby ensuring the stability and smoothness of the translation bracket 11 driving the wet cleaning member 15 to move.

[0119] Specifically, the first limiting column 123 and the second limiting column 124 are uniformly installed with a sliding roller 13 or a sliding ball.

[0120] Specifically, the number of the first limiting column 123 and the second limiting column 124 can be adjusted according to the requirements. In this embodiment, one first limiting column 123 is provided, and two second limiting columns 124 are provided.

[0121] Specifically, the number of sliding rollers 13 or sliding balls installed on the first limiting column 123 and the second limiting column 124 can be adjusted according to demand. In this embodiment, a sliding roller 13 is provided on the first limiting column 123, and a limiting roller is provided on the second limiting column 124.

[0122] Specifically, the sliding roller 13 or the sliding ball is limited on the first limiting column 123 and the second limiting column 124 by the retaining spring 14, so as to prevent the sliding roller 13 or the sliding ball from falling off. It is also achieved that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the first limiting column 123. It is also achieved that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the second limiting column 124.

[0123] Preferably, the lateral translation mechanism also includes a position sensor, which is used to detect whether the wet cleaning member 15 is in the recovery position and whether the wet cleaning member 15 is in the extended position. The position sensor may include a proximity switch, a Hall effect sensor, a magnetic sensor, an optical coupling sensor, etc. Exemplarily, the position sensor may include an optical coupling sensor, and the position sensor includes an in-place sensor and a position baffle. When the position baffle blocks or does not block the in-place sensor, the signal generated by the in-place sensor is different, for example, a high level when blocked and a low level when not blocked. When the wet cleaning component is translated relative to the bottom shell 2, the in-place sensor and the position baffle also move relative to each other. Exemplarily, the in-place sensor is installed on the bottom shell 2, and the position baffle 23 is installed on the translation bracket 11, or the in-place sensor is installed on the translation bracket 11, and the position baffle 23 is installed on the bottom shell 2. Exemplarily, the in-place sensor is mounted on the bottom shell 2, the position baffle 23 is mounted on the translation bracket 11, there are two in-place sensors and one position baffle, when the wet cleaning member 15 is in the recovery and extension positions, one of the in-place sensors is blocked respectively, and the wet cleaning member 15 is located between the recovery and extension positions and does not block any in-place sensor. Exemplarily, the in-place sensor is mounted on the translation bracket 11, the position baffle 23 is mounted on the bottom shell 2, there is one in-place sensor and two position baffles, when the wet cleaning member 15 is in the recovery and extension positions, one of the in-place sensors is blocked respectively by a position baffle 23, and the wet cleaning member 15 is located between the recovery and extension positions and does not block any in-place sensor.

[0124] Specifically, through the cooperation of the in-position sensor and the position baffle 23, three positions of the wet cleaning member 15 can be obtained: moving to the retracted position, moving to the extended position, and being in a position between the retracted position and the extended position.

[0125] Specifically, in this embodiment, Figure 3 As shown, the first in-position sensor I and the second in-position sensor II are located on the same sensor circuit board 10. Figure 4 As shown, a circuit board mounting hole 20 is provided on the bottom shell 2, and the circuit board 10 is mounted on the bottom shell 2 by means of a fastener 1. A position baffle 23 is provided on the translation bracket 11. When the translation bracket 11 moves, the position baffle 23 moves between the first in-position sensor I and the second in-position sensor II.

[0126] Preferably, Figure 3 The outer contour of the wet cleaning member 15 is a cut-angle arcuate shape, and at least part of the outer contour of the wet cleaning member 15 is parallel to the forward direction of the cleaning robot 100; the projection of the translation bracket on the operating surface is a cut-angle arcuate shape that matches the projection of the wet cleaning member 15 on the operating surface, and optionally, the projection of the bottom shell 2 on the operating surface is a cut-angle arcuate shape, and the projection of the bottom shell 2 on the operating surface and the projection of the step portion of the translation bracket on the operating surface are combined to form a cut-angle arcuate shape that matches the projection of the wet cleaning member 15 on the operating surface. In this way, the distribution of each component can be more compact, which is conducive to the miniaturization of the equipment, and the projection of each component on the operating surface does not protrude from the projection of the main body of the cleaning robot 100 on the operating surface, reducing the probability of the cleaning robot 100 being stuck by obstacles.

[0127] Preferably, a mounting structure is provided on the translation bracket 11. The cleaning robot 100 further includes: a lifting bracket, a retractable support structure, one end of the support structure is connected to the lifting bracket, and the other end is connected to the wet cleaning member 15, the wet cleaning member 15 is supported by the lifting bracket and the support structure below the translation bracket, and the lifting bracket is fixedly connected to the mounting structure. Exemplarily, the retractable support structure is a connecting rod pair, and the two ends of the connecting rod pair are respectively hinged to the lifting bracket and the wet cleaning member 15. The cleaning robot 100 may also include a lifting drive unit, which is used to drive the lifting movement of the wet cleaning member 15 relative to the lifting bracket. It is understandable that the translation bracket 11 and the wet cleaning member 15 translate together relative to the bottom shell 2, the translation bracket 11 does not lift relative to the bottom shell 2, and the wet cleaning member 15 lifts relative to the bottom shell 2.

[0128] Preferably, the translation bracket includes an avoidance structure of the lifting bracket, the avoidance structure includes a first avoidance groove 28 for accommodating the lifting bracket and / or a step portion recessed toward the bottom shell, the distance between the step portion and the wet cleaning member is greater than the distance between the non-step portion of the translation bracket (i.e., the portion of the translation bracket other than the step portion) and the wet cleaning member, and a accommodating space for the lifting bracket is formed between the step portion and the wet cleaning member. In this way, the longitudinal volume can be compressed, which is conducive to reducing the thickness of the cleaning robot body.

[0129] Preferably, Figure 3 As shown, the lifting bracket includes a second lifting bracket 29 and a first lifting bracket 30. Figure 6 As shown, the mounting structure includes a first mounting structure 26 and a second mounting structure 27. The translation bracket 11 is provided with a first avoidance groove 28, and the lifting bracket is inserted into the first avoidance groove 28. Figure 4 and Figure 5As shown, the bottom shell 2 is provided with a second avoidance groove 31, and the second mounting structure 27 is arranged at the first avoidance groove 28. The second avoidance groove 31 is used to accommodate the lifting bracket passing through the first avoidance groove 28. Specifically, the first lifting bracket 30 passes through the first avoidance groove 28 and extends into the second avoidance groove 31. The first lifting bracket 30 is connected to the second mounting structure 27. The length extension direction of the second avoidance groove 31 is parallel to the translation direction of the wet cleaning member 15, that is, the Y direction. When the wet cleaning member 15 translates relative to the bottom shell 2, the first lifting bracket 30 translates in the second avoidance groove 31 along the length extension direction of the second avoidance groove 31. Specifically, the first mounting structure 26 is a first mounting screw hole, the axis of the first mounting screw hole is perpendicular to the operating surface, and the first mounting screw hole is a blind hole. The second lifting bracket 29 is provided with a first assembly screw hole corresponding to the first mounting structure 26, the axis of the first assembly screw hole is perpendicular to the operating surface, and the first assembly screw hole is a through hole. The first mounting structure 26 and the second lifting bracket 29 are fastened and connected by screws. The second mounting structure 27 is a second mounting screw hole, the axis of which is perpendicular to the operating surface, and the second mounting screw hole is a blind hole. The first lifting bracket 30 is provided with a second assembly screw hole corresponding to the second mounting structure 27, the axis of which is perpendicular to the operating surface, and the second assembly screw hole is a through hole. The second mounting structure 27 and the first lifting bracket 30 are fastened and connected by screws. The first avoidance groove 28 is a rectangular hole, and the second mounting structure 27 is arranged on the short side of the first avoidance groove 28, and a second mounting structure 27 is arranged at each short side.

[0130] Furthermore, the lateral translation mechanism also satisfies at least one of the following:

[0131] The lifting drive unit is arranged on the translation bracket 11 and / or the wet cleaning member 15. The lifting drive unit can be a transmission form of a driving member, a gear, and a rack, and the driving member drives the meshing transmission of the gear and rack to realize the lifting movement of the wet cleaning member 15 relative to the translation bracket 11; the lifting drive unit can also be a transmission form of a lifting drive member and a sling, and the length of the sling determines the distance between the lifting bracket and the wet cleaning member 15, and the lifting drive drives the extension or recovery of the sling to realize the lifting movement of the wet cleaning member 15 relative to the translation bracket 11. Exemplarily, the lifting drive unit can be installed on the surface of the wet cleaning member 15 away from the operating surface. Exemplarily, the wet cleaning member 15 includes a drag plate and a mop located on the drag plate, and the drag plate can also include a drag plate body and a support part, the drag plate body is detachably connected to the support part, and the mop is arranged on the drag plate body. Exemplarily, the two ends of the connecting rod pair are respectively connected to the lifting bracket and the support part of the wet cleaning member 15. The lifting unit can be arranged on the support part.

[0132] For example, Figure 3As shown, the translation bracket 11 is provided with a step portion recessed toward the bottom shell, and a clearance space 32 of the lifting bracket is formed between the step portion and the wet cleaning member, and the clearance space 32 is arranged corresponding to the lifting drive unit, and the lifting drive unit is arranged in the clearance space 32; the clearance space 32 is located on the side where the translation bracket 11 can extend; the projection of the bottom shell 2 in the operating surface does not intersect with the projection of the clearance space 32 in the operating surface, and the union of the projection of the bottom shell 2 in the operating surface and the projection of the clearance space 32 in the operating surface is approximately equal to the projection of the translation bracket 11 on the operating surface. Exemplarily, the top surface of the clearance space 32, i.e., the step portion, can be further away from the operating surface than the bottom shell 2 in the Z direction, so that the size of the bottom shell 2 is reduced to provide an installation position for the clearance space 32. It can be understood that when the wet cleaning member 15 is a vibration cleaning component, and / or when the wet cleaning member 15 needs to be replenished with water, the water supply mechanism, the reciprocating motion drive unit and the lifting drive unit can be integrated into a comprehensive drive unit and installed in the clearance space 32.

[0133] Specifically, Fig.10 , Fig.11 and Fig.12 Taking the illustrated situation as an example, several states of the wet cleaning element 15 are introduced.

[0134] ① Initial state (not yet started cleaning along the corners, in the recovery position):

[0135] like Fig.10 As shown, the wet cleaning member 15 is extended to the recovery position, the screw nut 6 is on the left side of the guide groove 22, the first lifting bracket 30 is on the left side of the second avoidance groove 31, the elastic member 3 is in an extended state (for example, an initial compression state), the support member 12 is on the right side of the limiting hole 24, and the first in-position sensor I on the circuit board 10 is triggered to a high level, recognizing that the wet cleaning member 15 is in the recovery position.

[0136] ②Working state (in extended position and without encountering obstacles):

[0137] When the wet cleaning element 15 needs to be extended for cleaning corners, the driving motor 8 rotates forward, the screw 5 drives the screw nut 6 to move, the distance between the guide hole 21 and the guide rod hole tends to decrease, and the elastic element 3 tends to be further compressed relative to the initial compression state. The compressed elastic element 3 has a compression elastic force. Under the action of the compression elastic force of the elastic element 3, with the linear movement of the screw nut 6, the translation bracket 11 drives the wet cleaning element 15 to gradually extend to the extended position.

[0138] At this time, if Fig.11As shown, when the wet cleaning member 15 is extended to the extended position, the screw nut 6 is on the left side of the guide groove 22, the first lifting bracket 30 is on the right side of the second avoidance groove 31, the elastic member 3 is in an extended state (for example, an initial compressed state), the support member 12 is on the left side of the limiting hole 24, and the second in-position sensor II on the circuit board 10 is triggered to a high level, recognizing that the wet cleaning member 15 is in the extended position.

[0139] The process of the wet cleaning element 15 moving to the extended position is as follows:

[0140] The driving motor 8 rotates forward, driving the coupling 7 and the screw rod 5 to rotate forward synchronously, so that the screw rod nut 6 is relatively displaced along the axial direction of the screw rod 5, the distance between the guide hole 21 and the guide rod hole is gradually shortened, and the elastic member 3 is compressed;

[0141] Guided by the guide rod 4 in the axial direction of the screw nut 6, the translation bracket 11 drives the wet cleaning member 15 to be pushed out to the extended position under the elastic force of the elastic member 3, that is, a relative displacement is generated between the translation bracket 11 and the bottom shell 2 along the axial direction of the screw 5.

[0142] In this process, the translation bracket 11 and the bottom shell 2 generate relative motion, which is limited by the support member 12 and generates rolling friction with the translation bracket 11, so that it can only generate axial motion along the screw rod 5 within the operating surface.

[0143] During this process, the states of the first in-position sensor I and the second in-position sensor II on the circuit board 10 respectively experience an initial state (the first in-position sensor I is triggered, the second in-position sensor II is not triggered) (I-high level, II-low level) → an extension process (the first in-position sensor I is not triggered, the second in-position sensor II is not triggered) (I-low level, II-low level) → reaching a working state (the first in-position sensor I is not triggered, the second in-position sensor II is triggered) (I-low level, II-high level).

[0144] ③ Passive retraction state (encountering an obstacle when in the extended position):

[0145] Furthermore, when the wet cleaning member 15 is in the extended position and encounters an obstacle, the setting of the elastic member 3 can make the wet cleaning member 15 enter a passive recovery state, and the recovery degree of the wet cleaning member 15 relative to the extended position can be freely adjusted with the obstacle, avoiding the setting of complex control logic. For example, when the wet cleaning member 15 is in the extended position and encounters an obstacle, the translation bracket 11 and the wet cleaning member 15 are subjected to the force in the Y direction of the obstacle and translate toward the recovery position, and the force points to the recovery position, and the second end of the guide rod 4 extends along the guide plate, and the distance between the guide plate 4 and the screw nut 6 is shortened, and the elastic member 3 is further compressed on the basis of the extended state (for example, the initial compressed state) (if the extended state of the spring is the stretched state, the setting of each component makes it possible for the translation bracket 11 and the wet cleaning member 15 to be subjected to the force in the Y direction of the obstacle when the wet cleaning member 15 is in the extended position and encounters an obstacle. The wet cleaning element 15 is moved to the recovery position due to the force in the Y direction of the obstacle, and the force points to the recovery position. The distance between the guide plate and the screw nut 6 increases, and the elastic member 3 is further stretched on the basis of the extended state). The wet cleaning element 15 can be passively recovered on the basis of the extended position (the degree of passive recovery can be determined according to the size of the obstacle, the amount that the second end of the guide rod 4 can extend out of the guide plate, and the distance between the extended position and the recovery position. One of the limiting factors). After the cleaning robot bypasses the obstacle, the wet cleaning element 15 re-extends to the extended position under the elastic potential energy of the elastic member 3. During the passive recovery process, the wet cleaning element 15 is always against the obstacle, which can achieve the cleaning of the corners of the obstacle and avoid cleaning dead corners. It should be noted that during the passive recovery process, the drive motor 8 does not work, the screw nut 6 does not produce displacement, and the guide slot 22 translates relative to the screw nut 6, so that the screw nut 6 moves to the right side of the guide slot 22, such as Fig.12 As shown, the screw nut 6 is located on the right side of the guide groove 22 , and the first lifting bracket 30 is located on the left side of the second avoidance groove 31 .

[0146] Specifically, when encountering an obstacle, under the reaction force of the obstacle exerted on the wet cleaning member 15, the elastic member 3 is compressed inward to passively avoid the obstacle; during this process, the translation bracket 11 moves to the recovery position through the limiting and rolling friction of the support member 12.

[0147] During this process, there are two possible states for the first in-place sensor I and the second in-place sensor II:

[0148] The first type: working state (the first in-position sensor I is not triggered, the second in-position sensor II is triggered) (I-low level, II-high level) → initial state (the first in-position sensor I is triggered, the second in-position sensor II is not triggered) (I-high level, II-low level). In this case, the translation bracket 11 drives the wet cleaning element 15 to move to the recovery position, such as Fig.12shown.

[0149] The second type: working state (the first in-position sensor I is not triggered, the second in-position sensor II is triggered) (I-low level, II-high level) → intermediate position (the first in-position sensor I is not triggered, the second in-position sensor II is not triggered) (I-low level, II-low level). In this case, the translation bracket 11 drives the wet cleaning element 15 to move to a position between the extended position and the retracted position.

[0150] After bypassing the obstacle, the elastic member 3 rebounds under the guidance of the guide rod 4, pushing the wet cleaning member 15 to the working state (the first in-place sensor I is not triggered, the second in-place sensor II is triggered) (I-low level, II-high level). In this case, the translation bracket 11 drives the wet cleaning member 15 to move to the extended position.

[0151] ④ Active recovery state (sweeping along the edge is completed, and the machine moves horizontally from the extended position to the recovery position):

[0152] When the wet cleaning member 15 is in the active recovery state, the wet cleaning member 15 is recovered under the bottom shell 2. The driving motor 8 is reversed, the screw 5 drives the screw nut 6 to move, the guide member contacts the target end side wall of the guide groove 22, and the guide member drives the translation bracket 11 and the wet cleaning member 15 to gradually recover to the recovery position.

[0153] Specifically, the driving motor 8 rotates in the opposite direction to drive the screw 5 to rotate in the opposite direction, and the screw nut 6 is retracted to drive the translation bracket 11 to be actively retracted to the initial state. This process is: working state (the first in-position sensor I is not triggered, and the second in-position sensor II is triggered) (I-low level, II-high level) → intermediate position (the first in-position sensor I is not triggered, and the second in-position sensor II is not triggered) (I-low level, II-low level) → initial state (the first in-position sensor I is triggered, and the second in-position sensor II is not triggered) (I-high level, II-low level), the first in-position sensor I recognizes the high level and detects that the wet cleaning element 15 is in the recovery position.

[0154] In the embodiment of the present application, during the edge mopping process, the wet cleaning element 15 can be translated outward in the Y-axis direction (for example, to the right) to the outside of the body contour, which can effectively solve the problem of not being able to mop the edge corner areas during edge mopping.

[0155] In the embodiment of the present application, the wet cleaning element 15 can be retracted during normal mopping and when returning to the base station, which effectively solves the appearance problem of the mopping structure being arranged outside the body contour.

[0156] The embodiment of the present application sets a separate motor drive for the lateral translation mechanism, which can effectively avoid the logical coupling problem caused by the existence of a vibrating mopping component and a side-mopping device for cleaning corners, and the motor that drives the vibrating mopping component to vibrate and the motor that drives the side-mopping device to rotate are shared.

[0157] Embodiment 2

[0158] The present embodiment provides a control method for a lateral translation mechanism, which is applied to the lateral translation mechanism as described in the first embodiment, wherein the lateral translation drive assembly includes a drive motor 8, and the method includes: in response to detecting an extension command, controlling the drive motor 8 to drive the wet cleaning member 15 to translate from a retracted position to an extended position. In response to detecting a recovery command, controlling the drive motor 8 to reverse to drive the wet cleaning member 15 to translate from an extended position to a retracted position. The embodiment of the present application controls the lateral translation drive assembly to drive the wet cleaning member to translate from the retracted position to the extended position, so as to drive the wet cleaning member 15 to extend out of the fuselage to clean the edge area, and the lateral translation mechanism can also drive the wet cleaning member 15 to be retracted into the fuselage, so as to avoid scratching the furniture while cleaning the edge area without leaving any dead corners.

[0159] Specifically, referring to Example 1, the lateral translation drive assembly also includes a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission connected, the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor 8 into translation; the driving shaft of the rotation assembly and the drive motor 8 are coupled.

[0160] Specifically, referring to Example 1, in a first implementation scheme, the rotating component is a screw 5, and the linear motion component is a screw nut 6.

[0161] Specifically, referring to Example 1, in the second implementation scheme, the rotating component is a gear, and the linear motion component is a rack.

[0162] Specifically, referring to Example 1, in the third implementation scheme, the rotating component is a first synchronous wheel and a second synchronous wheel, and the linear motion component is a synchronous belt.

[0163] The method includes: controlling the driving motor 8 to drive the rotating assembly to rotate, the rotating assembly drives the wet cleaning element 15 to move in the operating surface through the linear motion assembly, the wet cleaning element 15 is translated from the recovery position to the extended position, or the wet cleaning element 15 is translated from the extended position to the recovery position.

[0164] Specifically, referring to Example 1, the lateral translation mechanism includes a translation bracket 11, a guide rod 4 and an elastic member 3. A guide plate is provided on the translation bracket 11. The first end of the guide rod 4 is fixedly connected to the linear motion component, and the second end of the guide rod 4 passes through the guide plate. The guide rod 4 and the guide plate are slidably connected; the elastic member 3 is sleeved on the outer periphery of the guide rod 4 located between the linear motion component and the guide plate.

[0165] In one embodiment, when the wet cleaning member 15 is in the retracted position, the elastic member 3 is in an initial compression state between the linear motion assembly and the guide plate. The control of the drive motor 8 to rotate forward to drive the translation bracket 11 to drive the wet cleaning member 15 to translate from the retracted position to the extended position includes: controlling the drive motor 8 to rotate forward, so that the rotating assembly rotates in the first direction, the linear motion assembly translates in the second direction, the distance between the linear motion assembly and the guide plate tends to be reduced, the elastic member 3 tends to be further compressed relative to the initial compression state, and the compression elastic force of the elastic member 3 drives the translation bracket 11 to translate in the second direction, thereby driving the wet cleaning member 15 to translate in the second direction. The first direction is the same as the forward rotation direction of the drive motor 8, and the second direction is the direction from the retracted position to the extended position.

[0166] In one embodiment, when the wet cleaning member 15 is in the retracted position, the elastic member 3 is in an initial stretched state between the linear motion assembly and the guide plate. The control of the drive motor 8 to rotate forward to drive the translation bracket 11 to drive the wet cleaning member 15 to translate from the retracted position to the extended position includes: controlling the drive motor 8 to rotate forward, so that the rotating assembly rotates in the first direction, the linear motion assembly translates in the second direction, the distance between the linear motion assembly and the guide plate tends to increase, the elastic member 3 tends to be further stretched relative to the initial stretched state, and the stretching elastic force of the elastic member 3 drives the translation bracket 11 to translate in the second direction, thereby driving the wet cleaning member 15 to translate in the second direction. The first direction is the same as the forward rotation direction of the drive motor 8, and the second direction is the direction from the retracted position to the extended position.

[0167] Specifically, the linear motion component also includes a guide member; a guide groove is provided on the translation bracket 11, and the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning member 15; the guide member is located in the guide groove, and the guide member and the guide groove are slidably connected. The control of the drive motor 8 to reverse to drive the translation bracket 11 to drive the wet cleaning member 15 to translate from the extended position to the retracted position includes: controlling the drive motor 8 to reverse so that the rotating component rotates in the third direction and the linear motion component translates in the fourth direction, the guide member abuts against the guide groove and drives the translation bracket 11 to translate in the fourth direction, and then drives the wet cleaning member 15 to translate in the fourth direction; the third direction is opposite to the first direction, and the fourth direction is opposite to the second direction. Among them, the third direction is the same as the reverse direction of the drive motor 8, and the fourth direction is the direction from the extended position to the retracted position.

[0168] Specifically, the method further includes: when the wet cleaning member 15 is in the extended position and is subjected to the force of an obstacle, the translation bracket 11 translates in the opposite direction of the second direction under the force of the obstacle, so that the length of the guide rod 4 between the linear motion component and the guide plate becomes shorter and the elastic member 3 is further compressed relative to the initial compression state. When the force of the obstacle is removed, the elastic member 3 rebounds, and the translation bracket 11 translates in the second direction under the elastic force of the elastic member 3, driving the wet cleaning member 15 back to the extended position. The second direction is the direction from the retracted position to the extended position.

[0169] Specifically, when the wet cleaning member 15 reaches the working state and encounters an obstacle, the setting of the elastic member 3 enables the wet cleaning member 15 to enter a passive recovery state, and the extension length of the wet cleaning member 15 can be freely adjusted with the obstacle, avoiding the setting of complex control logic. For example, when the wet cleaning member 15 reaches the working state and encounters an obstacle, the elastic member 3 is compressed under the action of the obstacle, and the wet cleaning member 15 can be passively recovered to the lower part of the bottom shell 2. After the cleaning robot bypasses the obstacle, under the elastic potential energy of the elastic member 3, the wet cleaning member 15 re-extends to the original working state position. In the process of passive recovery, the wet cleaning member 15 is always against the obstacle, which can realize the cleaning of the edge of the obstacle and avoid cleaning dead corners. It should be noted that in the process of passive recovery, the drive motor 8 does not work and the screw nut 6 does not produce displacement. In the process of passive recovery, the guide groove plays a limiting role on the guide column.

[0170] Specifically, the lateral translation mechanism further includes a position sensor, which is used to detect whether the wet cleaning member 15 is in the retracted position and whether the wet cleaning member 15 is in the extended position. The specific configuration can be referred to in the first embodiment.

[0171] In response to detecting the extension instruction, controlling the drive motor 8 to rotate forward to drive the wet cleaning member 15 to translate from the retracted position to the extended position, including: in response to the position sensor detecting that the wet cleaning member 15 is in the extended position, controlling the lateral translation drive assembly to stop driving the wet cleaning member 15;

[0172] In response to detecting a recovery instruction, the drive motor 8 is controlled to reverse to drive the wet cleaning element 15 to translate from the extended position to the recovery position, including: in response to the position sensor detecting that the wet cleaning element 15 is in the recovery position, the lateral translation drive assembly is controlled to stop driving the wet cleaning element 15.

[0173] Further, when the position sensor includes a first in-position sensor and a second in-position sensor, one position stopper 23 is provided, the position stopper 23 is provided at a first position, the first in-position sensor is provided at the first position, and the second in-position sensor is provided at the second position. The method includes: when receiving feedback information from the first in-position sensor, determining that the wet cleaning element 15 moves to the recovery position, and when receiving feedback information from the second in-position sensor, determining that the wet cleaning element 15 moves to the extension position.

[0174] Further, when the position baffle 23 includes a first baffle and a second baffle, one in-place sensor is provided, the in-place sensor is provided at a first position, the first baffle is provided at a first position, and the second baffle is provided at a second position. The method includes: obtaining the initial position of the wet cleaning member 15, the cumulative number of times the feedback information of the in-place sensor is received, and based on a pre-set judgment rule, judging whether the wet cleaning member 15 moves to a recovery position or an extended position according to the initial position of the wet cleaning member 15 and the cumulative number of times the feedback information of the position sensor is received. For example, the initial position of the wet cleaning member 15 is the recovery position, and the pre-set judgment rule is to judge that the wet cleaning member 15 moves to the recovery position when the cumulative number of times the feedback information of the in-place sensor is received is an odd number, and to judge that the wet cleaning member 15 moves to the extended position when the cumulative number of times the feedback information of the in-place sensor is received is an even number.

[0175] Specifically, the lateral translation mechanism includes a lifting drive unit and a translation bracket 11 ; the method includes: in response to detecting a lifting instruction, controlling the lifting drive unit to drive the wet cleaning member 15 to move up and down relative to the translation bracket 11 .

[0176] Furthermore, the lifting drive unit includes a lifting drive member, a gear, and a rack. The rack is arranged on the wet cleaning member 15. The lifting drive member is a driving motor, which is arranged on the translation bracket 11. The gear is arranged on the driving shaft of the driving member. The method includes: controlling the driving member to drive the gear to rotate, and the gear drives the wet cleaning member 15 to move up and down through the rack.

[0177] Furthermore, the lifting drive unit includes a lifting drive member and a sling. The lifting drive member is a driving motor, which is arranged on the translation bracket 11. The sling connects the driving shaft of the lifting drive member and the wet cleaning member 15. The method includes: controlling the lifting drive member to drive the extension or retraction of the sling, and the sling drives the wet cleaning member 15 to lift and lower.

[0178] In this embodiment, the control method within one operation cycle includes:

[0179] Receiving feedback information from the first sensor, determining that the wet cleaning element 15 is located at the recovery position;

[0180] The driving motor 8 is controlled to drive the screw rod 5 to rotate in the forward direction. As the screw rod 5 rotates, the elastic member 3 between the screw nut 6 and the guide plate is compressed. At the same time, the guide rod 4 slides relative to the guide plate under the drive of the screw nut 6. The compression elastic force of the elastic member 3 drives the translation bracket 11 to drive the wet cleaning member 15 to translate to the extended position in the operating surface.

[0181] After receiving feedback information from the second sensor, it is determined that the wet cleaning element 15 is in the extended position, and the driving motor 8 is controlled to stop;

[0182] When the wet cleaning member 15 is in the extended position and is acted upon by an obstacle, the wet cleaning member 15 is translated in the direction opposite to the second direction under the action of the obstacle, so that the length of the guide rod 4 between the screw nut 6 and the guide plate becomes shorter and the elastic member 3 is further compressed relative to the initial compression state;

[0183] When the force of the obstacle is removed, the elastic member 3 rebounds, and the translation bracket 11 translates in the second direction under the elastic force of the elastic member 3, driving the wet cleaning member 15 back to the extended position;

[0184] When cleaning is completed, the driving motor 8 is controlled to drive the screw 5 to rotate in the opposite direction. As the screw 5 rotates, the translation bracket 11 drives the wet cleaning member 15 to translate to the recovery position within the operating surface under the drive of the screw nut 6;

[0185] After receiving the feedback information from the first sensor, it is determined that the wet cleaning element 15 is located at the recovery position, and the driving motor 8 is controlled to stop.

[0186] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0187] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only.

[0188] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lateral translation mechanism, applied to a cleaning robot, characterized in that: The cleaning robot comprises a bottom shell and a wet cleaning member; the wet cleaning member reciprocates and vibrates relative to an operating surface to clean the operating surface; The lateral translation mechanism comprises a lateral translation drive assembly, the lateral translation drive assembly is connected to the bottom shell, the lateral translation drive assembly is connected to the wet cleaning member, and the lateral translation drive assembly is used to drive the wet cleaning member to translate between a retracted position and an extended position relative to the bottom shell; When the wet cleaning element is in the extended position, the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface is greater than the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface when the wet cleaning element is in the retracted position; The translation direction of the wet cleaning member relative to the bottom shell is the width direction of the cleaning robot.

2. A lateral translation mechanism according to claim 1, characterized in that: The outer contour of the wet cleaning piece is a chamfered arc shape, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; and / or, the number of the wet cleaning piece is one.

3. A lateral translation mechanism according to claim 1, characterized in that: The lateral translation driving assembly comprises a driving motor, a rotating assembly and a linear motion assembly, wherein the rotating assembly and the linear motion assembly are in transmission connection, and the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor into translation; the rotating assembly and the driving shaft of the driving motor are coupled; the driving motor is mounted on the bottom shell, the linear motion assembly is connected to the wet cleaning member to drive the wet cleaning member to translate, and the wet cleaning member is supported below the bottom shell; or, The lateral translation mechanism also includes a translation bracket; the lateral translation drive assembly includes a drive motor, a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the rotation assembly and the drive shaft of the drive motor are coupled; the drive motor is mounted on the bottom shell, the linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning element is supported below the translation bracket.

4. A lateral translation mechanism according to claim 3, characterized in that: The rotating assembly includes a screw rod, the linear motion assembly includes a screw rod nut, and the screw rod nut and the screw rod are connected by threads; Alternatively, the rotating assembly includes a gear, the linear motion assembly includes a rack, and the gear and the rack are meshed and transmission-connected; Alternatively, the rotating assembly includes a first synchronous wheel and a second synchronous wheel, and the linear motion assembly includes a synchronous belt, and the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel.

5. A lateral translation mechanism according to claim 3, characterized in that: The translation bracket is connected to the bottom shell via a support member, and the support member is fixed on the bottom shell; A limiting hole is provided on the translation bracket, the central axis of the limiting hole is perpendicular to the operating surface, and the length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning element; The support member is clamped with the limiting hole, and when the translation bracket translates, the limiting hole translates relative to the support member along the length extension direction of the limiting hole.

6. A lateral translation mechanism according to claim 5, characterized in that: The hole wall of the limiting hole includes a side wall, and the support member and the side wall are in rolling friction, and / or the hole wall of the limiting hole includes a top wall, and the support member and the top wall are in rolling friction.

7. A lateral translation mechanism according to claim 3, characterized in that: The linear motion assembly further comprises a guide member; a guide groove is provided on the translation bracket, and the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning member; The guide member is located in the guide groove, and the guide member and the guide groove are slidably connected.

8. The lateral translation mechanism according to claim 3, characterized in that: The lateral translation mechanism further includes a guide rod and an elastic member; The wet cleaning member includes a guide plate perpendicular to the translation direction, or the translation support includes a guide plate perpendicular to the translation direction; The length direction of the guide rod is parallel to the translation direction; The first end of the guide rod is fixedly connected to the linear motion assembly, the second end of the guide rod passes through the guide plate, and the guide rod is slidably connected to the guide plate; The elastic member is sleeved on the outer periphery of the guide rod located between the linear motion assembly and the guide plate; The elastic member is in a compressed state between the linear motion component and the guide plate; or, the elastic member is in a stretched state between the linear motion component and the guide plate.

9. A cleaning robot, characterized in that: It comprises the lateral translation mechanism according to any one of claims 1 to 8, and further comprises a bottom shell and a wet cleaning piece.

10. A method for controlling a lateral translation mechanism, characterized in that: Applied to the lateral translation mechanism according to any one of claims 1 to 8 or the cleaning robot according to claim 9, the lateral translation drive assembly comprises a drive motor, and the method comprises: In response to detecting the extension instruction, controlling the drive motor to rotate forward to drive the wet cleaning element to translate from the recovery position to the extension position within the operating surface; In response to detecting the recovery instruction, the drive motor is controlled to reverse to drive the wet cleaning element to translate from the extended position to the recovery position within the operating surface.

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