Swinging device and sweeping robot

Abstract

The invention provides a swing device and a sweeping robot, and relates to the technical field of cleaning equipment. The swinging device comprises a bearing plate, a rotating seat, a swinging arm, an elastic piece, a rope, a fixing piece and a driving assembly, the driving assembly and the fixing piece are both arranged on the bearing plate, the rotating seat is rotationally arranged on the bearing plate and located between the driving assembly and the fixing piece, one end of the elastic piece is arranged on the rotating seat, and the other end of the elastic piece is arranged on the fixing piece; one end of the rope is arranged on the rotating seat, the other end of the rope is arranged on the driving assembly, the rotating seat penetrates through the bearing plate and is connected with one end of the swing arm, and the other end of the swing arm is provided with a cleaning element; the driving assembly can pull the rope to enable the swing arm to swing inwards and the elastic piece to be stretched, or the rope is released to enable the swing arm to swing outwards under the elastic force action of the elastic piece, and the swing arm can automatically retract inwards after the cleaning element encounters an obstacle and automatically swing outwards after the obstacle disappears. On the basis, smaller space occupation can be realized, and the cleaning element is prevented from being damaged by obstacles.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a swing device and a sweeping robot. Background Art

[0002] Usually, when a sweeping robot is cleaning along the edge, its cleaning element will be a certain distance away from the wall, which will result in a blind spot, thereby reducing the cleaning effect. In the related art, in order to avoid the blind spot when the sweeping robot is cleaning along the edge, a transmission device can be added to realize the swing and retraction of the cleaning element, but the transmission device will take up a large space, and when the sweeping robot encounters an obstacle during the movement, the transmission device cannot realize the automatic retraction of the cleaning element, which can easily damage the cleaning element, thereby reducing the service life of the sweeping robot. Summary of the invention

[0003] The present application provides a swinging device and a sweeping robot, aiming to solve the problem in the related art that the transmission device for realizing the outward swing and inward retraction of the cleaning element occupies a large space and the cleaning element is easily damaged.

[0004] In order to solve the above-mentioned drawbacks existing in the related technology, the first aspect of the present application provides a swinging device, which is arranged in the casing of the sweeping robot, and the swinging device includes a supporting plate, a rotating seat, a swing arm, an elastic member, a rope, a fixing member and a driving assembly. The driving assembly and the fixing member are both arranged on the supporting plate and are respectively located at the two ends of the supporting plate. The rotating seat is rotatably arranged on the supporting plate and is located between the driving assembly and the fixing member. One end of the elastic member is arranged on the rotating seat and the other end is arranged on the fixing member. One end of the rope is arranged on the rotating seat and the other end is arranged on the driving assembly. The rotating seat passes through the supporting plate and is connected to one end of the swing arm. The other end of the swing arm is used to install a cleaning element. The swing arm has a retracted position after swinging inward into position, an extended position after swinging outward into position, a retraction process from the extended position to the retracted position, and an outward swing process from the retracted position to the extended position. Specifically, the driving assembly is used to: pull the rope during the retraction process, so that the rotating seat rotates in the direction of the driving assembly, and the swing arm swings inward and the elastic member is stretched; release the rope during the outward swing process, so that the rotating seat rotates in the direction of the fixed member, and the swing arm swings outward and the elastic member returns to its natural state when it is not stretched. During the movement of the sweeping robot, the swing arm is used to: when the sweeping robot is in the extended position and the cleaning element encounters an obstacle, it swings inward under the resistance of the obstacle, so that the rotating seat rotates in the direction of the driving assembly and the elastic member is stretched; when the obstacle disappears, it swings outward under the elastic force of the elastic member and returns to the extended position.

[0005] In some implementations, the swing device further includes a rope guide member, which is disposed on the bearing plate and located between the drive assembly and the rotating seat, and is used to guide the rope between the drive assembly and the rotating seat. In one or more implementations, the rope guide member includes a rope guide body, which has a rope guide groove that runs from one end to the other end of the rope guide body, and the rope guide body is used to guide the rope between the drive assembly and the rotating seat through the rope guide groove. In one or more implementations, the rope guide body also has a first rope winding column and a second rope winding column, which are respectively located at two ends of the rope guide body, the first rope winding column is close to the rotating seat, and the second rope winding column is close to the drive assembly; wherein, the rope with one end disposed on the rotating seat, the other end first bypasses the first rope winding column at a first preset wrap angle and enters the rope guide groove, and then bypasses the second rope winding column at a second preset wrap angle and leaves the rope guide groove to be disposed on the drive assembly.

[0006] In some implementations, the driving assembly includes a motor, a driving gear, a driven gear, a rope receiving drum, and a rotating shaft, one end of the rotating shaft is arranged on a bearing plate, the driven gear and the rope receiving drum are sequentially sleeved on the rotating shaft, the rope receiving drum is arranged on the driven gear, the driven gear and the rope receiving drum are both rotated in coordination with the rotating shaft, one end of the rope is arranged on the rope receiving drum, the motor is arranged on the bearing plate, the driving gear is sleeved on the output shaft of the motor and meshes with the driven gear. Specifically, the motor is used to drive the driven gear to rotate in a forward direction together with the rope receiving drum through the driving gear during the retraction process to pull the rope, or to drive the driven gear to rotate in a reverse direction together with the rope receiving drum through the driving gear during the outward swing process to release the rope; wherein, the forward rotation is a rotation in a direction in which the rope is pulled, and the reverse rotation is a rotation in a direction in which the rope is released.

[0007] In one or more of the implementation schemes, the driving assembly also includes a compression spring; the driven gear includes a driven wheel, the rope receiving drum includes a drum body, the driven wheel and the drum body are sequentially sleeved on the rotating shaft, the driven wheel and the drum body are both rotatably matched with the rotating shaft, the compression spring is sleeved on the rotating shaft, one end of the compression spring abuts against the drum body, and the other end is used to abut against the inner wall of the casing, the compression spring is always compressed, and the drum body abuts against the driven wheel under the elastic force of the compression spring; a blocking portion extending outward is formed on the periphery of the drum body, and the blocking portion An enclosure portion extending around the axis of the disk body is formed at one end away from the disk body, a slot is provided on the side of the disk body close to the driven wheel, and one end of the rope is arranged on the end of the blocking portion away from the disk body; an arc portion extending outward is formed on the periphery of the driven wheel, a plurality of gear teeth for engaging with the driving gear are provided on the side of the arc portion away from the driven wheel, an insert block is provided on the side of the driven wheel close to the disk body, one end of the arc portion is inserted into the gap between the disk body and the enclosure portion and abuts against the blocking portion, and the insert block is inserted into the slot.

[0008] In one or more of the implementation schemes, the driving component has two states, namely a locked state and an unlocked state. The locked state restricts the driven gear and the rope drum from rotating in the opposite direction, and the unlocked state indicates that the restriction on the driven gear and the rope drum rotating in the opposite direction is released; a locking block is provided on the side of the disk body close to the driven wheel, and the locking block has a first inclined surface. A limiting block close to the driven wheel is provided on the bearing plate, and the limiting block has a second inclined surface. The inclination direction and angle of the first inclined surface and the second inclined surface are consistent. The insert block has a third inclined surface, and the groove side wall of the slot away from the enclosure is a fourth inclined surface, and the inclination direction and angle of the third inclined surface and the fourth inclined surface are consistent. Specifically, the locking block is used to pass over the limit block and reach the side of the limit block opposite to the second bevel under the guidance of the first and second bevels when the driven gear and the rope connecting drum rotate forward together during the retraction process, so that the drive assembly enters a locked state; the insertion block is used to lift the disk body under the guidance of the third and fourth bevels when the driven gear and the rope connecting drum rotate reversely during the outward swing process, so that the locking block passes over the limit block and reaches the side of the limit block provided with the second bevel, so as to put the drive assembly into an unlocked state.

[0009] In one or more of the implementation schemes, a first slot is provided on the rope receiving drum, a second slot is provided on the rotating seat, and both ends of the rope have a first clamp and a second clamp respectively, and the first clamp and the second clamp are respectively clamped in the first slot and the second slot.

[0010] In some implementation schemes, the fixing member includes a fixing column with one end arranged on the supporting plate, and one end of the elastic member is sleeved on the fixing column; or, the fixing member includes a fixing column with one end arranged on the supporting plate, and the end of the fixing column away from the supporting plate is formed with a hanging portion extending in a direction perpendicular to the axis of the fixing column, and one end of the elastic member is sleeved on the hanging portion; or, the fixing member includes a fixing column with one end arranged on the supporting plate, and the end of the fixing column away from the supporting plate is provided with a hanging ring, and one end of the elastic member is sleeved on the hanging ring.

[0011] A second aspect of the present application provides a sweeping robot, which includes a housing and the swing device provided by the first aspect of the present application, and the swing device is arranged in the housing.

[0012] The swinging device provided in the first aspect of the present application is composed of a driving assembly, a supporting plate, a rotating seat, a swing arm, an elastic member, a rope and a fixing member. The driving assembly and the fixing member are both arranged on the supporting plate and are respectively located at the two ends of the supporting plate. The rotating seat is rotatably arranged on the supporting plate and is located between the driving assembly and the fixing member. One end of the elastic member is arranged on the rotating seat and the other end is arranged on the fixing member. One end of the rope is arranged on the rotating seat and the other end is arranged on the driving assembly. The rotating seat passes through the supporting plate and is connected to one end of the swing arm. The other end of the swing arm is used to install a cleaning element. The swing arm has a retracted position after swinging inward into position, an extended position after swinging outward into position, an inward retraction process from the extended position to the retracted position, and an outward swing process from the retracted position to the extended position. In actual applications, the driving component can pull the rope during the retraction process to rotate the rotating seat toward the driving component, and cause the swing arm together with the cleaning element to swing inward and the elastic member to be stretched; the driving component can also release the rope during the outward swing process, so that the rotating seat rotates toward the fixed member under the elastic force of the elastic member, and causes the swing arm together with the cleaning element to swing outward and the elastic member to return to its natural state when not stretched; during the movement of the sweeping robot, when the swing arm is in the extended position and the cleaning element encounters an obstacle, the swing arm can swing inward together with the cleaning element under the resistance of the obstacle, causing the rotating seat to rotate toward the driving component and the elastic member to be stretched, and when the obstacle disappears, the rotating seat will rotate toward the fixed member under the elastic force of the elastic member, causing the swing arm together with the cleaning element to swing outward and return to the extended position. It can be seen that compared with the transmission device in the traditional solution, the present application uses a rope as the transmission structure between the driving assembly and the rotating seat, which can achieve smaller space occupancy; moreover, during the movement of the sweeping robot, when the swing arm is in the extended position, the swing arm can not only drive the cleaning element to automatically retract after encountering an obstacle, but also drive the cleaning element to automatically swing outward and return to the extended position after the obstacle disappears, which can effectively prevent the cleaning element from being damaged by obstacles and improve the service life of the sweeping robot.

[0013] The sweeping robot provided in the second aspect of the present application has all the advantages of the swing device because it includes the swing device provided in the first aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the related technologies or the embodiments of the present application, the drawings required for use in the description of the related technologies or the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1A schematic diagram of the structure of a sweeping robot provided in an embodiment of the present application;

[0016] Figure 2 A schematic diagram of the structure of the swing device provided in an embodiment of the present application;

[0017] Figure 3 An exploded schematic diagram of a swing device provided in an embodiment of the present application at a first viewing angle;

[0018] Figure 4 Provided in the embodiments of this application Figure 3 A partial enlarged view of the middle A;

[0019] Figure 5 An exploded schematic diagram of the swing device provided in an embodiment of the present application at a second viewing angle;

[0020] Figure 6 Provided in the embodiments of this application Figure 5 A partial enlarged view of point B in the middle;

[0021] Figure 7 An exploded schematic diagram of the swing device provided in an embodiment of the present application at a third viewing angle;

[0022] Figure 8 Provided in the embodiments of this application Figure 7 A partial enlarged view of point C in the middle.

[0023] The symbols in the above drawings represent:

[0024] 100-swing device, 200-housing, 300-cleaning element, 110-carrying plate, 120-rotating seat, 130-swing arm, 140-elastic member, 150-rope, 160-fixing member, 170-driving assembly, 180-rope guide member, 121-second card slot, 151-first card head, 152-second card head, 161-fixing column, 162-hanging part, 171-motor, 172-driving gear, 173-driven gear, 174-rope receiving disc, 175-rotating shaft, 176-compression spring, 177 -limiting block, 1731-driven wheel, 1732-arc-shaped portion, 1733-wheel teeth, 1734-insertion block, 1735-third inclined surface, 1741-disk body, 1742-blocking portion, 1743-enclosing portion, 1744-slot, 1745-fourth inclined surface, 1746-locking block, 1747-first inclined surface, 1748-first locking groove, 1749-annular groove, 1771-second inclined surface, 181-rope guiding body, 1811-rope guiding groove, 1812-first rope winding column, 1813-second rope winding column. DETAILED DESCRIPTION

[0025] In the related art, in order to avoid blind spots when the sweeping robot is cleaning along the edge, a transmission device can be added to realize the outward swing and inward retraction of the cleaning element, but the transmission device will take up a large space, and when the sweeping robot encounters an obstacle during the movement, the transmission device cannot realize the automatic inward retraction of the cleaning element, which can easily damage the cleaning element, thereby reducing the service life of the sweeping robot. Therefore, the present application proposes a swing device and a sweeping robot using the swing device in the following embodiments to solve the above-mentioned drawbacks existing in the related art.

[0026] In order to make the purpose, technical solutions and advantages of the present application more obvious and easy to understand, the present application will be clearly and completely described below in conjunction with the embodiments of the present application and the corresponding drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. It should be understood that the embodiments of the present application described below are only used to explain the present application and are not used to limit the present application, that is, based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0027] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the sweeping robot. Figure 2: is a schematic diagram of the structure of the swing device. This embodiment provides a swing device 100, which is used in a sweeping robot. The sweeping robot includes a housing 200 and various systems arranged in the housing 200, such as a control system, a power system, a cleaning system, and a sensor system, and the swing device 100 of this embodiment belongs to the cleaning system inside the housing 200. Since the technology of sweeping robots in this field is relatively mature, this embodiment and other embodiments below only describe the swing device 100 in detail. Specifically, the swing device 100 includes a supporting plate 110, a rotating seat 120, a swing arm 130, an elastic member 140, a rope 150, a fixing member 160 and a driving assembly 170. The driving assembly 170 and the fixing member 160 are both arranged on the supporting plate 110 and are respectively located at the two ends of the supporting plate 110. The rotating seat 120 is arranged on the supporting plate 110 and is located between the driving assembly 170 and the fixing member 160. The rotating seat 120 and the supporting plate 110 are rotatably matched. One end of the elastic member 140 is arranged on the rotating seat 120 and is close to the edge of the rotating seat 120, and the other end is arranged on the fixing member 160. One end of the rope 150 is arranged on the periphery of the rotating seat 120, and the other end is arranged on the driving assembly 170. The rotating seat 120 passes through the supporting plate 110 and is connected to one end of the swing arm 130. The other end of the swing arm 130 is used to install a cleaning element 300 (such as a brush, a rag, etc.).

[0028] In this embodiment, the elastic member 140 is a spring, preferably a tension spring. Further, the swing arm 130 has a retracted position after swinging inwards to a certain position, an extended position after swinging outwards to a certain position, an inward retraction process from the extended position to the retracted position, and an outward swing process from the retracted position to the extended position. In addition, it should be noted that the "inward swing" in this embodiment refers to the swing in the direction of the drive assembly 170, and the "outward swing" refers to the swing in the direction of the fixing member 160, and the swing directions of the two are opposite.

[0029] In this embodiment, the driving assembly 170 is used to: pull the rope 150 during the retraction process, so that the rotating seat 120 rotates in the direction of the driving assembly 170, and the swing arm 130 swings inward and the elastic member 140 is stretched; release the rope 150 during the outward swing process, so that the rotating seat 120 rotates in the direction of the fixing member 160 under the elastic force of the elastic member 140, and the swing arm 130 swings outward and the elastic member 140 returns to its natural state when it is not stretched. In addition, during the movement of the sweeping robot, the swing arm 130 is used to: when the sweeping robot is in the extended position and the cleaning element 300 encounters an obstacle, the swing arm 130 swings inward under the resistance of the obstacle, so that the rotating seat 120 rotates in the direction of the driving assembly 170 and the elastic member 140 is stretched; when the obstacle disappears, the swing arm 130 swings outward under the elastic force of the elastic member 140 and returns to the extended position.

[0030] That is to say, in actual application, when the swing arm 130 is retracted, that is, when the swing arm 130 is transferred from the extended position to the retracted position, the driving assembly 170 will pull the rope 150. Since the rope 150 is connected to the periphery of the rotating seat 120, the rotating seat 120 will rotate toward the driving assembly 170 during the pulling of the rope 150. At the same time, since the elastic member 140 is connected between the fixing member 160 and the edge of the rotating seat 120, the elastic member 140 will be stretched during the rotation of the rotating seat 120 toward the driving assembly 170. Since the rotating seat 120 is connected to one end of the swing arm 130 and the cleaning element 300 is installed at the other end of the swing arm 130, During the rotation in the direction of 170, the swing arm 130 will swing inward together with the cleaning element 300 until the swing arm 130 reaches the retracted position; when the swing arm 130 is in the process of swinging outward, that is, when the swing arm 130 is transferred from the retracted position to the extended position, the driving assembly 170 will release the rope 150, and the elastic member 140 will return to its natural state when it is not stretched due to the release of the rope 150, and the rotating seat 120 will rotate in the direction of the fixing member 160 due to the recovery of the elastic member 140, and the swing arm 130 will swing outward together with the cleaning element 300 due to the rotation of the rotating seat 120 in the direction of the fixing member 160 until the swing arm 130 reaches the extended position, so as to utilize the outward-swinging cleaning element 300 to realize edge cleaning of the sweeping robot. In addition, during the movement of the sweeping robot, when the sweeping robot is performing edge cleaning, that is, when the swing arm 130 is in the extended position, if the cleaning element 300 encounters an obstacle, the cleaning element 300 will swing inwards together with the swing arm 130 under the resistance of the obstacle, the rotating seat 120 will rotate in the direction of the driving assembly 170 due to the inward swing of the swing arm 130, and the elastic member 140 will be stretched due to the rotation of the rotating seat 120 in the direction of the driving assembly 170; when the obstacle blocking the cleaning element 300 disappears, the resistance of the obstacle to the cleaning element 300 also disappears, the elastic member 140 will return to its natural state when it is not stretched due to the lack of resistance from the obstacle, the rotating seat 120 will rotate in the direction of the fixing member 160 due to the recovery of the elastic member 140, and the swing arm 130 will swing outwards together with the cleaning element 300 due to the rotation of the rotating seat 120 in the direction of the fixing member 160, until the swing arm 130 returns to the extended position again, so that the sweeping robot continues to perform edge cleaning.

[0031] As can be seen from the above, compared with the transmission device in the traditional solution, the present embodiment uses the rope 150 as the transmission structure between the driving component 170 and the rotating seat 120, which can achieve smaller space occupancy; moreover, during the movement of the sweeping robot, when the sweeping robot is cleaning along the edge, the swing arm 130 can not only drive the cleaning element 300 to automatically retract after encountering an obstacle, but also drive the cleaning element 300 to automatically swing outward and return to the extended position after the obstacle disappears, which can effectively prevent the cleaning element 300 from being damaged by obstacles and improve the service life of the sweeping robot.

[0032] In some embodiments, see Figure 3 , Figure 3 The driving assembly 170 includes a motor 171, a driving gear 172, a driven gear 173, a rope receiving drum 174 and a rotating shaft 175. One end of the rotating shaft 175 is arranged on the bearing plate 110. The driven gear 173 and the rope receiving drum 174 are sleeved on the rotating shaft 175 in sequence. The rope receiving drum 174 is arranged on the driven gear 173 to be linked with the driven gear 173. The driven gear 173 and the rope receiving drum 174 are both rotatably matched with the rotating shaft 175. One end of the rope 150 is arranged on the periphery of the rope receiving drum 174. The motor 171 is arranged on the bearing plate 110. The driving gear 172 is sleeved on the output shaft of the motor 171, and the driving gear 172 is meshed with the driven gear 173. Specifically, the motor 171 is used to: during the inward retraction process, the driving gear 172 drives the driven gear 173 and the rope drum 174 to rotate forwardly, so as to pull the rope 150 and make the swing arm 130 swing inward; during the outward swing process, the driving gear 172 drives the driven gear 173 and the rope drum 174 to rotate backwardly, so as to release the rope 150 and make the swing arm 130 swing outward. It should be noted that forward rotation refers to rotation in the direction in which the rope 150 is pulled, and reverse rotation refers to rotation in the direction in which the rope 150 is released, and the direction in which the rope 150 is pulled is opposite to the direction in which the rope 150 is released.

[0033] That is to say, in actual application, when the swing arm 130 is retracted, that is, when the swing arm 130 is transferred from the extended position to the retracted position, the motor 171 will drive the driving gear 172 to rotate through the output shaft. Since the driving gear 172 is meshed with the driven gear 173 and the driven gear 173 is linked with the rope receiving drum 174, the driven gear 173 will rotate forwardly together with the rope receiving drum 174 during the rotation of the driving gear 172. At the same time, since the rope 150 is connected between the periphery of the rope receiving drum 174 and the periphery of the rotating seat 120, the rope 150 will pull the rotating seat 120 to rotate in the direction of the driving assembly 170 during the positive rotation of the driven gear 173 and the rope receiving drum 174. The elastic member 140 will be stretched due to the rotation of the rotating seat 120 in the direction of the driving assembly 170, and the swing arm 130 will be connected due to the rotation of the rotating seat 120 in the direction of the driving assembly 170. The cleaning element 300 swings inwards until the swing arm 130 reaches the retracted position; when the swing arm 130 is in the outward swinging process, that is, when the swing arm 130 is transferred from the retracted position to the extended position, the motor 171 drives the driving gear 172 to rotate through the output shaft, and the driven gear 173 and the rope receiving drum 174 rotate in the opposite direction due to the rotation of the driving gear 172. The rope 150 loses the pulling force on itself when the driven gear 173 and the rope receiving drum 174 rotate forward together. The elastic member 140 returns to its natural state when it is not stretched, and the rotating seat 120 rotates toward the direction of the fixing member 160 due to the recovery of the elastic member 140. The swing arm 130 swings outwards together with the cleaning element 300 due to the rotation of the rotating seat 120 toward the fixing member 160 until the swing arm 130 reaches the extended position, so as to realize the edge cleaning of the sweeping robot by utilizing the outward swinging cleaning element 300.

[0034] As one or more embodiments, please combine Figure 4 , Figure 5 and Figure 6 , Figure 4 yes Figure 3 A partial enlarged view of the middle A. Figure 5 This is a schematic diagram of the swing device in the second perspective. Figure 6 yes Figure 5The partial enlarged view of the B in the figure. In addition to the structure given above, the driving assembly 170 also includes a compression spring 176; the driven gear 173 includes a driven wheel 1731, and the rope receiving disc 174 includes a disc body 1741. The driven wheel 1731 and the disc body 1741 are sequentially sleeved on the rotating shaft 175, and the driven wheel 1731 and the disc body 1741 are both rotatably matched with the rotating shaft 175. The compression spring 176 is sleeved on the rotating shaft 175, and one end of the compression spring 176 abuts against the disc body 1741, and the other end is used to abut against the inner wall of the housing 200. The compression spring 176 is always compressed so that the disc body 1741 abuts against the driven wheel 1731 under the elastic force of the compression spring 176. It can be understood that, in the present application, the driven wheel 1731 and the disk body 1741 are first sequentially mounted on the rotating shaft 175, so that the disk body 1741 is located above the driven wheel 1731 and the two are in contact with each other, and then the compression spring 176 is mounted on the rotating shaft 175 with one end abutting against the disk body 1741, and the disk body 1741 is firmly pressed against the driven wheel 1731 by utilizing the elastic force of the compression spring 176 when it is compressed. In this way, the stability of the linkage between the driven gear 173 and the rope receiving drum 174 can be effectively guaranteed, and a large relative displacement between the two can be avoided. Preferably, an annular groove 1749 surrounding the rotating shaft 175 is provided on the side of the disk body 1741 away from the driven wheel 1731. After the compression spring 176 is sleeved on the rotating shaft 175, the end thereof abutting against the disk body 1741 is located in the annular groove 1749, that is, the end of the compression spring 176 is limited by the annular groove 1749, thereby ensuring the stability of using the compression spring 176 to press the disk body 1741 onto the driven wheel 1731.

[0035] In one or more embodiments, a blocking portion 1742 extending outward (i.e., extending in a direction away from the disk body 1741) is formed on the periphery of the disk body 1741, an enclosure portion 1743 extending around the axis of the disk body 1741 is formed on the end of the blocking portion 1742 away from the disk body 1741, a slot 1744 is provided on the side of the disk body 1741 close to the driven wheel 1731, and one end of the rope 150 is arranged on the end of the blocking portion 1742 away from the disk body 1741; an arc portion 1732 extending outward (i.e., extending in a direction away from the driven wheel 1731) is formed on the periphery of the driven wheel 1731, a plurality of gear teeth 1733 for meshing with the driving gear 172 are provided on the side of the arc portion 1732 away from the driven wheel 1731, and an insert block 1734 is provided on the side of the driven wheel 1731 close to the disk body 1741. Specifically, when the driven gear 173 and the rope receiving disc 174 are assembled on the rotating shaft 175 using the compression spring 176, one end of the arc portion 1732 is inserted into the gap between the disc body 1741 and the enclosing portion 1743 and abuts against the blocking portion 1742, and the insert block 1734 is inserted into the slot 1744.

[0036] It can be understood that during the retraction process, when the motor 171 drives the driving gear 172 to rotate through the output shaft, the driven gear 173 will rotate forward together with the rope receiving disc 174 due to the meshing between itself and the driving gear 172. This is not only because the compression spring 176 firmly presses the disc body 1741 against the driven wheel 1731, but also because one end of the arc portion 1732 is inserted into the gap between the disc body 1741 and the enclosing portion 1743 and abuts against the blocking portion 1742, that is, the abutment between one end of the arc portion 1732 and the blocking portion 1742 causes the driven gear 173 to rotate forward. The wheel 173 can drive the rope receiving disc 174 to rotate in the forward direction; during the outward swing process, when the motor 171 drives the driving gear 172 to rotate through the output shaft, the driven gear 173 will rotate in the reverse direction together with the rope receiving disc 174 due to its meshing with the driving gear 172. This is not only because the compression spring 176 firmly presses the disc body 1741 against the driven wheel 1731, but also because the plug block 1734 is inserted into the slot 1744, that is, the insertion between the plug block 1734 and the slot 1744 enables the driven gear 173 to drive the rope receiving disc 174 to rotate in the reverse direction.

[0037] In one or more embodiments, the driving assembly 170 has two states, namely a locked state and an unlocked state. The locked state restricts the driven gear 173 and the rope receiving drum 174 from rotating in the opposite direction, while the unlocked state refers to releasing the restriction on the driven gear 173 and the rope receiving drum 174 from rotating in the opposite direction. Figure 7 and Figure 8 , Figure 7 This is a disassembled schematic diagram of the swing device from a third-person perspective. Figure 8 Shows Figure 7A partial enlarged view of point C in the middle; a locking block 1746 is provided on one side of the disk body 1741 close to the driven wheel 1731, and the locking block 1746 has a first inclined surface 1747; a limiting block 177 close to the driven wheel 1731 is provided on the supporting plate 110, and the limiting block 177 has a second inclined surface 1771, and the inclination direction and angle between the first inclined surface 1747 and the second inclined surface 1771 are consistent; the insert block 1734 has a third inclined surface 1735, and the groove side wall of the insertion slot 1744 away from the enclosing portion 1743 is a fourth inclined surface 1745, and the inclination direction and angle between the third inclined surface 1735 and the fourth inclined surface 1745 are consistent. Specifically, the engaging block 1746 is used to pass over the limit block 177 and reach the side of the limit block 177 opposite to the second bevel 1771 when the driven gear 173 and the rope connecting drum 174 rotate forward together during the retraction process of the swing arm 130, so that the driving assembly 170 enters a locked state; the insert block 1734 is used to lift the disk body 1741 under the guidance of the third bevel 1735 and the fourth bevel 1745 when the driven gear 173 and the rope connecting drum 174 rotate reversely during the outward swing process of the swing arm 130, so that the engaging block 1746 passes over the limit block 177 and reaches the side of the limit block 177 provided with the second bevel 1771, thereby converting the driving assembly 170 from a locked state to an unlocked state.

[0038] That is to say, in actual application, when the swing arm 130 is retracted, the motor 171 drives the driving gear 172 to rotate through the output shaft, and the driven gear 173 will rotate forwardly together with the rope receiving disc 174 due to the meshing between the driven gear 173 and the driving gear 172. In the process of the driven gear 173 and the rope receiving disc 174 rotating forwardly together, the engaging block 1746 will meet the limiting block 177. After the engaging block 1746 meets the limiting block 177, the forward rotation of the driven gear 173 and the rope receiving disc 174 will continue. Then, under the guidance of the first inclined surface 1747 and the second inclined surface 1771 (the first inclined surface 1747 and the first inclined surface 1771), the driven gear 173 and the rope receiving disc 174 will rotate forwardly together. The two inclined surfaces 1771 will slide relative to each other), the limit block 177 will lift the rope receiving drum 174 through the engaging block 1746, the compression spring 176 will be further compressed, and finally the engaging block 1746 will pass over the limit block 177 and reach the side of the limit block 177 opposite to the second inclined surface 1771. When the engaging block 1746 reaches the side of the limit block 177 opposite to the second inclined surface 1771, the rope receiving drum 174 will fall back under the elastic force of the compression spring 176. In this case, if the driven gear 173 rotates in the opposite direction with the rope receiving drum 174, it will inevitably be blocked by the limit block 177, thereby achieving the driven gear 173 and the rope receiving drum 174 rotating in the opposite direction. When the swing arm 130 is in the process of swinging outward, the motor 171 drives the driving gear 172 to rotate through the output shaft, and the driven gear 173 will rotate in the opposite direction together with the rope receiving drum 174 due to the meshing between itself and the driving gear 172. During the process of the driven gear 173 and the rope receiving drum 174 rotating in the opposite direction together, the side of the plug block 1734 having the third inclined surface 1735 will abut against the groove side wall of the slot 1744 away from the enclosing portion 1743. Then, as the driven gear 173 and the rope receiving drum 174 continue to rotate in the opposite direction, the plug block 1734 will be in the third inclined surface 1735. Under the guidance of the third slope 1735 and the fourth slope 1745 (relative sliding will occur between the third slope 1735 and the fourth slope 1745), the rope receiving drum 174 will be lifted up, and finally the locking block 1746 will pass over the limit block 177 and reach the side of the limit block 177 provided with the second slope 1771. In this case, the reverse rotation of the driven gear 173 and the rope receiving drum 174 will no longer be blocked by the limit block 177, that is, the restriction on the reverse rotation of the driven gear 173 and the rope receiving drum 174 is released, and the driving assembly 170 also enters the unlocking state from the locked state, and then the swing arm 130 can be swung outward, and the sweeping robot can perform edge cleaning.

[0039] In one or more embodiments, see Figure 3, the rope receiving disc 174 is provided with a first clamping slot 1748, the rotating seat 120 is provided with a second clamping slot 121, and the two ends of the rope 150 are provided with a first clamping head 151 and a second clamping head 152, respectively, and the first clamping head 151 and the second clamping head 152 are respectively clamped in the first clamping slot 1748 and the second clamping slot 121. That is to say, in actual application, the second clamping head 152 of the rope 150 is first clamped in the second clamping slot 121 of the rotating seat 120, and then the rope guide 180 is used to guide the end of the rope 150 provided with the first clamping head 151 to the rope receiving disc 174, and finally the first clamping head 151 of the rope 150 is clamped in the first clamping slot 1748 of the rope receiving disc 174, so that the transmission between the driving assembly 170 and the rotating seat 120 is realized through the rope 150.

[0040] In some embodiments, see Figure 3 In addition to the above-mentioned structure, the swing device 100 further includes a rope guide member 180, which is disposed on the bearing plate 110 and located between the driving assembly 170 and the rotating seat 120. The rope guide member 180 is used to guide the rope 150 between the driving assembly 170 and the rotating seat 120. It can be understood that a rope guide member 180 is disposed between the driving assembly 170 and the rotating seat 120, and the rope guide member 180 is used to guide the rope 150 connected between the driving assembly 170 and the rotating seat 120. On the one hand, it is to realize that the rotating seat 120 can rotate in the direction of the driving assembly 170 when the driving assembly 170 pulls the rope 150, and on the other hand, it can improve the stability when the rotating seat 120 rotates in the direction of the driving assembly 170 by pulling the rope 150.

[0041] As one or more embodiments thereof, the rope guiding member 180 includes a rope guiding body 181, which is arranged on the supporting plate 110 and located between the driving assembly 170 and the rotating seat 120. The rope guiding body 181 has a rope guiding groove 1811 extending from one end thereof to the other end thereof. The rope guiding body 181 is used to guide the rope 150 between the driving assembly 170 and the rotating seat 120 through the rope guiding groove 1811; that is, the rope 150 having one end arranged on the rotating seat 120, the other end of which will first pass through the rope guiding groove 1811 on the rope guiding body 181, and then be arranged on the driving assembly 170, that is, the rope 150 is guided through the rope guiding groove 1811. In one or more embodiments, the rope guiding body 181 further has a first rope winding column 1812 and a second rope winding column 1813, and the first rope winding column 1812 and the second rope winding column 1813 are respectively located at opposite ends of the rope guiding body 181, the first rope winding column 1812 is close to the rotating seat 120, and the second rope winding column 1813 is close to the driving assembly 170; based on this, the rope 150, one end of which is arranged on the rotating seat 120, the other end of which can first bypass the first rope winding column 1812 at a first preset wrap angle and enter the rope guiding groove 1811, and then bypass the second rope winding column 1813 at a second preset wrap angle and leave the rope guiding groove 1811, and the rope 150 leaving the rope guiding groove 1811 will be arranged on the driving assembly 170, so that the transmission between the driving assembly 170 and the rotating seat 120 is realized through the rope 150. It is understandable that the present application configures the first rope winding column 1812 and the second rope winding column 1813 for the rope guiding body 181, on the one hand, to realize the conversion of the rotation of the rope receiving drum 174 into the pulling of the rope 150, and on the other hand, to further improve the stability when the rotating seat 120 is rotated in the direction of the driving assembly 170 by pulling the rope 150. In addition, it should be noted that the first preset wrap angle and the second preset wrap angle can be the same or different, and the values ​​of the first preset wrap angle and the second preset wrap angle are also determined according to actual needs, so the present application does not make a sole limitation on this.

[0042] In some embodiments, see Figure 3The fixing member 160 includes a fixing column 161, one end of which is arranged on the supporting plate 110, and the end of the elastic member 140 not arranged on the rotating seat 120 is sleeved on the fixing column 161, so that one end of the elastic member 140 is fixed, and the stretching and recovery requirements of the elastic member 140 are met. Of course, the structure of the fixing member 160 is not limited to this. In other embodiments, the fixing member 160 may also adopt other structures as long as it can achieve the fixation of one end of the elastic member 140; illustratively, the fixing member 160 includes a fixing column 161 with one end disposed on the carrier plate 110, and the end of the fixing column 161 away from the carrier plate 110 is formed with a hanging portion 162 extending in a direction perpendicular to the axis of the fixing column 161, and the end of the elastic member 140 not disposed on the rotating seat 120 is sleeved on the hanging portion 162; or, the fixing member 160 includes a fixing column 161 with one end disposed on the carrier plate 110, and the end of the fixing column 161 away from the carrier plate 110 is provided with a hanging ring (not shown), and the end of the elastic member 140 not disposed on the rotating seat 120 is sleeved on the hanging ring. In addition, it should be noted that a fixing structure similar to the fixing member 160 may also be provided on the rotating seat 120 to fix the elastic member 140 through the fixing structure, which will not be further described in this application.

[0043] The above embodiments are only preferred implementations of the present application. They are not the only limitations on the swing device 100 and the sweeping robot. To this end, those skilled in the art can flexibly set them according to the actual application scenarios based on the above embodiments. It can be understood that through the implementation of the above embodiments of the present application, the swing device 100 is composed of a bearing plate 110, a rotating seat 120, a swing arm 130, an elastic member 140, a rope 150, a fixing member 160 and a driving assembly 170. The driving assembly 170 and the fixing member 160 are both arranged on the bearing plate 110 and are respectively located at the opposite ends of the bearing plate 110. The rotating seat 120 is rotatably arranged on the bearing plate 110 and is located between the driving assembly 170 and the fixing member 160. One end of the elastic member 140 is arranged The rope 150 has one end on the rotating seat 120 and the other end on the fixing member 160. One end of the rope 150 is arranged on the rotating seat 120 and the other end is arranged on the driving assembly 170. The rotating seat 120 passes through the supporting plate 110 and is connected to one end of the swing arm 130. The other end of the swing arm 130 is used to install the cleaning element 300. The swing arm 130 has a retracted position after swinging inwardly to a full position, an extended position after swinging outwardly to a full position, an inward retraction process from the extended position to the retracted position, and an outward swing process from the retracted position to the extended position. In actual application, the driving assembly 170 can pull the rope 150 during the retraction process, so that the rotating seat 120 rotates in the direction of the driving assembly 170, and the swing arm 130 and the cleaning element 300 swing inward together and the elastic member 140 is stretched; the driving assembly 170 can also release the rope 150 during the outward swing process, so that the rotating seat 120 rotates in the direction of the fixing member 160 under the elastic force of the elastic member 140, and the swing arm 130 and the cleaning element 300 swing outward together and the elastic member 140 returns to its original state when it is not stretched. state; during the movement of the sweeping robot, when the swing arm 130 is in the extended position and the cleaning element 300 encounters an obstacle, the swing arm 130 can swing inward together with the cleaning element 300 under the action of the resistance of the obstacle, so that the rotating seat 120 rotates in the direction of the driving assembly 170 and the elastic member 140 is stretched. When the obstacle disappears, the rotating seat 120 will rotate in the direction of the fixing member 160 under the action of the elastic force of the elastic member 140, so that the swing arm 130 and the cleaning element 300 swing outward together and return to the extended position. It can be seen that compared with the transmission device in the traditional solution, the present application uses the rope 150 as the transmission structure between the driving component 170 and the rotating seat 120, which can achieve smaller space occupancy; moreover, during the movement of the sweeping robot, when the swing arm 130 is in the extended position, the swing arm 130 can not only drive the cleaning element 300 to automatically retract after encountering an obstacle, but also drive the cleaning element 300 to automatically swing outward and return to the extended position after the obstacle disappears, which can effectively prevent the cleaning element 300 from being damaged by obstacles and improve the service life of the sweeping robot.

[0044] It should be noted that the several embodiments shown in the present application above are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can refer to each other. It should also be noted that in the text description of the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is such an actual relationship or order between these entities or operations. Further, the terms "include", "comprise" or any other corresponding variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only these elements, but also other elements that are not explicitly listed, or may also include elements inherent to such a process, method, article or device; and, in the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] In addition, by implementing the several embodiments shown above in the present application, professionals and technicians in this field can implement or use the present application. For the several embodiments shown above in the present application, various modifications will be obvious to professionals and technicians in this field, and the general principles defined in the present application can be implemented in other embodiments not shown without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the several embodiments shown above, but will conform to the widest range consistent with the principles and novel features disclosed in the present application.

Claims

1. A swing device, applied to a sweeping robot, the sweeping robot comprising a housing, the swing device being arranged in the housing, characterized in that: It includes a carrying plate, a rotating seat, a swing arm, an elastic member, a rope, a fixing member and a driving assembly, wherein the driving assembly and the fixing member are both arranged on the carrying plate and are respectively located at the two ends of the carrying plate, the rotating seat is rotatably arranged on the carrying plate and is located between the driving assembly and the fixing member, one end of the elastic member is arranged on the rotating seat, and the other end is arranged on the fixing member, one end of the rope is arranged on the rotating seat, and the other end is arranged on the driving assembly, the rotating seat passes through the carrying plate and is connected to one end of the swing arm, and the other end of the swing arm is used to install a cleaning element, and the swing arm has a retracted position after swinging inwardly into position, an extended position after swinging outwardly into position, a retracting process from the extended position to the retracted position, and an outward swing process from the retracted position to the extended position; wherein, The driving assembly is used to: during the retraction process, pull the rope to rotate the rotating seat toward the driving assembly, and cause the swing arm to swing inward and the elastic member to be stretched; during the outward swing process, release the rope to rotate the rotating seat toward the fixing member, and cause the swing arm to swing outward and the elastic member to return to a natural state when it is not stretched; During the movement of the sweeping robot, the swing arm is used to: when the sweeping robot is in the extended position and the cleaning element encounters an obstacle, the swing arm is used to swing inward under the resistance of the obstacle, so that the rotating seat rotates in the direction of the driving assembly and the elastic member is stretched; when the obstacle disappears, the swing arm is used to swing outward under the elastic force of the elastic member and return to the extended position.

2. The swing device according to claim 1, characterized in that: It also includes a rope guiding member, which is arranged on the bearing plate and located between the driving assembly and the rotating seat, and is used to guide the rope between the driving assembly and the rotating seat.

3. The swing device according to claim 2, characterized in that: The rope guiding member comprises a rope guiding body having a rope guiding groove extending from one end to the other end, and the rope guiding body is used for guiding the rope between the driving assembly and the rotating seat through the rope guiding groove.

4. The swing device according to claim 3, characterized in that: The rope guiding body also has a first rope winding column and a second rope winding column, and the first rope winding column and the second rope winding column are respectively located at two ends of the rope guiding body, the first rope winding column is close to the rotating seat, and the second rope winding column is close to the driving assembly; wherein, the rope with one end arranged on the rotating seat, the other end first bypasses the first rope winding column at a first preset wrap angle and enters the rope guiding groove, and then bypasses the second rope winding column at a second preset wrap angle and leaves the rope guiding groove to be arranged on the driving assembly.

5. The swing device according to claim 1, characterized in that: The driving assembly comprises a motor, a driving gear, a driven gear, a rope receiving drum and a rotating shaft, one end of the rotating shaft is arranged on the carrying plate, the driven gear and the rope receiving drum are sleeved on the rotating shaft in sequence, the rope receiving drum is arranged on the driven gear, the driven gear and the rope receiving drum are both rotatably matched with the rotating shaft, one end of the rope is arranged on the rope receiving drum, the motor is arranged on the carrying plate, the driving gear is sleeved on the output shaft of the motor and meshes with the driven gear; The motor is used to drive the driven gear through the driving gear to rotate together with the rope receiving disc in the forward direction to pull the rope during the retraction process, or to drive the driven gear through the driving gear to rotate together with the rope receiving disc in the reverse direction to release the rope during the outward swing process; wherein the forward rotation is rotation in the direction in which the rope is pulled, and the reverse rotation is rotation in the direction in which the rope is released.

6. The swing device according to claim 5, characterized in that: The driving assembly further includes a compression spring; the driven gear includes a driven wheel, the rope receiving drum includes a drum body, the driven wheel and the drum body are sequentially sleeved on the rotating shaft, the driven wheel and the drum body are both rotatably matched with the rotating shaft, the compression spring is sleeved on the rotating shaft, one end of the compression spring abuts against the drum body, and the other end is used to abut against the inner wall of the casing, the compression spring is always compressed, and the drum body abuts against the driven wheel under the elastic force of the compression spring; A blocking portion extending outward is formed on the periphery of the disk body, and an enclosure portion extending around the axis of the disk body is formed on the end of the blocking portion away from the disk body, a slot is provided on the side of the disk body close to the driven wheel, and one end of the rope is arranged on the end of the blocking portion away from the disk body; an arc-shaped portion extending outward is formed on the periphery of the driven wheel, and a plurality of gear teeth for engaging with the driving gear are provided on the side of the arc-shaped portion away from the driven wheel, and an insert block is provided on the side of the driven wheel close to the disk body, one end of the arc-shaped portion is inserted into the gap between the disk body and the enclosure portion and abuts against the blocking portion, and the insert block is inserted into the slot.

7. The swing device according to claim 6, characterized in that: The driving assembly has a locked state and an unlocked state, wherein the locked state restricts the driven gear and the rope receiving disc from rotating in the opposite direction, and the unlocked state indicates that the restriction on the driven gear and the rope receiving disc from rotating in the opposite direction is released; A clamping block is provided on one side of the disk body close to the driven wheel, the clamping block has a first inclined surface, a limiting block close to the driven wheel is provided on the bearing plate, the limiting block has a second inclined surface, the first inclined surface and the second inclined surface have the same inclination direction and angle, the inserting block has a third inclined surface, the slot side wall away from the enclosing portion is a fourth inclined surface, the third inclined surface and the fourth inclined surface have the same inclination direction and angle; The engaging block is used to, when the driven gear rotates together with the rope receiving disc in the forward direction during the retraction process, pass over the limit block and reach the side of the limit block opposite to the second bevel under the guidance of the first bevel and the second bevel, so that the drive assembly enters the locked state; the insert block is used to, when the driven gear rotates together with the rope receiving disc in the reverse direction during the outward swing process, lift up the disc body under the guidance of the third bevel and the fourth bevel, so that the engaging block passes over the limit block and reaches the side of the limit block provided with the second bevel, so as to put the drive assembly in the unlocked state.

8. The swing device according to claim 5, characterized in that: The rope receiving disc is provided with a first clamping slot, the rotating seat is provided with a second clamping slot, the rope has a first clamping head and a second clamping head, the first clamping head and the second clamping head are respectively located at two ends of the rope, and the first clamping head and the second clamping head are respectively clamped in the first clamping slot and the second clamping slot.

9. The swing device according to claim 1, characterized in that: The fixing member comprises a fixing post with one end arranged on the supporting plate, and one end of the elastic member is sleeved on the fixing post; or, The fixing member comprises a fixing column with one end arranged on the carrying plate, and an end of the fixing column away from the carrying plate is formed with a hanging portion extending in a direction perpendicular to the axis of the fixing column, and one end of the elastic member is sleeved on the hanging portion; or, The fixing member comprises a fixing column with one end arranged on the carrying plate, and an end of the fixing column away from the carrying plate is provided with a hanging ring, and one end of the elastic member is sleeved on the hanging ring.

10. A sweeping robot, characterized in that: It comprises a housing and the swing device according to any one of claims 1 to 9, wherein the swing device is arranged in the housing.

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