Cleaning robot and take-up mechanism thereof

Abstract

The embodiment of the invention provides a cleaning robot. The cleaning robot comprises a main machine and a take-up mechanism. The take-up mechanism comprises a winding assembly, a clutch assembly and a driving assembly, the winding assembly comprises a reel capable of winding a wire harness, and the clutch assembly comprises a flywheel, a transmission shaft and a movable part. The transmission shaft is used for driving the movable part to move between the take-up position and the take-off position and rotate at the take-up position. When the driving assembly drives the transmission shaft to rotate forwards, the movable part is in butt joint with the flywheel and pushes the reel to rotate, and wire harness take-up is achieved. When the driving assembly drives the transmission shaft to rotate reversely, the movable part is separated from the flywheel, and the wire harness can be pulled out of the reel. In the embodiment of the invention, through the butt joint and separation of the movable part and the flywheel, the wire harness can be stably and accurately wound in the aspect of storage, and meanwhile, the wire harness has the characteristic of being pulled out with low resistance in the aspect of use.

Description

Technical Field

[0001] The present application relates to the field of self-propelled robots, and in particular to a cleaning robot and a wire-retracting mechanism thereof. Background Art

[0002] A cleaning robot is an automated device that can move autonomously to perform cleaning tasks, such as sweeping, mopping or cleaning windows, to reduce people's housework burden. Some cleaning robots are usually equipped with a wire-retracting mechanism to automatically retract the power cord. This wire-retracting mechanism is mainly designed with a spring as the power source. When the power cord is pulled out, it can drive the reel to rotate, and at the same time, the spring is pressed to store elastic energy. When the wire needs to be retracted, the elastic energy of the spring is released to drive the reel to reverse, thereby retracting the power cord.

[0003] However, this winding method has the following problems. First, in a slippery working environment, such as on glass, the driving force of the walking mechanism of the cleaning robot is limited, and the user needs to overcome the torsion of the spring and exert a large force when pulling out the power cord, causing the cleaning robot to be pulled and unable to maintain stable walking. Secondly, the winding speed driven by the spring is fast and unstable, which can easily produce a whip effect and easily cause user injuries during the winding process. At the same time, there are also shortcomings in the winding process, such as the inability to stop the winding in time and the inability to calculate the outlet and winding length of the power cord, resulting in the user having to hold the power cord tightly to prevent the reel from continuing to wind in, or when the pulling speed is too fast, the reel cannot stop immediately, causing the wire to be entangled on the reel, resulting in the failure of the storage function, etc., which increases the inconvenience of use and potential safety risks.

[0004] In addition, in the storage mechanism, the rotational power-on function is generally achieved by pressing two groups of butterfly pieces against the copper ring. However, in practice, it is necessary to press the butterfly pieces to ensure contact with the copper ring to ensure power-on reliability. However, the resistance generated by this pressing force is the largest source of resistance when the reel rotates, resulting in the inability to lower the line resistance. At the same time, the axial movement generated during the rotation of the reel can easily cause the pressing force to fluctuate, resulting in impedance fluctuations in the circuit and fluctuations in the reel outlet force, reducing operational stability. Furthermore, there are only two points of contact between each line between the butterfly piece and the copper ring, and the power-on reliability is low. In addition, this structure requires a certain degree of assembly accuracy, and has high requirements on the axial size of the reel, which increases production costs. Summary of the invention

[0005] Multiple aspects of the present application provide a cleaning robot and a wire-retracting mechanism thereof to solve one or more of the above-mentioned problems.

[0006] The embodiment of the present application provides a cleaning robot, comprising: a main body connected to a wire harness and a wire-receiving mechanism arranged in the main body, the wire-receiving mechanism comprising a winding assembly, a clutch assembly and a driving assembly, the winding assembly comprising a reel for winding the wire harness; the clutch assembly comprising a flywheel, a transmission shaft and a movable part, the flywheel being connected to the reel, the movable part being sleeved on the transmission shaft, and a matching guide structure being arranged therebetween, the transmission shaft drives the movable part to move between a wire-receiving position and a wire-discharging position and to rotate at the wire-receiving position through the guide structure; the driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate forward, and at the same time drive the movable part to move to the wire-receiving position and dock with the flywheel, and push the flywheel to drive the reel to rotate, and drive the transmission shaft to reverse, so as to drive the movable part to move toward the wire-discharging position and separate from the flywheel.

[0007] In some embodiments, the movable part includes a pressure plate and a sleeve, and a matching concave-convex structure is arranged between the pressure plate and the flywheel, and the concave-convex structure engages with each other at the line-reeling position. The sleeve is connected to the side of the pressure plate facing away from the flywheel, and is sleeved on the transmission shaft. The guide structure is arranged on the outer peripheral surface of the transmission shaft and the corresponding wall surface inside the sleeve.

[0008] In some embodiments, the guide structure includes a matching protrusion and a slide groove, the protrusion is movably arranged in the slide groove, the slide groove is rotatably arranged along the circumferential direction of the transmission shaft, and includes an open end away from the pressure plate and a closed end extending toward the pressure plate, wherein when the transmission shaft rotates, the protrusion moves between the open end and the closed end, and pushes against the closed end at the line outlet position.

[0009] In some embodiments, the concave-convex structure is respectively a first tooth portion and a second tooth portion arranged in a stepped manner, wherein the first tooth portion is arranged on the surface of the pressure plate around the center of the pressure plate, and the second tooth portion is arranged on the surface of the flywheel around the center of the flywheel, and in the line-retrieving position, the first tooth portion is engaged with the second tooth portion, and in the line-out position, the first tooth portion is disengaged from the second tooth portion.

[0010] In some embodiments, the clutch assembly also includes a friction plate, which contacts the outer circumferential surface of the sleeve to provide friction resistance on the sleeve, wherein when the movable part is separated from the flywheel, the rotational force of the movable part is less than the friction resistance, and the transmission shaft drives the movable part to move linearly, and when the movable part is docked with the flywheel, the rotational force is greater than the friction resistance, and the transmission shaft drives the movable part to rotate.

[0011] In some embodiments, the driving assembly includes a main body, a power source and a gear set, the main body is provided with a first accommodating groove and a second accommodating groove, the power source is arranged in the first accommodating groove, the clutch assembly is arranged in the second accommodating groove, and the flywheel is exposed, the input end of the gear set is connected to the power source, and the output end is connected to the transmission shaft, and the power source is used to drive the gear set to drive the transmission shaft to rotate.

[0012] In some embodiments, the side wall of the second accommodating groove is spaced apart with two cutouts, the friction plate includes two engaging parts and a bending section connected between the two engaging parts, the two engaging parts are correspondingly embedded in the two cutouts, and the bending section is attached to the outer circumferential surface of the sleeve.

[0013] In some embodiments, the outer circumferential surface of the sleeve is surrounded by a groove, the bending section is embedded in the groove, and when the movable part moves between the line-receiving position and the line-discharging position, the friction plate is also driven to move relative to the second accommodating groove.

[0014] In some embodiments, the driving component further includes a first optical coupling component, which is disposed on the body and corresponds to the power source, and is used to identify the output rotation speed of the power source.

[0015] In some embodiments, the line-reeling mechanism also includes a damping assembly, which is arranged on one side of the clutch assembly, wherein the damping assembly includes a damper and a reduction gear, and a gear ring is arranged on the outer peripheral surface of the flywheel, the reduction gear shaft is arranged on the damper and meshed with the gear ring, and the damper is used to apply rotational resistance to the flywheel when the flywheel drives the reduction gear to rotate.

[0016] In some embodiments, the reel assembly further includes an integrated conductive slip ring assembly, and the integrated conductive slip ring assembly is disposed through the center of the reel.

[0017] In some embodiments, the winding assembly also includes a frame and a fixed shaft, the fixed shaft is rotatably disposed in the frame, the reel and the flywheel are respectively fixed on the fixed shaft inside and outside the frame, and the flywheel drives the reel to rotate via the fixed shaft.

[0018] In some embodiments, the line taking-up mechanism further comprises a counting device for identifying the number of rotations of the reel.

[0019] In some embodiments, the counting device includes a second optical coupling component and a code disc tooth, the second optical coupling component is arranged on the frame, the code disc tooth is arranged on the reel, and is arranged around the circumference of the reel.

[0020] In some embodiments, the cleaning robot also includes a control unit, which is electrically connected to the power source, the first optical coupling component and the second optical coupling component, respectively, for controlling the output speed, the number of rotations, and calculating the output and reel-in amounts of the wiring harness based on the number of rotations.

[0021] In some embodiments, a matching limit step and a speed limiting component are further provided between the frame and the reel, and a notch corresponding to the limit step is provided on the reel, the limit step is provided on the inner edge of the frame, and the speed limiting component is swingably provided on the reel, wherein when the rotation speed of the reel in one direction is greater than a preset value, the speed limiting component is engaged with the limit step under the action of the centrifugal force of the reel, thereby preventing the reel from rotating.

[0022] In some embodiments, the speed limiting assembly includes a stop member and an elastic member, the head end of the stop member is pivotally connected to the reel, the tail end corresponds to the notch and can swing relative to the notch, and the elastic member is connected between the tail end and the reel, wherein when the centrifugal force is greater than the elastic force of the elastic member, the tail end swings out of the notch and is fixed on the limiting step, and when the centrifugal force is less than the elastic force, the elastic member pulls the tail end off the limiting step and returns to the notch.

[0023] In some embodiments, the wire-reeling mechanism also includes a wire-out assembly, which is disposed on one side of the winding assembly, and the wire-out assembly includes a bracket and a plurality of rollers, the bracket having a hollow structure, the plurality of rollers being pivotally disposed in the hollow structure and surrounding a wire-out hole, one end of the wire harness being connected to the reel, and the other end being passed through the wire-out hole, the plurality of rollers being in contact with the wire harness to guide the wire harness to slide relative to the bracket.

[0024] An embodiment of the present application also provides a cleaning robot, comprising: a main body and a wire taking-up mechanism and a wire harness arranged on the main body, the wire taking-up mechanism comprising a reel, a clutch assembly and a power source, the clutch assembly comprising a flywheel, a transmission shaft and a movable part, the flywheel is connected to the reel, the transmission shaft is connected between the movable part and the power source, the power source is used to drive the transmission shaft to rotate, and drive the movable part to rotate and move between a wire taking-up position and a wire delivery position, wherein when the transmission shaft rotates forward, the movable part moves to the wire taking-up position and docks with the flywheel, and pushes the flywheel to drive the reel to rotate to reel in the wire harness, and when the transmission shaft reverses, the movable part moves toward the wire delivery position and separates from the flywheel.

[0025] The embodiment of the present application also provides a wire-reeling mechanism, including a winding assembly, a clutch assembly and a driving assembly. The winding assembly includes a reel and a frame, and the reel is rotatably disposed in the frame for winding up the wire harness. The clutch assembly includes a flywheel, a transmission shaft and a movable part, the flywheel is connected to the reel, the movable part is sleeved on the transmission shaft, and a matching guide structure is provided between the two, and the transmission shaft drives the movable part to move between the wire-reeling position and the wire-discharging position, and to rotate at the wire-reeling position through the guide structure. The driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate forward, and drive the movable part to move to the wire-reeling position to dock with the flywheel, and push the flywheel to drive the reel to rotate, and drive the transmission shaft to reverse, so as to drive the movable part to move toward the wire-discharging position and separate from the flywheel.

[0026] In an embodiment of the present application, the wire-reeling mechanism includes a winding assembly, a clutch assembly, and a driving assembly. The clutch assembly includes a flywheel, a transmission shaft, and a movable part, and a matching guide structure is provided between the transmission shaft and the movable part. Driven by the driving assembly, the transmission shaft can drive the movable part to move to the wire-reeling position through the guide structure to dock with the flywheel, thereby linking the reel of the winding assembly to reel in the wire harness; or the movable part can be driven to move to the outlet position through the guide structure and separate from the flywheel, at which time the blocking force applied to the reel disappears, the wire harness can be pulled out from the reel, and the effect of low resistance and smooth outlet is provided.

[0027] Among them, in some embodiments of the present application, the wire-reeling mechanism further includes a damping assembly, and the damping assembly includes a damper and a reduction gear, wherein the flywheel is meshed with the reduction gear, so that when the flywheel rotates, the reduction gear is driven to rotate synchronously. At this time, the damper applies resistance to the flywheel through the reduction gear, and provides different resistances at different speeds, for example, providing high damping at high speeds and low damping at low speeds, to ensure that when the wire harness is wound up, the flywheel can stop quickly regardless of whether it is in a high-speed or low-speed state, in addition to avoiding the idling of the reel and causing the wire harness to be tangled, it can also provide stable resistance when the wire harness is out, to ensure that the user can obtain a stable and comfortable wire pulling feel during operation.

[0028] In some embodiments, the cleaning robot includes a counting device and a control unit, and the driving assembly also includes a first optical coupling assembly. The first optical coupling assembly corresponds to the power source, and the counting device includes a second optical coupling assembly and a code disc tooth that are matched and respectively arranged on the frame and the reel. The control unit is electrically connected to the power source, the first optical coupling assembly and the second optical coupling assembly, respectively, to control the output speed of the power source, the number of rotations of the reel, and to calculate the output and reel amount of the wiring harness according to the number of rotations of the reel.

[0029] In addition, the reel assembly of the embodiment of the present application replaces the existing split conductive slip ring with an integrated conductive slip ring assembly, which does not need to consider assembly accuracy and clamping force issues, and can effectively reduce the rotational resistance of the reel and improve the reliability and stability of power supply.

[0030] Therefore, the wire-winding mechanism of the embodiment of the present application has the ability to accurately and smoothly control the wire harness winding, as well as a wire-out effect with low resistance and comfortable hand feel. At the same time, it has the advantages and functions of reducing the wire-out resistance of the reel and the wire harness, greatly improving the power-on reliability and stability, automatically winding up according to the wire output amount, adjusting the wire-winding speed, and automatically stopping when the turntable rotates too fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0032] Figure 1 This is a schematic diagram of a cleaning robot according to an embodiment of the present application.

[0033] Figure 2 It is a schematic diagram of the exploded view of the wire take-up mechanism of an embodiment of the present application.

[0034] Figure 3 It is a partially enlarged schematic diagram of the wire take-up mechanism of an embodiment of the present application.

[0035] Figure 4 It is a schematic diagram of an exploded view of a driving component according to an embodiment of the present application.

[0036] Figure 5 It is a schematic diagram of an exploded view of a clutch assembly according to an embodiment of the present application.

[0037] Figure 6 This is a schematic diagram of an exploded view of a reel assembly according to an embodiment of the present application.

[0038] Figure 7 This is a schematic diagram of the exploded view of the outlet assembly of an embodiment of the present application.

[0039] Figure 8 It is a schematic diagram of the clutch assembly at the outlet position according to an embodiment of the present application.

[0040] Fig. 9 This is a schematic diagram of the clutch assembly in the line-retrieving position according to an embodiment of the present application.

[0041] Fig.10 This is a schematic diagram of an exploded view of a wire take-up mechanism according to another embodiment of the present application.

[0042] Fig.11 FIG. 4 is a schematic diagram of a second optical coupling component according to another embodiment of the present application.

[0043] Fig.12 FIG. 1 is a schematic exploded view of a second optical coupling component according to another embodiment of the present application.

[0044] Fig.13 This is a schematic diagram of a reel according to another embodiment of the present application.

[0045] Fig.14 It is a partially enlarged schematic diagram of a reel assembly according to another embodiment of the present application.

[0046] Fig.15 This is a schematic diagram of a reel assembly according to another embodiment of the present application.

[0047] Fig.16 This is a schematic exploded view of a driving assembly according to another embodiment of the present application.

[0048] Fig.17 This is a system block diagram of another embodiment of the present application.

[0049] Fig.18 It is a schematic diagram of a clutch assembly at a line-out position according to another embodiment of the present application.

[0050] Fig.19 It is a schematic diagram of a clutch assembly in a line-retrieving position according to another embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0052] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0053] See also Figures 1 to 9The cleaning robot 1 provided in the embodiment of the present application is an intelligent device that can autonomously move to perform cleaning tasks, such as sweeping, mopping or wiping windows. The cleaning robot 1 provided in the present embodiment includes a host 100 and a wire-retracting mechanism 200, wherein the host is provided with a wire harness 70, such as a power cord or other wires, and the wire-retracting mechanism 200 is arranged in the host 100 for reeling in or releasing the wire harness 70. In addition, a control module is also arranged in the host 100, and a walking mechanism is arranged at the bottom of the host 100. The control module can actively or passively execute one or more cleaning modes through built-in operating instructions or receiving operating signals from the outside, and the corresponding driving walking mechanism and the wire-retracting mechanism 200 work.

[0054] The wire taking-up mechanism 200 includes a take-up assembly 10, a clutch assembly 20 and a drive assembly 30. The take-up assembly 10 includes a reel 11, and is driven to rotate by the drive assembly 30 to generate a wire taking-up power to take up the wire harness 70.

[0055] The clutch assembly 20 includes a flywheel 21, a transmission shaft 22 and a movable part 23. The flywheel 21 is coaxially connected to the reel 11 and can synchronously drive the reel 11 to rotate. The movable part 23 is sleeved on the transmission shaft 22, and when the transmission shaft 22 rotates, it can rotate forward and reverse along the circumferential direction of the transmission shaft 22 and reciprocate along the axial direction of the transmission shaft 22. A matching guide structure is provided between the movable part 23 and the transmission shaft 22, and the transmission shaft 22 drives the movable part 23 to move between the line-receiving position P1 and the line-discharging position P2 through the guide structure, and drives the movable part 23 to rotate synchronously at the line-receiving position P1.

[0056] The drive assembly 30 is connected to the transmission shaft 22 to provide rotational power and drive the transmission shaft 22 to rotate forward or reverse. When the transmission shaft 22 rotates forward, the transmission shaft 22 drives the movable part 23 to move to the line-receiving position P1 through the guide structure to dock with the flywheel 21, and pushes the flywheel 21 to drive the reel 11 to rotate, thereby reeling the wire harness 70. When the transmission shaft 22 reverses, the transmission shaft 22 drives the movable part 23 to move in the opposite direction through the guide structure and displace toward the line-out position P2, so that the movable part 23 is separated from the flywheel 21. It can be understood that when the movable part 23 is separated from the flywheel 21, the rotation of the flywheel 21 and the reel 11 will no longer be restricted by the resistance of the drive assembly 30 and the movable part 23, so that the wire harness 70 can be pulled out from the reel 11, and a smooth, low-resistance line-out effect is provided when the wire harness 70 is pulled out, thereby improving the line-out efficiency and convenience.

[0057] In some embodiments of the present application, the movable member 23 includes a pressing plate 231 and a sleeve 232. A matching concave-convex structure is provided between the pressing plate 231 and the flywheel 21, so that when the movable member 23 moves to the line-retrieving position P1, the concave-convex structure engages with the flywheel 21, so that the flywheel 21 is driven by the movable member 23 and rotates. For example, the concave-convex structure is respectively a plurality of first teeth 251 and a plurality of second teeth 252 arranged in a stepped shape, and the first teeth 251 and the second teeth 252 are respectively arranged on the corresponding surfaces of the pressing plate 231 and the flywheel 21, wherein the plurality of first teeth 251 are arranged around the center of the pressing plate 231 and diverge outwardly along the center of the pressing plate 231, and the plurality of second teeth 252 are arranged around the center of the flywheel 21 and diverge outwardly along the center of the flywheel 21. In this way, when the movable member 23 is driven to the line-retrieving position P1, the first tooth portion 251 can mesh with the second tooth portion 252, thereby realizing the synchronous rotation of the movable member 23 and the flywheel 21. In addition, when the movable member 23 is driven to the line-discharging position P2, the first tooth portion 251 is disengaged from the second tooth portion 252, so that the flywheel 21 and the reel 11 are no longer restricted by the movable member 23 and can rotate freely.

[0058] The sleeve 232 of the movable part 23 is connected to the side of the pressure plate 231 facing away from the flywheel 21, and is sleeved on the transmission shaft 22. It can be understood that the pivotal relationship between the sleeve 232 and the transmission shaft 22 can also be that the transmission shaft 22 is set to a sleeve shape, so that the sleeve 232 is inserted into the transmission shaft 22, and the transmission shaft 22 is sleeved on the sleeve 232, and it is not limited to the form of the sleeve 232 sleeved on the transmission shaft 22. Among them, the guide structure is arranged on the outer peripheral surface of the transmission shaft 22 and the corresponding wall surface inside the sleeve 232. For example: the guide structure includes a matching protrusion 241 and a slide groove 242, the protrusion 241 is convexly arranged on the outer peripheral surface of the transmission shaft 22 and is located at the top of the transmission shaft, and the slide groove 242 is recessed in the inner wall surface of the sleeve 232 and is arranged to rotate along the circumferential direction of the transmission shaft 22. The slide groove 242 includes an open end 2421 away from the pressing plate 231 and a closed end 2422 extending toward the pressing plate 231. The protrusion 241 may be, but is not limited to, a cylindrical protrusion, movably disposed in the slide groove 242. Therefore, when the transmission shaft 22 rotates, the protrusion 241 may move between the open end 2421 and the closed end 2422, and push against the closed end 2422 at the outlet position P2.

[0059] In some embodiments of the present application, the driving assembly 30 includes a body 31, a power source 32 and a gear set 33. The body 31 may be, but is not limited to, a hollow shell, and is provided with a first receiving groove 311 and a second receiving groove 312. In this embodiment, the power source 32 is provided in the first receiving groove 311, and the clutch assembly 20 is provided in the second receiving groove 312. Among them, the power source 32 may be, but is not limited to, a rotating motor, the gear set 33 may be, but is not limited to, a reduction gear mechanism composed of a plurality of gears, and the input end of the gear set 33 is connected to the power source 32, and the output end is connected to the transmission shaft 22, so that the power source 32 can drive the gear set 33 to drive the transmission shaft 22 to rotate.

[0060] In addition, in some embodiments, the take-up mechanism 200 further includes a damping assembly 40. The damping assembly 40 includes a damper 41 and a reduction gear 42, the damper 41 is arranged on one side of the clutch assembly 20, and the reduction gear 42 is arranged on the damper 41, wherein the damper 41 can limit the rotation speed of the reduction gear 42 through the internal damping medium (for example, an adjustable rotary damper that can change the torque). In this embodiment, the transmission shaft 22 and the movable member 23 of the clutch assembly 20 are arranged in the second receiving groove 312, and the flywheel 21 is exposed outside the second receiving groove 312, and a ring gear 211 is arranged on the outer peripheral surface of the flywheel 21. The damper 41 of the damping assembly 40 is arranged on one side of the body 31 adjacent to the second receiving groove 312, so that the tooth groove of the reduction gear 42 is meshed with the ring gear 211 of the flywheel 21. Therefore, when the flywheel 21 rotates, the reduction gear 42 can be driven to rotate together. At this time, the damper 41 can apply resistance to the flywheel 21 through the reduction gear 42 to appropriately reduce the rotation speed of the flywheel 21 .

[0061] It is worth mentioning that in this embodiment, the number of teeth of the gear ring 211 is greater than the number of teeth of the reduction gear 42. Through such a design, the damper 41 can provide high damping at high speed and low damping at low speed according to the rotation speed of the flywheel 21. In this way, when the wire harness 70 is wound up, the flywheel 21 and the reel 11 can stop quickly regardless of whether they are in a high speed or low speed state, and the reel 11 will not idle and cause the wire harness 70 to be tangled. In addition, through the damping design, the stability of the output line can be maintained during pulling, and a more comfortable wire pulling feel can be further achieved.

[0062] like Figure 6As shown, in some embodiments, the reel assembly 10 further includes a frame 12 and a fixed shaft 13. One end of the fixed shaft 13 passes through the frame 12 and is connected to the flywheel 21 of the clutch assembly 20, and the other end passes through the reel 11 in the frame 12 and is pivoted to the frame 12, so that the fixed shaft 13 can be rotatably passed through the frame 12, and can drive the reel 11 and the flywheel 21 to rotate relative to the frame 12. For example, the reel 11 and the flywheel 21 both have a square central axis hole, and are correspondingly fixed on the flat position of the fixed shaft 13, so that the flywheel 21 and the reel 11 are coaxially arranged, and driven by the movable member 23, the fixed shaft 13 is driven to drive the reel 11 to rotate. In addition, in other embodiments of the present application, the surface of the frame 12 is also provided with an avoidance groove, and one end of the fixed shaft 13 passing through the frame 12 is located in the avoidance groove. Therefore, when the clutch assembly 20 is combined with the winding assembly 10, the flywheel 21 can be accommodated in the avoidance groove and fixed on the fixed shaft 13. In addition to making the combination between the two more stable, it can also reduce the volume of the winding mechanism 200, which is conducive to the flexible use of the internal space of the main unit 100.

[0063] like Figure 2 and Figure 7 As shown, in some embodiments of the present application, the wire taking-up mechanism 200 also includes a wire outlet assembly 14. The wire outlet assembly 14 is arranged on one side of the winding assembly 10, and includes a bracket 141 and a plurality of rollers 142, wherein the bracket 141 may be, but is not limited to, a polygonal bracket with a plurality of frames. The plurality of frames are connected head to tail, and a hollow structure S is formed between the plurality of frames. The plurality of rollers 142 are pivotally arranged on the plurality of frames one by one in the hollow structure S, and a wire outlet hole 143 is formed between the plurality of rollers 142. One end of the wire harness 70 is connected to the reel 11, and the other end is passed through the wire outlet hole 143, so that the plurality of rollers 142 are in contact with the wire harness 70, so when the wire harness 70 is pulled out or retracted in the wire outlet hole 143, the wire harness 70 can be guided by the plurality of rollers 142 to slide relative to the bracket 141. In this embodiment, the rolling friction formed by the plurality of rollers 142 can reduce the friction resistance of the wire outlet hole 143 , so that the user can pull the wire harness 70 more effortlessly and smoothly.

[0064] In addition, in some embodiments, the outlet assembly 14 further includes a mounting plate 145 (eg, Fig.10 The bracket 141 of the outlet assembly 14 is assembled on the mounting plate 145 and fixed to the frame 12 of the reel assembly 104 through the mounting plate 145, so that the outlet assembly and the reel assembly are combined into a whole.

[0065] It is worth mentioning that in some other embodiments of the present application, the clutch assembly 20 further includes a friction plate 26. The friction plate 26 may be, but is not limited to, a bent shape, and at least a portion thereof conforms to the shaft sleeve 232 and correspondingly contacts the outer peripheral surface of the shaft sleeve 232 to provide friction resistance on the shaft sleeve 232. The friction plate 26 includes two engaging portions 261 and a bent section 262 connected between the two engaging portions 261, and two cutouts 3121 are provided on the side wall of the second receiving groove 312. The two engaging portions 261 may be correspondingly embedded in the two cutouts 3121, so that the friction plate 26 is fixed on the body 31, and the bent section 262 is attached to the outer peripheral surface of the shaft sleeve 232 to provide friction resistance. In addition, in some embodiments, a groove 2321 is arranged around the outer circumference of the sleeve 232 for the bending section 262 to be embedded in. In this way, when the movable part 23 moves between the line-receiving position P1 and the line-discharging position P2, the friction plate 26 can be driven to move relative to the second accommodating groove 312, thereby preventing the friction plate 26 from being offset from the sleeve 232 to maintain the friction resistance.

[0066] like Figure 8 As shown, in the embodiment of the present application, when the movable part 23 is located at the outlet position P2, the movable part 23 is separated from the flywheel 21, and at this time, the protrusion 241 located on the transmission shaft 22 pushes against the closed end 2422 of the slide groove 242. When the drive assembly 30 drives the transmission shaft 22 to rotate forward, the protrusion 241 will slide along the spiral direction of the slide groove 242, so that the corresponding position of the protrusion 241 and the slide groove 242 gradually moves from the closed end 2422 to the open end 2421. At this time, because the rotational force of the movable part 23 is less than the friction resistance applied by the friction plate 26, the movable part 23 is pushed by the transmission shaft 22 and moves toward the directional line of the flywheel 21. As shown in FIG. Fig. 9 As shown, when the movable member 23 moves to the line-receiving position P1 and docks with the flywheel 21, the protrusion 241 of the transmission shaft 22 can no longer move in the slide slot 242 and is located between the open end 2421 and the closed end 2422. At this time, the rotational force of the transmission shaft 22 driving the movable member 23 to rotate is greater than the friction resistance, so that the first tooth portion 251 of the movable member 23 and the second tooth portion 252 of the flywheel 21 are meshed, and the flywheel 21 is driven to drive the reel 11 to rotate to reel in the wire harness 70.

[0067] Therefore, by setting the friction plate 26, the transmission shaft 22 can appropriately apply resistance in the rotation direction when driving the movable member 23 to operate, so that the movable member 23 first generates axial sliding, and after the first tooth portion 251 and the second tooth portion 252 are engaged, the sliding of the movable member 23 is restricted, so that the transmission shaft 22 can drive the movable member 23 to overcome the friction resistance of the friction plate 26, and transmit the rotational power to the reel 11 through the flywheel 21 to reel the wire harness 70. In some embodiments, the clutch assembly 20 can also be provided with a plurality of friction plates 26, for example, two friction plates 26 are provided on opposite sides of the shaft sleeve 232 to provide symmetrical friction resistance, so that the movable member 23 can slide and rotate stably.

[0068] Please refer to the photo Figures 10 to 15 . The cleaning robot 1 provided in another embodiment of the present application is substantially the same as the above-mentioned embodiment, and the difference between the two is that the wire-winding mechanism 200 configured in this embodiment is also provided with one or more sensors for identifying the output rotation speed of the power source of the driving component and / or the number of rotations of the reel. For example, the wire-winding mechanism 200 also includes a counting device 50 for identifying the number of rotations of the reel 11. This counting device 50 may be, but is not limited to, including a matching second optical coupling component 51 and a code disc tooth 52, wherein the second optical coupling component 51 is provided on the frame 12, and the code disc tooth 52 is provided on the reel 11, and is provided around the circumferential direction of the reel 11.

[0069] In some embodiments, the second optical coupling assembly 51 includes an optical coupling bracket 511 and an optical coupler 512 (eg, Fig.11 and Fig.12 ). The optical coupler bracket 511 is detachably disposed on the frame 12, and includes an assembly groove 5111 for the optical coupler 512 to be disposed in the assembly groove 5111. For example, the optical coupler bracket 511 can be fixed to the frame 12 by screw locking or snap-fitting, and has two assembly grooves 5111, each for a corresponding number of optical couplers 512 to be inserted and fixed.

[0070] The code disc teeth 52 are disposed on one side of the reel 11, for example, a side facing or facing away from the drive assembly 30 (eg, Fig.13 and 15 ), and can rotate with the reel 11. When the second optical coupling component 51 is disposed on the frame 12, the optical coupling 512 can face the reel 11 and correspond to at least a portion of the code disc teeth 52 on the reel 11, and can identify the number of turns of the reel 11 according to the code disc teeth 52 following the rotation cycle of the reel 11, thereby calculating the output length of the wire harness 70.

[0071] like Fig.10 and 16As shown, in other embodiments of the present application, the sensor may be a first optical coupling component 34 provided on the driving component 30. The first optical coupling component 34 is provided on the body 31 and corresponds to the power source 32, so as to identify the output speed of the power source 32. In this embodiment, the body 31 further includes a third receiving groove 313, and the first optical coupling component 34 is provided in the third receiving groove 313. The second receiving groove 312 and the first receiving groove 311 are arranged vertically on one side of the body 31, and the third receiving groove 313 is provided on the other side of the body 31 and corresponds to the second receiving groove 312, so that the first optical coupling component 34 can correspond to the power source 32 after being installed in the third receiving groove 313.

[0072] In addition, if Figures 13 to 15 As shown, in order to avoid safety problems caused by the excessive rotation speed of the reel 11, in other embodiments of the present application, a matching limiting step 121 and a speed limiting component 111 are further provided between the frame 12 of the reel assembly 10 and the reel 11. The limiting step 121 is provided at the inner edge of the frame 12, and a notch 112 corresponding to the limiting step 121 is provided on the reel 11, and the speed limiting component 111 is swingably provided on the reel 11. When the rotation speed of the reel 11 in one direction is greater than a preset value, the speed limiting component 111 is swung by the centrifugal force of the reel 11, and is engaged with the limiting step 121, thereby preventing the reel 11 from rotating.

[0073] In this embodiment, the speed limiting assembly 111 includes a stopper 1111 and an elastic member 1112. The stopper 1111 includes a head end 1111A and a tail end 1111B opposite to each other, and the outer diameter of the stopper 1111 gradually decreases from the head end 1111A to the tail end. The head end 1111A of the stopper 1111 is pivoted in the reel 11, and the tail end 1111B corresponds to the notch 112, and the tail end 1111B can swing relative to the notch 112 by pivoting the head end 1111A. The elastic member 1112 can be, but is not limited to, a tension spring, and is connected between the stopper 1111 and the reel 11, and when the centrifugal force of the reel 11 rotating is less than the elastic force of the elastic member 1112, the tail end 1111B of the stopper 1111 can be maintained in the notch 112 by the elastic force of the elastic member 1112.

[0074] When the reel 11 rotates too fast (greater than a preset value) and the centrifugal force is greater than the elastic force of the elastic member 1112, the tail end 1111B of the stop member 1111 swings to the outside of the notch 112 with the centrifugal force of the reel 11 (that is, is thrown out under the action of the centrifugal force), and when it rotates to the limit step 121, it hits and is fixed on the limit step 121 on the frame 12, so that the reel 11 stops immediately, thereby achieving a safety protection effect, and at the same time preventing the reel 11 from idling and causing the wire harness 70 to be tangled (when the pulling speed of the wire harness 70 is too fast, if the reel 11 cannot stop immediately, the wire harness 70 will be entangled on the reel 11, causing the storage function to fail). It is understandable that when the centrifugal force of the reel 11 is less than the elastic force of the elastic member 1112 , the elastic member 1112 can pull the tail end 1111B of the stop member 1111 away from the limiting step 121 and return to the notch 112 , so that the reel 11 maintains normal rotation.

[0075] For example, the speed limiting component 111 limits the speed of the reel 11 in the wire-out state, but is not limited to this. When winding the wire, the reel 11 is driven by the driving component 30 to rotate, and its speed is relatively stable, so there is no need to limit the speed. When the wire is out, the user pulls the wire harness 70, and when the wire is out effortlessly and smoothly, the user is likely to ignore the pulling force, resulting in an excessively fast wire out speed.

[0076] like Fig.15 As shown, in some embodiments of the present application, the reel assembly 10 further includes an integrated conductive slip ring assembly 15, which is disposed through the center of the reel 11. Compared with the existing split conductive slip ring, the integrated conductive slip ring assembly 15 has an integrated structure, and the integrated conductive slip ring assembly 15 can make the power-on reliability of the conductive slip ring unaffected by the component accuracy and assembly accuracy of the reel assembly 10, thereby greatly improving the power-on reliability.

[0077] For example, a general split-type conductive slip ring realizes the function of rotating power supply by combining two sets of butterfly pieces and copper rings, but there are the following problems in the use process. First, the general split-type conductive slip ring needs to ensure the reliability of power supply by pressing and contacting the two sets of butterfly pieces and copper rings against each other. However, the resistance generated by this pressing force also forms the largest source of resistance when the reel rotates, and the rotational resistance is greater than 1Ncm. In addition, in order to ensure the reliability of power supply, the pressing force between the butterfly piece and the copper ring cannot be lowered, resulting in the inability to reduce the rotation resistance of the reel and the outlet resistance of the line body. Secondly, there are only two points of contact between the butterfly piece and the copper ring for each line, the contact area is small, and the power supply reliability is relatively low.

[0078] In addition, since the take-up mechanism 200 is highly sensitive to the axial dimension of the reel 11 during operation, the axial dimension of the reel 11 is required to be relatively high (that is, the assembly accuracy of the butterfly piece and the copper ring is relatively high), which increases the production cost. In addition, the reel 11 will produce axial movement during rotation, causing the pressing force between the butterfly piece and the copper ring to fluctuate, resulting in impedance fluctuations in the circuit and fluctuations in the reel outlet force.

[0079] It can be understood that the integrated conductive slip ring assembly 15 used in the embodiment of the present application does not need to consider the resistance problems caused by assembly accuracy and clamping force, and the power-on reliability is not affected by the components and assembly accuracy of the reel 11. It can not only effectively reduce the rotational resistance of the reel 11, but also greatly improve the reliability and stability of power-on, and solve the problems derived from the assembly of the existing split conductive slip ring.

[0080] It is worth mentioning that since the integrated conductive slip ring assembly 15 has no assembly problem and is less limited in size, it can be manufactured into a smaller structure. It is understandable that when the size of the integrated conductive slip ring assembly 15 is reduced, its rotational linear speed is also relatively small. Compared with the split conductive slip ring, the rotational resistance of the integrated conductive slip ring assembly 15 can be greatly reduced.

[0081] like Fig.15 As shown, in some embodiments, the reel 11 further includes a receiving groove 161, a wiring bracket 162 and a wire pressing cover 163. The receiving groove 161 is arranged at the central position of the reel 11, and the wiring bracket 162 is arranged in the receiving groove 161, and can be combined with the reel 11. Among them, the wiring bracket 162 is used to load the joint of the integrated conductive slip ring assembly 15 and the wire harness 70, and to block the joint between the reel and the wire harness 70. The wire pressing cover 163 can be, but is not limited to, fixed to the central position of the reel 11 by screws, so as to press and restrict the wire harness 70 on the reel 11 to prevent the wire harness 70 from falling off.

[0082] like Fig.17 As shown, in other embodiments of the present application, the cleaning robot 1 also includes a control unit 60, which is electrically connected to the power source 32, the first optical coupling component 34 and the second optical coupling component 51, respectively, for controlling the output speed of the power source 32, the number of rotations of the reel 11, and calculating the output and reel-in amounts of the wiring harness 70 according to the number of rotations of the reel 11.

[0083] For example, the data such as the amount of wire output and the amount of wire reeled in corresponding to one rotation of the reel 11 are stored in the database of the control unit 60, and an upper limit value is set for the amount of wire output. In this way, the control unit 60 can calculate the amount of wire reeled in and the amount of wire output through the number of rotations recognized by the second optical coupling component 51, and when the amount of wire output is greater than the upper limit value, the drive component 30 is controlled to drive the transmission shaft 22 to rotate forward, thereby driving the reel 11 to rotate and reeling the wire harness 70. When reeling, the control unit 60 controls the output speed of the power source 32 to adjust the reeling speed of the reel 11 according to the calculated amount of wire output and the output speed recognized by the first optical coupling component 34. For example, the control unit 60 can adjust the reeling speed according to the different lengths of the wire harness 70 pulled out, which can avoid the whip effect caused by the excessive reeling speed and improve the safety of the reeling process.

[0084] like Fig.18 As shown, in the embodiment of the present application, when the movable part 23 is located at the line output position P2, the movable part 23 is separated from the flywheel 21, and the rotation of the flywheel 21 and the reel 11 will no longer be restricted by the resistance of the drive component 30 and the movable part 23, so that the wire harness 70 can be pulled out from the reel 11, and the reel 11 is driven to rotate during the pulling process, so that the second optical coupling component 51 can identify the number of rotations of the reel 11, and the control unit 60 calculates the amount of line output.

[0085] like Fig.19 As shown, when the movable member 23 moves to the take-up position P1 and docks with the flywheel 21, the flywheel 21 can be driven to drive the reel 11 to rotate to reel up the wire harness 70. In addition, the first optical coupling component 34 identifies the output speed of the power source 32 and the second optical coupling component 51 identifies the number of rotations of the reel 11, so that the control unit 60 can adjust the take-up speed according to the actual situation of the wire harness 70.

[0086] The technical solution in the embodiments of the present application is described in detail below in conjunction with specific application scenarios.

[0087] Application scenario 1. When the wire harness 70 needs to be reeled in, the driving assembly 30 drives the transmission shaft 22 to rotate forward, so that the guide structure drives the movable member 23 to move to the wire reeling position P1 and dock with the flywheel 21, and the flywheel 21 can be driven to drive the reel 11 to rotate, thereby reeling in the wire harness 70 and achieving an automatic storage effect.

[0088] Application scenario 2. When the wire harness 70 needs to be pulled out, the driving assembly 30 drives the transmission shaft 22 to reverse, so that the guide structure drives the movable member 23 to move to the wire outlet position P2, and can be separated from the flywheel 21. At this time, the user can manually pull out the wire harness 70 and achieve the effect of low resistance wire outlet.

[0089] Application scenario 3: When the speed of pulling out the wire harness 70 is too fast, the tail end 1111B of the stopper 1111 is thrown out under the centrifugal force of the reel 11 and can be fixed on the limiting step 121 on the frame 12, so that the reel 11 stops immediately, thereby achieving a safety protection effect.

[0090] Application scenario 4: When the output of the wire harness 70 is too large, the driving assembly 30 is controlled to drive the transmission shaft 22 to rotate forward, thereby driving the reel 11 to rotate, thereby realizing the function of automatically reeling the wire harness 70 .

[0091] Application scenario 5: When winding up the wire harness, the control unit 60 can control the output speed of the power source 32 to adjust the winding speed of the reel 11 according to the calculated output wire amount and the output speed identified by the first optical coupling component 34 .

[0092] In summary, the embodiment of the present application provides a linkage effect between the transmission shaft and the movable part through the matching protrusions and slide grooves in the guide structure, and under the drive of the drive component, the reel can stably reel in the wire harness and arbitrarily control the reeling length, which can solve the safety problems of the general wire-reeling mechanism due to the fast and unstable wire-reeling speed and the inability to stop the wire-reeling due to excessive wire-reeling. In addition, the drive component can also drive the movable part and the reel to separate, so that the wire harness can be manually pulled out, and in the process of wire-reeling, with the assistance of the damping component and multiple rollers, a smooth and low-resistance wire-reeling can be achieved, solving the shortcoming of the general wire-reeling mechanism that the robot cannot maintain stable walking due to excessive pulling force.

[0093] Therefore, the wire-retracting mechanism of the embodiment of the present application can be applied to window-cleaning robots. Through the design of low-resistance wire output, the wire harness can be pulled out without affecting the walking of the robot. When the output length of the wire harness is too long, the degree of retraction can be adjusted by controlling the driving component to make the exposed wire harness always maintain an appropriate length. This not only solves the shortcoming that the general wire-retracting mechanism cannot stop during the retraction process, but also avoids the problem that the window-cleaning robot is burdened with the weight of the excessively long wire harness and the difficulty in storing the excessively long wire harness.

[0094] In addition, the embodiment of the present application replaces the existing split conductive slip ring with an integrated conductive slip ring assembly, which does not need to consider the assembly accuracy and clamping force issues, and can effectively reduce the rotation resistance of the reel. In addition, the control unit controls the output speed of the power source, the number of rotations of the reel, and the output and reel amounts of the wire harness are calculated according to the number of rotations of the reel, and the reeling speed can be further adjusted according to the output amount of the wire harness, and when the output amount is greater than the upper limit value, the drive assembly is automatically controlled to reel in the wire harness.

[0095] From the above description, it can be seen that the embodiments of the present application have the advantages and functions of reducing the reel resistance and the wire harness output resistance, greatly improving the power-on reliability and stability, calculating the output wire amount and automatically performing wire winding, adjusting the wire winding speed according to the output wire amount, and automatically stopping when the turntable rotates too fast.

[0096] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A cleaning robot, characterized in that: include: A host connected with a wire harness and a wire-receiving mechanism disposed in the host, wherein the wire-receiving mechanism comprises a winding assembly, a clutch assembly and a driving assembly, The reel assembly comprises a reel for reeling the wire harness; The clutch assembly includes a flywheel, a transmission shaft and a movable part, wherein the flywheel is connected to the reel, the movable part is sleeved on the transmission shaft, and a matching guide structure is arranged between the two, and the transmission shaft drives the movable part to move between the line-receiving position and the line-discharging position and rotate at the line-receiving position through the guide structure; The driving assembly is connected to the transmission shaft to drive the transmission shaft to rotate forward, thereby driving the movable part to move to the line-reeling position to dock with the flywheel, and pushing the flywheel to drive the reel to rotate, and driving the transmission shaft to rotate reversely to drive the movable part to move toward the line-out position and separate from the flywheel.

2. The cleaning robot according to claim 1, characterized in that: The movable part includes a pressure plate and a sleeve, and a matching concave-convex structure is arranged between the pressure plate and the flywheel, and the concave-convex structure is engaged with each other at the line-reeling position. The sleeve is connected to the side of the pressure plate facing away from the flywheel, and is sleeved on the transmission shaft. The guide structure is arranged on the outer peripheral surface of the transmission shaft and the corresponding wall surface inside the sleeve.

3. The cleaning robot according to claim 2, characterized in that: The guiding structure includes a matching protrusion and a slide groove, wherein the protrusion is movably arranged in the slide groove, and the slide groove is rotatably arranged along the circumferential direction of the transmission shaft, and includes an open end away from the pressure plate and a closed end extending toward the pressure plate, wherein when the transmission shaft rotates, the protrusion moves between the open end and the closed end, and pushes against the closed end at the outlet position.

4. The cleaning robot according to claim 2, characterized in that: The concave-convex structure is respectively a first tooth portion and a second tooth portion arranged in a stepped shape, wherein the first tooth portion is arranged on the surface of the pressure plate around the center of the pressure plate, and the second tooth portion is arranged on the surface of the flywheel around the center of the flywheel, and in the line-retrieving position, the first tooth portion is meshed with the second tooth portion, and in the line-out position, the first tooth portion is disengaged from the second tooth portion.

5. The cleaning robot according to claim 2, characterized in that: The clutch assembly also includes a friction plate, which contacts the outer circumferential surface of the sleeve to provide friction resistance on the sleeve, wherein when the movable part is separated from the flywheel, the rotational force of the movable part is less than the friction resistance, and the transmission shaft drives the movable part to move linearly, and when the movable part is docked with the flywheel, the rotational force is greater than the friction resistance, and the transmission shaft drives the movable part to rotate.

6. The cleaning robot according to claim 5, characterized in that: The driving assembly includes a main body, a power source and a gear set. The main body is provided with a first accommodating groove and a second accommodating groove. The power source is arranged in the first accommodating groove, the clutch assembly is arranged in the second accommodating groove, and the flywheel is exposed. The input end of the gear set is connected to the power source, and the output end is connected to the transmission shaft. The power source is used to drive the gear set to drive the transmission shaft to rotate.

7. The cleaning robot according to claim 6, characterized in that: The side wall of the second accommodating groove is provided with two cutouts at intervals, the friction plate includes two clamping parts and a bending section connected between the two clamping parts, the two clamping parts are correspondingly embedded in the two cutouts, and the bending section is attached to the outer peripheral surface of the sleeve.

8. The cleaning robot according to claim 7, characterized in that: The outer circumferential surface of the shaft sleeve is surrounded by a groove, the bending section is embedded in the groove, and when the movable member moves between the wire-receiving position and the wire-discharging position, the friction plate is also driven to move relative to the second accommodating groove.

9. The cleaning robot according to claim 6, characterized in that: The driving component also includes a first optical coupling component, which is disposed on the body and corresponds to the power source and is used to identify the output rotation speed of the power source.

10. The cleaning robot according to claim 1, characterized in that: The line-reeling mechanism also includes a damping assembly, which is arranged on one side of the clutch assembly, wherein the damping assembly includes a damper and a reduction gear, and a gear ring is arranged on the outer circumference of the flywheel, the reduction gear shaft is arranged on the damper and meshed with the gear ring, and the damper is used to apply rotational resistance to the flywheel when the flywheel drives the reduction gear to rotate.

11. The cleaning robot according to claim 1, characterized in that: The reel assembly further comprises an integrated conductive slip ring assembly, and the integrated conductive slip ring assembly is passed through the center of the reel.

12. The cleaning robot according to claim 1, characterized in that: The reel assembly also includes a frame and a fixed shaft, the fixed shaft is rotatably arranged in the frame, the reel and the flywheel are respectively fixed on the fixed shaft inside and outside the frame, and the flywheel drives the reel to rotate through the fixed shaft.

13. The cleaning robot according to claim 12, characterized in that: The wire-taking mechanism further comprises a counting device for identifying the number of rotations of the reel.

14. The cleaning robot according to claim 13, characterized in that: The counting device comprises a second optical coupling component and code disc teeth that match each other. The second optical coupling component is arranged on the frame body, and the code disc teeth are arranged on the reel and around the circumference of the reel.

15. The cleaning robot according to claim 9 or 14, characterized in that: It also includes a control unit, which is electrically connected to the power source, the first optical coupling component and the second optical coupling component, respectively, for controlling the output speed, the number of rotations, and calculating the output and retracted wire amounts of the wiring harness according to the number of rotations.

16. The cleaning robot according to claim 12, characterized in that: A matching limiting step and a speed limiting component are also provided between the frame and the reel, and a notch corresponding to the limiting step is provided on the reel, the limiting step is provided on the inner edge of the frame, and the speed limiting component is swingably provided on the reel, wherein when the rotation speed of the reel in one direction is greater than a preset value, the speed limiting component is engaged with the limiting step under the action of the centrifugal force of the reel, thereby preventing the reel from rotating.

17. The cleaning robot according to claim 16, characterized in that: The speed limiting assembly includes a stopper and an elastic member, the head end of the stopper is pivotally connected to the reel, the tail end corresponds to the notch and can swing relative to the notch, the elastic member is connected between the tail end and the reel, when the centrifugal force is greater than the elastic force of the elastic member, the tail end swings out of the notch and is fixed on the limiting step, and when the centrifugal force is less than the elastic force, the elastic member pulls the tail end off the limiting step and returns to the notch.

18. The cleaning robot according to claim 1, characterized in that: The wire-reeling mechanism also includes a wire-out assembly, which is arranged on one side of the winding assembly. The wire-out assembly includes a bracket and a plurality of rollers. The bracket has a hollow structure. The plurality of rollers are pivotally arranged in the hollow structure and surround a wire-out hole. One end of the wire harness is connected to the reel, and the other end is passed through the wire-out hole. The plurality of rollers contact the wire harness to guide the wire harness to slide relative to the bracket.

19. A cleaning robot, characterized in that: include: A main machine and a wire-taking mechanism and a wire harness arranged on the main machine, the wire-taking mechanism comprising a reel, a clutch assembly and a power source, the clutch assembly comprising a flywheel, a transmission shaft and a movable part, the flywheel being connected to the reel, the transmission shaft being connected between the movable part and the power source, the power source being used to drive the transmission shaft to rotate, and also drive the movable part to rotate and move between a wire-taking position and a wire-delivery position, wherein when the transmission shaft rotates forward, the movable part moves to the wire-taking position and docks with the flywheel, and pushes the flywheel to drive the reel to rotate to reel in the wire harness, and when the transmission shaft rotates reversely, the movable part moves toward the wire-delivery position and separates from the flywheel.

20. A wire taking-up mechanism, characterized in that: include: A winding assembly comprises a winding reel and a frame, wherein the winding reel is rotatably arranged in the frame for winding the wiring harness; A clutch assembly, comprising a flywheel, a transmission shaft and a movable part, wherein the flywheel is connected to the reel, the movable part is sleeved on the transmission shaft, and a matching guide structure is arranged between the two, and the transmission shaft drives the movable part to move between a line-receiving position and a line-discharging position, and to rotate at the line-receiving position through the guide structure; as well as A driving assembly is connected to the transmission shaft, and is used to drive the transmission shaft to rotate forward, thereby driving the movable part to move to the line-receiving position to dock with the flywheel, and pushing the flywheel to drive the reel to rotate, and driving the transmission shaft to rotate reversely, so as to drive the movable part to move toward the line-discharging position and separate from the flywheel.

21. The wire take-up mechanism according to claim 20, characterized in that: The movable part includes a pressure plate and a sleeve, and a matching concave-convex structure is arranged between the pressure plate and the flywheel, and the concave-convex structure is engaged with each other at the line-reeling position. The sleeve is connected to the side of the pressure plate facing away from the flywheel, and is sleeved on the transmission shaft. The guide structure is arranged on the outer peripheral surface of the transmission shaft and the corresponding wall surface inside the sleeve.

22. The wire take-up mechanism according to claim 21, characterized in that: The concave-convex structure is respectively a first tooth portion and a second tooth portion arranged in a stepped shape, wherein the first tooth portion is arranged on the surface of the pressure plate around the center of the pressure plate, and the second tooth portion is arranged on the surface of the flywheel around the center of the flywheel, and in the line-retrieving position, the first tooth portion is meshed with the second tooth portion, and in the line-out position, the first tooth portion is disengaged from the second tooth portion.

23. The wire take-up mechanism according to claim 21, characterized in that: The clutch assembly also includes a friction plate, which contacts the outer circumferential surface of the sleeve to provide friction resistance on the sleeve, wherein when the movable part is separated from the flywheel, the rotational force of the movable part is less than the friction resistance, and the transmission shaft drives the movable part to move linearly, and when the movable part is docked with the flywheel, the rotational force is greater than the friction resistance, and the transmission shaft drives the movable part to rotate.

24. The wire take-up mechanism according to claim 20, characterized in that: The driving assembly includes a main body, a power source, a gear set and a first optical coupling assembly. The main body is provided with a first accommodating groove and a second accommodating groove. The power source is arranged in the first accommodating groove, the clutch assembly is arranged in the second accommodating groove, and the flywheel is exposed. The input end of the gear set is connected to the power source, and the output end is connected to the transmission shaft. The power source is used to drive the gear set to drive the transmission shaft to rotate. The first optical coupling assembly is arranged on the main body and corresponds to the power source to identify the output speed of the power source.

25. The wire take-up mechanism according to claim 20, characterized in that: It also includes a damping assembly, which is arranged on one side of the clutch assembly, wherein the damping assembly includes a damper and a reduction gear, and a gear ring is arranged on the outer circumference of the flywheel, the reduction gear shaft is arranged on the damper and meshed with the gear ring, and the damper is used to apply rotational resistance to the flywheel when the flywheel drives the speed gear to rotate.

26. The wire take-up mechanism according to claim 20, characterized in that: The winding assembly also includes an integrated conductive slip ring assembly and / or a counting device, wherein the integrated conductive slip ring assembly is passed through the center of the reel, and the counting device includes a matching second optical coupling assembly and a code disc tooth for identifying the number of rotations of the reel, wherein the second optical coupling assembly is arranged on the frame, and the code disc teeth are arranged on the reel and are arranged around the circumferential direction of the reel.

27. The wire take-up mechanism according to claim 20, characterized in that: A matching limiting step and a speed limiting component are also provided between the frame and the reel, and a notch corresponding to the limiting step is provided on the reel, the limiting step is provided on the inner edge of the frame, and the speed limiting component is swingably provided on the reel, wherein when the rotation speed of the reel in one direction is greater than a preset value, the speed limiting component is engaged with the limiting step under the action of the centrifugal force of the reel, thereby preventing the reel from rotating.

Images