Cleaning robot
By designing the swing arm assembly on the cleaning robot and using the cooperation of the swing arm and friction parts, the problem of poor stability of the cleaning robot on the photovoltaic panel is solved, and a more stable clean motion and stationary state is achieved.
Patent Information
- Application Number
- CN202411226153.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-02
- Publication Date
- 2025-02-25
AI Technical Summary
Existing cleaning robots are prone to offset or slippage when cleaning photovoltaic panels, resulting in poor stability and may even cause damage to the robot and cannot continue to clean.
A cleaning robot is designed, employing at least one swing arm assembly, the assembly including a first fixing member, a first motor, a first swing arm, a bracket member, at least one second swing arm and a friction member. The first swing arm is driven to swing through the first motor, and the support member drives the second swing arm to swing simultaneously, and the friction member repeatedly moves alternately between different planes to provide power friction or support force.
It improves the stability of the cleaning robot during cleaning, so that it can move more stably or stay still on a plane with a certain angle, avoid offset and slippage, and extend the service life of the robot.
Smart Images
Figure CN119519571A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics, and in particular to a cleaning robot. Background Art
[0002] In the existing technology, cleaning robots are usually used to clean photovoltaic panels. The cleaning robots placed on the photovoltaic panels can be controlled to move and clean on the flat or oblique photovoltaic panels. This type of cleaning robot used to clean photovoltaic panels needs to have the ability to move stably on photovoltaic panels laid at different angles. Therefore, the cleaning robot usually relies on the friction generated by the tracks and the photovoltaic panels to move, and realizes various movement postures through corresponding algorithm control to complete the cleaning operation.
[0003] The defect of the existing technology is that when performing cleaning operations, since photovoltaic panels usually have a certain laying angle, the cleaning robot is prone to deviation or slipping when doing various cleaning or turning. In severe cases, it may even fall, causing damage to the cleaning robot and making it unable to continue to complete the cleaning operation. Therefore, when the cleaning robot cleans photovoltaic panels or similar environments, how to improve the stability of the cleaning robot during cleaning has become a technical problem that needs to be urgently solved in this field. Summary of the Invention
[0004] The main technical problem solved by this application is how to improve the stability of the cleaning robot during cleaning.
[0005] In order to solve the above technical problems, the first technical solution adopted in this application is: a cleaning robot, comprising: a robot body; at least one swing arm assembly, at least one swing arm assembly is arranged on the robot body; the swing arm assembly comprises: a first fixing part, the first fixing part is fixedly connected to the robot body; a first motor; a first swing arm, the rotating shaft of the first motor passes through the first fixing part and is fixedly connected to one end of the first swing arm; a bracket part, the other end of the first swing arm is rotatably connected to the bracket part; at least one second swing arm, one end of the second swing arm is rotatably connected to the first fixing part, and the other end of the second swing arm is rotatably connected to the bracket part; a friction part, the friction part is fixedly connected to the bracket part, and when the rotating shaft of the first motor rotates, the friction part is driven to move by the bracket parts rotatably connected to the other end of the first swing arm and the other end of the second swing arm respectively.
[0006] Among them, at least one second swing arm includes a first swing arm and a second swing arm; one end of the first swing arm is rotatably connected to the first fixing member, and the other end of the first swing arm is rotatably connected to the bracket member; one end of the second swing arm is rotatably connected to the first fixing member, and the other end of the second swing arm is rotatably connected to the bracket member; the connecting line between the other end of the first swing arm, the other end of the first swing arm and the other end of the second swing arm forms a triangle.
[0007] The distances between the first swing arm and the connection points of the first fixing member and the bracket member are equal to the distances between the second swing arm and the connection points of the first fixing member and the bracket member.
[0008] The bottom surface of the friction member is parallel to the bottom surface of the robot body or the plane on which the robot body is located.
[0009] The swing arm assembly further includes an elastic member, which is respectively connected to the bracket member and the friction member.
[0010] The cleaning robot further comprises: a lifting assembly, which is arranged on the robot body and is used for lifting the robot body in a direction away from the plane where the robot body is located.
[0011] Among them, the jacking assembly includes: a second fixing member, which is fixedly connected to the robot body; a second motor; a gear member, the rotating shaft of the second motor passes through the second fixing member and is fixedly connected to the gear member; a gear condition, the gear condition is provided with a rack along the movement direction of the jacking movement, and the gear member is meshed with the rack; a base member, the base member is fixedly connected to one end of the gear condition, and the end of the base member away from the gear condition is used for abutting against the plane where the robot body is located when the rotating shaft of the second motor rotates and the gear condition moves relative to the robot body in the direction of the plane where the robot body is located, so as to move the robot body in a direction away from the plane where the robot body is located.
[0012] The lifting assembly further includes: at least one limit sensing module, each of which is fixedly connected to the second fixing member, and is used to detect whether the tooth condition has reached a corresponding preset position.
[0013] Among them, the base member includes a base, a base bearing and a limit block; the base is rotatably connected to the base bearing, the base is fixedly connected to the limit block, and the gear condition passes through the base bearing and is fixedly connected to the limit block.
[0014] Among them, at least one swing arm assembly includes at least two swing arm assemblies; the at least two swing arm assemblies are respectively arranged on the left and right sides of the robot body.
[0015] The beneficial effect of the present application is that, different from the prior art, in the technical solution of the present application, at least one swing arm assembly is provided on the cleaning robot, the swing arm assembly includes a first fixing member, a first motor, a first swing arm, a bracket member, at least one second swing arm and a friction member, the first fixing member is fixedly connected to the robot body, the rotating shaft of the first motor passes through the first fixing member and is fixedly connected to one end of the first swing arm, the other end of the first swing arm is rotatably connected to the bracket member, one end of the second swing arm is rotatably connected to the first fixing member, the other end of the second swing arm is rotatably connected to the bracket member, the friction member is fixedly connected to the bracket member, and when the rotating shaft of the first motor rotates, the friction member is driven by the bracket member that is respectively rotatably connected to the other end of the first swing arm and the other end of the second swing arm to move. Based on the above method, while the first motor drives the first swing arm to swing, the bracket member is respectively connected to the first swing arm and the second swing arm for driving the second swing arm to swing accordingly synchronously with the first swing arm, so that the first swing arm and the second swing arm that are respectively rotatably connected The friction member can move accordingly, that is, it can rotate in the same direction as the first motor drives the first swing arm, driving the friction member to repeatedly alternate between movements away from the plane where the cleaning robot is located and close to the plane where the cleaning robot is located, so as to provide the friction or support force required as power for the movement of the cleaning robot. The friction member can also be controlled to always keep in contact with the plane where the cleaning robot is located when the cleaning robot needs to remain stationary, so as to provide the friction or support force required when the cleaning robot is stationary. In addition, since the first swing arm and the second swing arm are rotationally connected to the friction member at the same time through the support member in the swing arm assembly, the stability of the swing arm assembly itself can be effectively improved, and the stability of the friction and support force that the swing arm assembly can provide to the cleaning robot can also be improved. When cleaning photovoltaic panels or similar environments, the cleaning robot can move or remain stationary more stably on a plane with a certain angle relative to the horizontal plane. In summary, based on the setting of the swing arm assembly, the stability of the cleaning robot during cleaning is improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 This is a schematic structural diagram of an embodiment of the cleaning robot of the present application;
[0018] Figure 2 This is a schematic diagram of the shaft side structure of an embodiment of the swing arm assembly of the present application;
[0019] Figure 3This is a schematic diagram of the exploded structure of an embodiment of the swing arm assembly of the present application;
[0020] Figure 4 This is a schematic diagram of the axial structure of an embodiment of the jacking assembly of the present application;
[0021] Figure 5 It is a schematic diagram of the exploded structure of an embodiment of the jacking assembly of the present application.
[0022] Figure markings: swing arm assembly 11, first fixing member 111, first motor 112, first swing arm 113, first screw 1131, bracket member 114, second screw 1141, third screw 1142, second swing arm 115, first swing arm 1151, second swing arm 1152, friction member 116, elastic member 117, lifting assembly 12, second fixing member 121, second motor 122, gear member 123, gear condition 124, base member 125, base 1251, base bearing 1252, limit block 1253, limit sensor module 126, dust cover 127, dustproof base 128, oil-free bushing 129, robot body 13. DETAILED DESCRIPTION
[0023] The present application will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only intended to illustrate the present application and are not intended to limit the scope of the present application. Similarly, the following examples are only some examples of the present application and not all examples. All other examples obtained by those of ordinary skill in the art without creative work are intended to fall within the scope of protection of this application.
[0024] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0025] In the description of this application, it should be noted that, unless otherwise specified or limited, the terms "installed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can mean fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or connection through an intermediate medium. Those skilled in the art will be able to understand the specific meanings of the above terms in this application in specific circumstances.
[0026] This application proposes a cleaning robot, see Figure 1 , Figure 1This is a schematic structural diagram of an embodiment of the cleaning robot of the present application. Figure 1 As shown, the cleaning robot includes a robot body 13 and at least one swing arm assembly 11 .
[0027] At least one swing arm assembly 11 is provided on the robot body 13. Figure 1 As shown, one, two, or more than two swing arm assemblies 11 can be set on the robot body 13. The specific number can be determined according to actual needs and is not limited here.
[0028] The swing arm assembly 11 can be arranged on the left and / or right side of the robot body 13 relative to its forward direction. When the number of swing arm assemblies 11 is two or more, that is, when at least one swing arm assembly 11 includes at least two swing arm assemblies 11, at least two swing arm assemblies 11 can be respectively arranged on the left and right sides of the robot body 13, so that the left and right sides of the robot body 13 can obtain corresponding friction or support force through the corresponding swing arm assemblies 11, further improving the stability of the robot body 13 during cleaning.
[0029] See also Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the shaft side structure of an embodiment of the swing arm assembly of the present application. Figure 3 This is a schematic diagram of the exploded structure of an embodiment of the swing arm assembly of the present application. Figure 2 and Figure 3 As shown, the swing arm assembly 11 includes a first fixing member 111 , a first motor 112 , a first swing arm 113 , a bracket member 114 , at least one second swing arm 115 and a friction member 116 .
[0030] The first fixing member 111 is fixedly connected to the robot body 13. Figure 2 As shown, the first fixing member 111 can be fixedly connected to the robot body 13 and respectively connected to other components in the swing arm assembly 11 to form a swing arm assembly 11 fixedly connected to the robot body 13.
[0031] The rotating shaft of the first motor 112 passes through the first fixing member 111 and is fixedly connected to one end of the first swing arm 113. The rotating shaft of the first motor 112 can pass through the hole in the first fixing member 111 and be fixedly connected to one end of the first swing arm 113. When the first motor 112 drives its rotating shaft to rotate, the other end of the first swing arm 113 can rotate around the one end of the first swing arm 113. The direction of rotation of the other end of the first swing arm 113 is the same as the direction of rotation of the rotating shaft of the first motor 112.
[0032] The other end of the first swing arm 113 is rotatably connected to the bracket 114. Figure 3As shown, the first screw 1131 can pass through the corresponding bearing, the other end of the first swing arm 113, the corresponding limiting ring and the bracket member 114, and be fixedly connected with the corresponding nut, so that the corresponding bearing, the other end of the first swing arm 113, the corresponding limiting ring and the bracket member 114 are clamped between the nut of the first screw 1131 and the corresponding nut, thereby realizing the rotational connection between the other end of the first swing arm 113 and the bracket member 114.
[0033] One end of the second swing arm 115 is rotatably connected to the first fixing member 111 , and the other end of the second swing arm 115 is rotatably connected to the bracket member 114 .
[0034] Among them, Figure 3 As shown, the second screw 1141 can pass through the corresponding bearing, one end of the second swing arm 115, the corresponding limiting ring and the first fixing member 111, and be fixedly connected with the corresponding nut, so that the corresponding bearing, one end of the second swing arm 115, the corresponding limiting ring and the first fixing member 111 are clamped between the nut of the second screw 1141 and the corresponding nut, so as to realize the rotational connection between one end of the second swing arm 115 and the first fixing member 111.
[0035] The third screw 1142 can also be passed through the corresponding bearing, the other end of the second swing arm 115, the corresponding limiting ring and the bracket member 114, and fixedly connected with the corresponding nut, so that the corresponding bearing, the other end of the second swing arm 115, the corresponding limiting ring and the bracket member 114 are clamped between the nut of the third screw 1142 and the corresponding nut, so as to realize the rotational connection between the other end of the second swing arm 115 and the bracket member 114.
[0036] The friction member 116 is fixedly connected to the bracket member 114 . When the shaft of the first motor 112 rotates, the friction member 116 is driven to move by the bracket member 114 to which the other ends of the first swing arm 113 and the second swing arm 115 are respectively connected.
[0037] Among them, under the premise of the relevant connection relationship between the first swing arm 113 and the at least one second swing arm 115 as described above, by fixing the friction member 116 to the bracket member 114, when the first motor 112 drives its rotating shaft to drive the other end of the first swing arm 113 to rotate, the bracket member 114 further drives the other end of each second swing arm 115 to rotate around one end of the corresponding second swing arm 115 synchronously with the other end of the first swing arm 113, so that the bracket member 114 can, under the synchronous rotation connection between the first swing arm 113 and the at least one second swing arm 115, drive the friction member 116 to perform corresponding movement in a relatively stable posture in a relatively stable posture.
[0038] The side of the friction member 116 facing the plane where the robot body 13 is located can generate friction with the plane where the robot body 13 is located.
[0039] In one example, when the robot body 13 moves, the shaft of the first motor 112 can be controlled to rotate so that the friction member 116 can move in the up and down and forward and backward directions relative to the robot body 13 while the posture remains unchanged or changes slightly. The friction member 116 can apply pressure to the plane on which the robot body 13 is located during this movement so that the plane on which the robot body 13 is located can provide corresponding friction and support forces to the robot body 13 accordingly, thereby assisting the robot body 13 in moving through the swing arm assembly 11. As a result, when the robot body 13 performs cleaning operations on a plane with a certain inclination angle, it can obtain other friction and support forces through the swing arm assembly 11 in addition to the friction and support forces provided by the tires or tracks on the robot body 13, thereby further improving the stability of the robot body during cleaning.
[0040] The cam is connected to the chassis, and the cam is connected to the chassis by the support member, and the support member is connected to the support member, and the support member is connected to the support member, and the support member is connected to the support member. The first motor drives the first swing arm to rotate in the same direction, driving the friction member to repeatedly alternate between moving away from and close to the plane where the cleaning robot is located, so as to provide the friction or support force required as power for the movement of the cleaning robot. The friction member can also be controlled to always keep in contact with the plane where the cleaning robot is located when the cleaning robot needs to remain stationary, so as to provide the friction or support force required when the cleaning robot is stationary. In addition, since the first swing arm and the second swing arm are rotationally connected to the friction member at the same time through the support member in the swing arm assembly, the stability of the swing arm assembly itself can be effectively improved, and the stability of the friction and support force that the swing arm assembly can provide to the cleaning robot can also be improved. When cleaning photovoltaic panels or similar environments, the cleaning robot can move or remain stationary more stably on a plane with a certain angle relative to the horizontal plane. In summary, based on the setting of the swing arm assembly, the stability of the cleaning robot during cleaning is improved.
[0041] In one embodiment, if Figures 1 to 3 As shown, the at least one second swing arm 115 includes a first swing arm 1151 and a second swing arm 1152 .
[0042] One end of the first swing arm 1151 is rotatably connected to the first fixing member 111 , and the other end of the first swing arm 1151 is rotatably connected to the bracket member 114 .
[0043] One end of the second swing arm 1152 is rotatably connected to the first fixing member 111 , and the other end of the second swing arm 1152 is rotatably connected to the bracket member 114 .
[0044] The lines connecting the other end of the first swing arm 113 , the other end of the first swing arm 1151 , and the other end of the second swing arm 1152 form a triangle.
[0045] Specifically, in one example, Figure 3 As shown, the corresponding screw can be passed through the corresponding bearing, one end of the first swing arm 1151, the corresponding limiting ring and the first fixing member 111, and fixedly connected with the corresponding nut, so that the corresponding bearing, one end of the first swing arm 1151, the corresponding limiting ring and the first fixing member 111 are clamped between the nut of the corresponding screw and the corresponding nut, so as to realize the rotational connection between one end of the first swing arm 1151 and the first fixing member 111.
[0046] The corresponding screw can be passed through the corresponding bearing, the other end of the first swing arm 1151, the corresponding limiting ring and the bracket member 114, and fixedly connected with the corresponding nut, so that the corresponding bearing, the other end of the first swing arm 1151, the corresponding limiting ring and the bracket member 114 are clamped between the nut of the corresponding screw and the corresponding nut, so as to realize the rotational connection between the other end of the first swing arm 1151 and the bracket member 114.
[0047] In one example, if Figure 3 As shown, the corresponding screw can be passed through the corresponding bearing, one end of the second swing arm 1152, the corresponding limiting ring and the first fixing member 111, and fixedly connected with the corresponding nut, so that the corresponding bearing, one end of the second swing arm 1152, the corresponding limiting ring and the first fixing member 111 are clamped between the nut of the corresponding screw and the corresponding nut, so as to realize the rotational connection between one end of the second swing arm 1152 and the first fixing member 111.
[0048] The corresponding screw can be passed through the corresponding bearing, the other end of the second swing arm 1152, the corresponding limiting ring and the bracket member 114, and fixedly connected with the corresponding nut, so that the corresponding bearing, the other end of the second swing arm 1152, the corresponding limiting ring and the bracket member 114 are clamped between the nut of the corresponding screw and the corresponding nut, so as to realize the rotational connection between the other end of the second swing arm 1152 and the bracket member 114.
[0049] like Figure 3 As shown, the lines connecting the other end of the first swing arm 113, the other end of the first swing arm 1151 and the other end of the second swing arm 1152 form a triangle, which is preferably an equilateral triangle. That is, the distances between the first swing arm 113 and the connection points of the first fixing member 111 and the bracket member 114 are equal to the distances between the second swing arm 115 and the connection points of the first fixing member 111 and the bracket member 114.
[0050] Based on the above method, the bracket part 114 can have a relatively stable structure when the three swing arms are rotated and connected respectively, thereby reducing the possibility of damage or deformation of the bracket part 114 itself when each swing arm rotates. It can also further improve the posture stability of the bracket part 114 itself and the friction part 116 fixedly connected to the bracket part 114 when each swing arm rotates, thereby improving the stability of the swing arm assembly 11 when assisting the robot body 13 in cleaning.
[0051] In one embodiment, the bottom surface of the friction member 116 is parallel to the bottom surface of the robot body 13 or the plane on which the robot body 13 is located.
[0052] Specifically, the bottom surface of the robot body 13 or the plane in which the robot body 13 is located is parallel, which may mean that the bottom surface of the friction member 116 is parallel to the bottom surface of the robot body 13 and / or the bottom surface of the friction member 116 is parallel to the plane in which the robot body 13 is located.
[0053] By making the bottom surface of the friction member 116 parallel to the bottom surface of the robot body 13 or the plane on which the robot body 13 is located, and driven by the synchronous rotation of the first swing arm 113 and the second swing arm 115, the friction member 116 can move relative to the robot body 13 in the same or less stable posture when the swing arm assembly 11 is in operation, and when the friction member 116 contacts the plane on which the robot body 13 is located, the corresponding contact surface area can be increased as much as possible to increase the friction force corresponding to the contact, thereby increasing the friction force that the robot body 13 can obtain through the swing arm assembly 11 to assist in stabilizing the posture, thereby further improving the stability of the cleaning robot during cleaning.
[0054] In one embodiment, if Figure 2 and Figure 3 As shown, the swing arm assembly 11 further includes an elastic member 117 .
[0055] The elastic member 117 is connected to the bracket member 114 and the friction member 116 respectively.
[0056] Specifically, the elastic member 117 can be a spring, which can be fixed between the bracket member 114 and the friction member 116 by corresponding screws. When the swing arms in the swing arm assembly 11 rotate synchronously, the bracket member 114 can be kept in periodic motion at all times. When the bracket member 114 is in a position closest to the plane where the robot body 13 is located, the elastic member 117 will enter a compressed state, so that the friction member 116 is tightly attached to the plane where the robot body 13 is located due to the elastic deformation force generated by the compression of the elastic member 117, thereby increasing the pressure between the friction member 116 and the plane where the robot body 13 is located, thereby increasing the friction and support force that the plane where the robot body 13 is located can provide to the friction member 116, further improving the stability of the cleaning robot during cleaning.
[0057] In one embodiment, a dust cover may be provided on the side of the nut of each screw facing away from the corresponding bearing. The dust cover can prevent external pollutants from corroding or otherwise damaging the screw, thereby improving the reliability of the swing arm assembly 11.
[0058] In one embodiment, see Figure 1 and Figure 4 , Figure 4 This is a schematic diagram of the axial structure of an embodiment of the jacking assembly of the present application. Figure 1 and Figure 4 As shown, the cleaning robot further includes a lifting assembly 12 .
[0059] The lifting assembly 12 is disposed on the robot body 13 , and is used to lift the robot body 13 in a direction away from a plane where the robot body 13 is located.
[0060] Specifically, the direction away from the plane where the robot body 13 is located may be referred to as the target direction D1.
[0061] The lifting component 12 can be fixedly connected to the robot body 13, and the bottom of the lifting component 12 can be close to or away from the plane where the robot body 13 is located, thereby realizing the displacement of the robot body 13 away from (lifting) or close to the plane where the robot body 13 is located. After the robot body 13 is lifted relative to the plane where the robot body 13 is located, the robot body 13 can also be rotated on the target plane relative to the lifting component 12, so that the robot body 13 can comprehensively clean the area around the lifting component 12, thereby improving the stability and cleaning reliability of the cleaning robot during cleaning.
[0062] Alternatively, see Figure 5 , Figure 5 This is a schematic diagram of the exploded structure of an embodiment of the jacking assembly of the present application. Figure 1 、 Figure 4 and Figure 5As shown, the lifting assembly 12 includes a second fixing member 121 , a second motor 122 , a gear member 123 , a rack member 124 and a base member 125 .
[0063] The second fixing member 121 is fixedly connected to the robot body 13 .
[0064] The rotating shaft of the second motor 122 passes through the second fixing member 121 and is fixedly connected to the gear member 123 .
[0065] The rack member 124 is provided with a rack in the direction of movement of the jacking movement, and the gear member 123 is meshed with the rack.
[0066] The base member 125 is fixedly connected to one end of the gear condition 124, and the end of the base member 125 facing away from the gear condition 124 is used to abut against the plane where the robot body 13 is located when the shaft of the second motor 122 rotates and the gear condition 124 moves relative to the robot body 13 in the direction of the plane where the robot body 13 is located, so as to move the robot body 13 in a direction away from the plane where the robot body 13 is located.
[0067] Specifically, the second fixing member 121 can be fixedly connected to the robot body 13 and respectively connected to other components in the swing arm assembly 11 to form the swing arm assembly 11 fixedly connected to the robot body 13.
[0068] The rotating shaft of the second motor 122 passes through the second fixing member 121 and is fixedly connected to the gear member 123. The rotating shaft of the second motor 122 can pass through the hole on the second fixing member 121 and be fixedly connected to the gear member 123. When the second motor 122 drives its rotating shaft to rotate, the gear member 123 can rotate around the rotating shaft. The direction of rotation of the gear member 123 is the same as the direction of rotation of the rotating shaft of the second motor 122.
[0069] The rack condition 124 is provided with a rack along the movement direction of the jacking movement. For example, a rack is provided at area A of the rack condition 124 along the target direction D1. The gear part 123 is engaged with the rack. When the second fixing part 121 is fixedly connected to the robot body 13, if the rotating shaft passing through the second fixing part 121 is rotated, the rack condition 124 where the rack is located can move forward or backward relative to the robot body 13 in the target direction D1.
[0070] The base member 125 is fixedly connected to one end of the rack condition 124. When the rack condition 124 where the rack is located moves forward or backward relative to the robot body 13 in the target direction D1, if the base member 125 abuts against the plane where the robot body 13 is located, the robot body 13 can be lifted to move the robot body 13 in a direction away from the plane where the robot body 13 is located.
[0071] When the robot body 13 is lifted, the differential movement of the tires or wheel belts provided on the robot body 13 itself can also be used to rotate the robot body 13 relative to the location of the lifting component 12 to perform corresponding cleaning operations. Based on this method, the cleaning operation of rotating in situ is directly performed by differential movement for rotation without a lifting component 12, which can also reduce the possibility of the cleaning robot being positionally offset due to rotation and thus affecting the cleaning effect, thereby improving the reliability of the cleaning robot.
[0072] Furthermore, if Figure 5 As shown, the lifting assembly 12 further includes at least one limit sensing module 126 .
[0073] The limit sensing modules 126 are fixedly connected to the second fixing members 121 , respectively. The limit sensing modules 126 are used to detect whether the gear member 124 reaches a corresponding preset position.
[0074] Specifically, on the second fixing member 121 , the other end of the rack member 124 is recorded as different preset positions according to the different positions to which the rack member 124 can move relative to the second fixing member 121 .
[0075] A corresponding limit sensor module 126 may be provided at a preset position to detect whether the other end of the rack member 124 reaches the preset position via the limit sensor module 126 , thereby determining the relative position relationship between the limit sensor module 126 and the second fixing member 121 .
[0076] One of the preset positions can be used as a limit position. When it is detected that the other end of the gear condition 124 reaches the limit position, the other end of the gear condition 124 is controlled to stop moving in the direction beyond the limit position to achieve limitation, thereby reducing the possibility of malfunction of the cleaning robot.
[0077] Furthermore, if Figure 5 As shown, the base member 125 includes a base 1251 , a base bearing 1252 and a limiting block 1253 .
[0078] The base 1251 is rotatably connected to the base bearing 1252 , the base 1251 is fixedly connected to the limit block 1253 , and the gear member 124 passes through the base bearing 1252 and is fixedly connected to the limit block 1253 .
[0079] Specifically, one end of the gear condition 124 passes through the base bearing 1252 and is fixedly connected to the limit block plate 1253, and the base 1251 is fixedly connected to the limit block plate 1253. When the lifting component 12 lifts the robot body 13, the side of the base 1251 facing the plane where the robot body 13 is located serves as the contact surface between the lifting component 12 and the plane where the robot body 13 is located, so that the area of the contact surface is enlarged relative to the area of the end face of one end of the gear condition 124, further improving the firmness and stability when the lifting component 12 lifts the robot body 13, reducing the possibility of position displacement of the cleaning robot during lifting and thus affecting the cleaning effect, and improving the reliability of the cleaning robot.
[0080] In addition, a dust cover may be provided on the side of the base bearing 1252 facing the second fixing member 121 . The dust cover can prevent external pollutants from causing corrosion or other damage to the base bearing 1252 , thereby improving the reliability of the jacking assembly 12 .
[0081] Further, if Figure 5 As shown, the lifting assembly 12 may also include a dust cover 127 and a dust cover base 128. The dust cover base 128 may be arranged on the bottom side of the second fixing member 121 and fixedly connected to the second fixing member 121, and the second fixing member 121, the gear member 123 and at least part of the gear condition 124 may be arranged in the accommodating cavity formed by the dust cover 127 and the dust cover base 128.
[0082] Based on the above approach, the possibility of the components in the accommodating cavity being corroded or otherwise damaged by external contaminants can be effectively reduced, thereby improving the reliability of the lifting assembly 12.
[0083] Further, if Figure 5 As shown, the second fixing member 121 can be fixedly connected to an oil-free bushing 129 on the side facing the base member 125, and one end of the gear condition 124 passes through the oil-free bushing 129 and is fixedly connected to the base member 125, which can reduce the friction between the gear condition 124 and the second fixing member 121, thereby improving the reliability of the jacking assembly 12.
[0084] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.
[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.
[0086] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.
[0087] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (which can be a personal computer, server, network device, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.
[0088] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A cleaning robot, characterized in that: include: Robot body; at least one swing arm assembly, at least one of the swing arm assemblies being disposed on the robot body; Wherein, the swing arm assembly comprises: A first fixing member, wherein the first fixing member is fixedly connected to the robot body; First motor; a first swing arm, wherein the rotating shaft of the first motor passes through the first fixing member and is fixedly connected to one end of the first swing arm; A bracket member, the other end of the first swing arm is rotatably connected to the bracket member; at least one second swing arm, one end of the second swing arm being rotatably connected to the first fixing member, and the other end of the second swing arm being rotatably connected to the bracket member; A friction member is fixedly connected to the bracket member. When the rotating shaft of the first motor rotates, the friction member is driven to move by the bracket members to which the other end of the first swing arm and the other end of the second swing arm are respectively rotatably connected.
2. The cleaning robot according to claim 1, characterized in that: The at least one second swing arm comprises a first swing arm and a second swing arm; One end of the first swing arm is rotatably connected to the first fixing member, and the other end of the first swing arm is rotatably connected to the bracket member; One end of the second swing arm is rotatably connected to the first fixing member, and the other end of the second swing arm is rotatably connected to the bracket member; A line connecting the other end of the first swing arm, the other end of the first branch swing arm and the other end of the second branch swing arm forms a triangle.
3. The cleaning robot according to claim 1 or 2, characterized in that: The distances between the first swing arm and the connection points between the first fixing member and the bracket member are equal to the distances between the second swing arm and the connection points between the first fixing member and the bracket member.
4. The cleaning robot according to claim 1 or 2, characterized in that: The bottom surface of the friction member is parallel to the bottom surface of the robot body or the plane where the robot body is located.
5. The cleaning robot according to claim 1 or 2, characterized in that: The swing arm assembly also includes an elastic member; The elastic members are respectively connected to the bracket member and the friction member.
6. The cleaning robot according to claim 1 or 2, characterized in that: The cleaning robot also includes: A lifting component is arranged on the robot body, and the lifting component is used to lift the robot body in a direction away from the plane where the robot body is located.
7. The cleaning robot according to claim 6, characterized in that: The lifting assembly comprises: a second fixing member, the second fixing member being fixedly connected to the robot body; Second motor; a gear member, wherein the rotating shaft of the second motor passes through the second fixing member and is fixedly connected to the gear member; A gear condition, wherein the gear condition is provided with a rack in the direction of movement along the jacking movement, and the gear member is meshed with the rack; A base member, wherein the base member is fixedly connected to one end of the gear condition, and the end of the base member facing away from the gear condition is used to abut against the plane where the robot body is located when the shaft of the second motor rotates to cause the gear condition to move relative to the robot body in the direction of the plane where the robot body is located, so as to move the robot body in a direction away from the plane where the robot body is located.
8. The cleaning robot according to claim 7, characterized in that: The lifting assembly also includes: At least one limit sensing module, each of which is fixedly connected to the second fixing member, and is used to detect whether the tooth condition reaches a corresponding preset position.
9. The cleaning robot according to claim 7, characterized in that: The base member comprises a base, a base bearing and a limit stopper; The base is rotatably connected to the base bearing, the base is fixedly connected to the limit stopper, and the gear condition passes through the base bearing and is fixedly connected to the limit stopper.
10. The cleaning robot according to claim 1 or 2, characterized in that: At least one of the swing arm assemblies includes at least two of the swing arm assemblies; At least two of the swing arm assemblies are respectively arranged on the left and right sides of the robot body.