Cleaning robot

Abstract

The invention relates to a cleaning robot which comprises a robot body and a cleaning assembly, and the cleaning assembly comprises a driving unit, a cleaning part and a lifting unit; the lifting unit comprises a first transmission part and a second transmission part. The first transmission part is fixedly connected with an output shaft of the driving unit so as to be controlled by the output shaft to rotate. The second transmission part is constructed to be fixedly connected with the cleaning part and rotationally connected with the driving unit through the limiting shaft sleeve, and the second transmission part is constructed to be in guide fit in the limiting shaft sleeve in the axial direction; wherein one of the first transmission piece and the second transmission piece is provided with a matching part, the other one of the first transmission piece and the second transmission piece is provided with an extension track, and the extension track comprises an inclined section which obliquely extends in the height direction along the side wall of the first transmission piece or the second transmission piece; the first transmission part is constructed to enable the matching part to move along the extending track in the rotating process so as to drive the second transmission part to move between the cleaning position and the avoiding position in the height direction.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning machinery, and more specifically, to a cleaning robot. Background Art

[0002] With the continuous improvement of modern living standards, people's requirements for quality of life are getting higher and higher. Automated and intelligent equipment are being more and more widely used in daily life. Especially in recent years, smart devices have continued to emerge, such as smart sweeping robots or smart window cleaning robots. On the one hand, these smart robots can perform a large amount of cleaning work in a short time, saving people a lot of time; on the other hand, these smart devices can free people from tedious housework, so these smart devices are becoming more and more popular.

[0003] However, when there is a carpet in a home environment, the existing cleaning robots cannot clean the carpet, and the dirt on the cleaning parts will come into contact with the carpet, which will contaminate the carpet. Therefore, when the cleaning robot is working on a work surface such as a carpet, it is necessary to prevent the cleaning parts from wetting the carpet. Therefore, most cleaning robots currently on the market use a lifting mechanism to lift the cleaning parts before cleaning, so as to avoid secondary contamination of the work surface such as the carpet by the dirty rag during the process of the cleaning robot returning to the base station. However, the lifting mechanism design of the cleaning robots currently on the market is unreasonable, resulting in a low degree of integration of the lifting mechanism and the need to occupy too much internal space of the cleaning robot. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a cleaning robot.

[0005] According to a first aspect of the present disclosure, a cleaning robot is provided, comprising a body and a cleaning assembly, wherein the cleaning assembly comprises a driving unit, a cleaning member and a lifting unit; the lifting unit comprises:

[0006] A first transmission member, the first transmission member is fixedly connected to the output shaft of the driving unit so as to be controlled to rotate by the output shaft;

[0007] A second transmission member, the second transmission member is configured to be fixedly connected to the cleaning member and is rotationally connected to the driving unit via a limiting sleeve, and the second transmission member is configured to be guided and fitted in the limiting sleeve in an axial direction;

[0008] Among them, one of the first transmission member and the second transmission member is provided with a matching portion, and the other is provided with an extension track, and the extension track includes an inclined section extending obliquely in the height direction along the side wall of the first transmission member or the second transmission member; the first transmission member is constructed to make the matching portion move along the extension track during rotation, so as to drive the second transmission member to move between the cleaning position and the avoidance position in the height direction.

[0009] In one embodiment of the present disclosure, the extension track has a lower dead point and an upper dead point, and when the first transmission member rotates in the first direction, the matching portion is configured to move along the extension track to the lower dead point, and the second transmission member is configured to drive the cleaning member to move to the avoidance position;

[0010] During the process of the first transmission member rotating along the second direction, the matching part is constructed to move to the upper dead center along the extension track, and the second transmission member is constructed to drive the cleaning member to move to the cleaning position; and when in the cleaning position, the first transmission member is constructed to drive the second transmission member and the cleaning member to rotate synchronously along the second direction so as to clean the working surface through the cleaning member.

[0011] In one embodiment of the present disclosure, the extension track is a guide groove opened on the mating surface of the first transmission member or the second transmission member, and the mating portion is constructed to move along the guide groove between the lower dead point and the upper dead point of the guide groove.

[0012] In one embodiment of the present disclosure, the guide groove passes through a side surface of the first transmission member or a side surface of the second transmission member.

[0013] In one embodiment of the present disclosure, the extended track is a guide rail protruding from the mating surface of the first transmission member or the second transmission member, and blocking walls are provided at the ends of the lower dead point and the upper dead point of the guide rail, and the blocking walls are constructed to prevent the mating part from continuing to move.

[0014] In one embodiment of the present disclosure, the guide rail further includes a horizontal section disposed at the lower dead center and the upper dead center, and the horizontal section is configured to axially support the second transmission member when the mating portion is located at the horizontal section.

[0015] In one embodiment of the present disclosure, the matching portion is a protrusion or a cam, the protrusion is configured to slide along the extension track, and the cam is configured to roll along the extension track.

[0016] In one embodiment of the present disclosure, the lifting unit further includes a compression spring disposed between the second transmission member and the driving unit;

[0017] During the process that the first transmission member rotates along the first direction, the second transmission member is configured to at least overcome the elastic force of the compression spring to drive the cleaning member to move to the avoidance position;

[0018] During the rotation of the first transmission member in the second direction, the matching portion is configured to move along the extension track to the top dead center, and the second transmission member is configured to drive the cleaning member to move to the cleaning position at least under the elastic force of the compression spring.

[0019] In one embodiment of the present disclosure, the cleaning robot is configured to be located above the work surface;

[0020] When the working surface rotates along the first direction of the first transmission member, the second transmission member is configured to drive the cleaning member to move to the avoidance position under the action of the elastic force of the compression spring and the gravity of the second transmission member and the cleaning member;

[0021] During the process of the first transmission member rotating in the second direction, the matching portion is constructed to move to the upper dead point along the extension track, and the second transmission member is constructed to drive the cleaning member to move to the cleaning position under the action of the compression spring force and the gravity of the second transmission member and the cleaning member.

[0022] In one embodiment of the present disclosure, the limiting sleeve is configured to be sleeved on the outside of the second transmission member and is rotatably connected to the driving unit through a limiting bearing, and the limiting bearing is configured to provide rotational resistance along the first direction and the second direction to the second transmission member.

[0023] In one embodiment of the present disclosure, the limit bearing is configured to only allow the second transmission member to rotate along the second direction.

[0024] In one embodiment of the present disclosure, one of the outer side surface of the second transmission member and the inner side surface of the limiting sleeve is provided with a limiting edge extending along the axial direction, and the other is provided with a limiting groove corresponding to the position of the limiting edge, and the limiting edge is constructed to be guided and fitted in the limiting groove.

[0025] In one embodiment of the present disclosure, the limiting sleeve is configured to overcome the gravity of the second transmission member and the cleaning member through rotational resistance after the second transmission member drives the cleaning member to move to the avoidance position, so as to maintain the second transmission member and the cleaning member in the avoidance position.

[0026] In one embodiment of the present disclosure, the driving unit includes a cleaning motor, a reduction gearbox and a housing, the cleaning motor and the reduction gearbox are both arranged in the housing, the rotating shaft of the cleaning motor is fixedly connected to the input shaft of the reduction gearbox, and the first transmission member is fixedly connected to the input shaft of the reduction gearbox;

[0027] An installation cavity is arranged below the shell, the first transmission member is configured to be arranged in the installation cavity, and the outer ring of the limit bearing is fixedly arranged on the inner wall of the installation cavity.

[0028] In one embodiment of the present disclosure, it also includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on a work surface, and the control unit is configured to control the lifting unit to drive the cleaning member to move to the avoidance position when the cleaning robot travels to the avoidance area.

[0029] During the operation of the cleaning robot disclosed in the present invention, when normal cleaning is required, the driving component can drive the first transmission component to rotate to drive the second transmission component to move downward in the height direction relative to the limiting shaft sleeve to a cleaning position, and then drive the second transmission component to rotate relative to the body to drive the cleaning component to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets and other working surfaces that need to be avoided or thresholds, the driving component can drive the first transmission component to rotate to drive the second transmission component to move upward in the height direction to an avoidance position to avoid the cleaning component from contacting obstacles such as carpets and other working surfaces that need to be avoided or thresholds, thereby preventing contamination of carpets and other working surfaces that need to be avoided, and protecting the cleaning component to prevent damage to the cleaning component due to collision.

[0030] It can be seen that when the cleaning robot disclosed in the present invention faces different cleaning scenes, the driving unit can effectively drive the cleaning member to move between the cleaning position and the avoidance position in the height direction through the lifting unit to cope with different cleaning scenes. Moreover, the cleaning component disclosed in the present invention can achieve the lifting and rotation of the cleaning member and relative to the working surface only through the driving component, without the need to set a separate structure for lifting the cleaning member. In this way, the overall structure of the cleaning component is compact, highly integrated, and occupies little space.

[0031] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0033] Figure 1 is an internal schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when a cleaning member is located at a first position;

[0034] Figure 2 is an internal schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when a cleaning member is located at a second position;

[0035] Figure 3 is a cross-sectional schematic diagram of a cleaning robot provided by an embodiment of the present disclosure;

[0036] Figure 4 yes Figure 3 A partially enlarged schematic diagram of the

[0037] Figure 5 is an exploded schematic diagram of a cleaning assembly provided by an embodiment of the present disclosure;

[0038] Figure 6 is a cross-sectional schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0039] Figure 7 is a cross-sectional schematic diagram of a cleaning mechanism provided by an embodiment of the present disclosure;

[0040] Figure 8 is an exploded schematic diagram of a cleaning mechanism provided by an embodiment of the present disclosure;

[0041] Fig. 9 is a three-dimensional schematic diagram of the second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in a cleaning position;

[0042] Fig.10 is a three-dimensional schematic diagram of the second transmission member and the first transmission member when the second transmission member provided by the embodiment of the present disclosure is in the avoidance position;

[0043] Fig.11 is a cross-sectional schematic diagram of another cleaning mechanism provided by an embodiment of the present disclosure;

[0044] Fig.12 is an exploded schematic diagram of another cleaning mechanism provided by an embodiment of the present disclosure;

[0045] Fig.13 is a three-dimensional schematic diagram of another second transmission member provided by an embodiment of the present disclosure and the first transmission member when the second transmission member is in a cleaning position;

[0046] Fig.14 is a three-dimensional schematic diagram of another second transmission member and the first transmission member when the second transmission member is in the avoidance position provided by an embodiment of the present disclosure;

[0047] Fig.15 is a cross-sectional schematic diagram of another cleaning mechanism provided by an embodiment of the present disclosure;

[0048] Fig.16 It is an exploded schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure.

[0049] Figures 1 to 16 The corresponding relationship between the component names and reference numerals is as follows:

[0050] 10. Cleaning assembly; 1. Cleaning mechanism; 11. Cleaning member; 12. Connecting part; 13. Driving unit; 131. Housing; 132. Cleaning motor; 133. Speed ​​reducer; 1331. Output shaft; 134. Mounting cavity; 14. Lifting unit; 141. First transmission member; 142. Second transmission member; 143. Extension track; 1431. Inclined section; 1432. Horizontal section; 1433. Lower dead center; 1434. Upper dead center; 1435. Blocking wall; 144. Matching part; 151. Limiting sleeve; 152. Limiting bearing; 161. Limiting edge; 162. Limiting groove; 17. Compression spring; 2. Moving mechanism; 21. Rotating shaft; 22. Rotating motor; 23. Driving wheel; 24. Driven wheel; 25. Rotating bracket; 26. Fixed shaft; 27. Upper bearing; 28. Lower bearing; 29. ​​Clamping elastic member; 20. Resetting elastic member; 30. Machine body; 31. Inner cavity; 32. Arc-shaped through hole; 40. Cover body. DETAILED DESCRIPTION

[0051] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0052] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0053] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0054] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0055] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings.

[0056] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0057] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0058] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0059] Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.

[0060] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0061] The cleaning robot at least includes a body, a cleaning component and a reset elastic member, wherein the cleaning component is integrally connected to the body and includes a cleaning mechanism and a motion mechanism; the cleaning mechanism includes a cleaning member, and the motion mechanism is configured to drive the cleaning component to move between a first position and a second position, when located at the first position, the edge of the cleaning member is located within the range of the edge of the body, and when located at the second position, at least part of the edge of the cleaning member exceeds the edge of the walking range of the body. Specifically, the cleaning member is arranged at the bottom of the body, and the cleaning member can clean the working surface by moving relative to the working surface.

[0062] During the operation of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component in the present invention moves to the second position, the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corners that the body cannot fit.

[0063] In the cleaning robot disclosed herein, a reset elastic member is disposed between the body and the cleaning assembly, the cleaning assembly is integrally rotatably connected to the body, and is constructed to move relative to the body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed.

[0064] In this way, when the cleaning piece extends to the outside of the body and collides with an obstacle on the side of the body or an obstacle lower than the bottom surface of the body appears in front of the cleaning robot and the cleaning piece collides with the obstacle, the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic part to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes through the obstacle, the reset elastic part can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0065] Specifically, when the cleaning member is located at the second position, the cleaning member is configured to overcome the action force of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.

[0066] As mentioned above, in order to fully clean the corners that the machine body cannot fit, when the cleaning component moves to the second position, when the cleaning component collides with an obstacle outside the machine body, the cleaning component can overcome the force of the reset elastic component under the action of external force and move toward the inside of the machine body to avoid the obstacle, and use the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component. After the cleaning component passes the obstacle and the external force is removed, the reset elastic component can automatically drive the cleaning component to reset to the second position through its own elastic force, thereby continuing to clean the corners that the machine body cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0067] For ease of understanding, refer to Figures 1 to 16 , the specific structure and working principle of the cleaning robot disclosed in the present invention are described in detail in combination with an embodiment. It should be noted that the present invention also provides a cleaning component. In order to keep the text concise, the cleaning component is introduced together with the cleaning robot in this article, and it is no longer described separately.

[0068] like Figure 1 and Figure 2 As shown, the present disclosure provides a cleaning robot, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. for cleaning the floor, or a window cleaning robot, etc. for cleaning windows or glass curtain walls.

[0069] The cleaning robot at least includes a body 30, a cleaning component 10 and a reset elastic member 20, wherein the cleaning component 10 is integrally rotatably connected to the body 30 and includes a cleaning mechanism 1 and a moving mechanism 2; the cleaning mechanism 1 includes a cleaning member 11, and the moving mechanism 2 is configured to drive the cleaning component 10 to move between a first position and a second position, when located at the first position, the edge of the cleaning member 11 is within the range of the edge of the body 30, and when located at the second position, at least part of the edge of the cleaning member 11 exceeds the edge of the walking range of the body 30.

[0070] Specifically, the cleaning member 11 is disposed at the bottom of the body 30, and the cleaning member 11 can move relative to the working surface to clean the working surface. It is understandable that the body 30 can also be provided with a driving wheel, which is used to drive the cleaning robot of the present disclosure to move and turn on the working surface, so that the cleaning member 11 can clean all parts of the working surface.

[0071] like Figure 7 As shown, in one embodiment of the present disclosure, the cleaning member 11 is a movable rag disc, and at least one movable rag disc is provided on the body 30, and the movable rag disc can be moistened with a cleaning liquid. During the working process of the cleaning robot of the present disclosure, the cleaning component 10 can control the movable rag disc to rotate and work on the surface in a wiping and mopping manner. In one embodiment of the present disclosure, the bottom of the body 30 is further provided with a dust suction port for sucking away ground garbage by wind force, and the movable rag disc is arranged behind the dust suction port. Furthermore, a roller brush for sweeping the floor can be installed at the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then wiping during the moving process. In another embodiment of the present disclosure, the cleaning component 10 is a sweeping disc for sweeping the floor, and the cleaning component 10 is arranged in front of the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then sucking during the moving process.

[0072] like Figure 7 As shown, in one embodiment of the present disclosure, the cleaning mechanism 1 includes a housing 131 and a cleaning motor 132 located in the housing 131. The output shaft of the cleaning motor 132 is drivingly connected to the cleaning member 11 and is configured to drive the cleaning member 11 to rotate on the work surface to clean the work surface. In this way, the cleaning motor 132 can drive the cleaning member 11 to rotate on the work surface to clean the work surface. Figure 7As shown, in one embodiment of the present disclosure, a reduction box 133 is provided in the housing 131, and the output shaft of the cleaning motor 132 is connected to the cleaning member 11 through the reduction box 133. Since the output shaft of the cleaning motor 132 is connected to the cleaning member 11 through the reduction box 133, the output torque of the cleaning motor 132 and the required torque of the cleaning member 11 can be effectively adapted by reducing the output speed of the cleaning motor 132, thereby reducing the output torque requirement of the cleaning motor 132, thereby reducing the occupied volume of the cleaning motor 132. Moreover, in this way, the cleaning motor 132 can be located on the side of the output shaft of the reduction box 133, thereby effectively reducing the overall height size of the cleaning mechanism 1.

[0073] like Figure 3 and Figure 4 As shown, in one embodiment of the present disclosure, the body 30 has an inner cavity 31, and an arc-shaped through hole 32 is provided at the bottom of the body 30; the cleaning assembly 10 is installed in the inner cavity 31 of the body 30, and the output end of the reduction box 133 passes through the arc-shaped through hole 32 to connect the cleaning member 11, and the cleaning member 11 is configured to move under the restriction of the arc-shaped through hole 32. Since the cleaning assembly 10 is installed in the inner cavity 31 of the body 30, and the output end of the reduction box 133 passes through the arc-shaped through hole 32 to connect the cleaning member 11, the cleaning member 11 moves under the restriction of the arc-shaped through hole 32, which can effectively limit the movement range of the cleaning member 11 and prevent too much garbage from entering the inner cavity 31 of the body 30 during the working process of the cleaning robot.

[0074] During the operation of the cleaning robot of the present invention, during normal cleaning, the cleaning component 10 is located in the first position, and the edge of the cleaning piece 11 is located within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component 10 in the present invention moves to the second position, the cleaning range of the cleaning piece 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corners that the body 30 cannot fit.

[0075] Specifically, Figure 4 and Figure 5 As shown, in one embodiment of the present disclosure, the motion mechanism 2 includes a rotating shaft 21 and a rotating motor 22, the rotating shaft 21 is rotatably connected to the body 30, the cleaning component 10 is fixed on the rotating shaft 21, and the rotating motor 22 is configured to drive the rotating shaft 21 to rotate, so as to drive the cleaning component 10 to move on an arc between the first position and the second position relative to the body 30.

[0076] In this way, during the operation of the cleaning robot disclosed herein, when the cleaning component 10 needs to be moved from the first position to the second position, it is only necessary to control the rotating motor 22 to rotate along the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the first position along the arc to the second position; similarly, when the cleaning component 10 needs to be moved from the second position to the first position, it is only necessary to control the rotating motor 22 to rotate along the second preset direction opposite to the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the second position to the first position along the arc.

[0077] In order to enable the rotating shaft 21 to drive the cleaning assembly 10 to rotate, Figure 4 and Figure 5 As shown, in one embodiment of the present disclosure, a connecting portion 12 is provided on the cleaning mechanism 1, a fixing hole is provided on the connecting portion 12, a rotating shaft 21 passes through the fixing hole, and the cross section of the rotating shaft 21 located inside the fixing hole and the fixing hole are both waist-shaped holes, so that when the rotating shaft 21 rotates, it can drive the cleaning assembly 10 to rotate. In another embodiment of the present disclosure, the rotating shaft 21 can also be fixedly connected to the cleaning assembly 10 by other means, so that the purpose of the rotating shaft 21 driving the cleaning assembly 10 to rotate can also be achieved, which will not be repeated here.

[0078] Further, such as Figure 5 As shown, in one embodiment of the present disclosure, the output shaft of the rotating motor 22 is parallel to the rotating shaft 21, a driving wheel 23 is provided at the top end of the output shaft, a driven wheel 24 is provided at the top end of the rotating shaft 21, and the driving wheel 23 is transmission-connected with the driven wheel 24.

[0079] In this way, during the operation of the cleaning robot disclosed herein, when the cleaning component 10 needs to be moved from the first position to the second position, it is only necessary to control the rotating motor 22 to rotate along the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the first position along the arc to the second position; similarly, when the cleaning component 10 needs to be moved from the second position to the first position, it is only necessary to control the rotating motor 22 to rotate along the second preset direction opposite to the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the second position to the first position along the arc.

[0080] Since the output shaft of the rotating motor 22 is parallel to the rotating shaft 21, and the rotating motor 22 and the rotating shaft 21 transmit power through the driving wheel 23 and the driven wheel 24 connected by the transmission, the rotating motor 22 can be arranged on one side of the rotating shaft 21 without being fixed to the rotating shaft 21, thereby effectively reducing the overall length of the motion mechanism 2 and effectively utilizing the space in the body 30. Figure 5As shown, in one embodiment of the present disclosure, the driving wheel 23 and the driven wheel 24 can both be gears, and the driving wheel 23 and the driven wheel 24 are meshed with each other. In another embodiment of the present disclosure, the driving wheel 23 and the driven wheel 24 can also be pulleys or sprockets, and the driving wheel 23 and the driven wheel 24 transmit power through devices such as transmission chains and synchronous belts.

[0081] In another embodiment of the present disclosure, the output shaft of the rotating motor 22 can directly serve as the aforementioned rotating shaft 21 or be fixedly connected to the rotating shaft 21 , so that the power loss of the rotating motor 22 can be effectively reduced.

[0082] As mentioned above, in one embodiment of the present disclosure, the rotary motor 22 of the present disclosure can drive the rotating shaft 21 to rotate, thereby driving the cleaning assembly 10 to move on an arc between the first position and the second position relative to the machine body 30. In another embodiment of the present disclosure, a telescopic mechanism can also be provided, and the telescopic mechanism can drive the cleaning assembly 10 to move on a straight line between the first position and the second position relative to the machine body 30. The principle is relatively simple and will not be described in detail here.

[0083] In the cleaning robot disclosed in the present invention, the reset elastic member 20 is arranged between the body 30 and the cleaning component 10. The cleaning component 10 is integrally rotatably connected to the body 30 and is constructed to move relative to the body 30 under the action of external force, and to reset under the action of the reset elastic member 20 after the external force is removed.

[0084] In this way, when the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0085] Specifically, in one embodiment of the present disclosure, when the cleaning member 11 is located at the second position, the cleaning member 11 is configured to overcome the force of the reset elastic member 20 and move toward the inside of the body 30 under the action of an external force, and to reset after the external force is removed.

[0086] As mentioned above, in order to fully clean the corners that the machine body 30 cannot fit, when the cleaning component 10 moves to the second position, when the cleaning member 11 collides with an obstacle outside the machine body 30, the cleaning component 10 can overcome the force of the reset elastic member 20 under the action of external force and move toward the inside of the machine body 30 to avoid the obstacle, and use the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10. After the cleaning component 10 passes the obstacle and the external force is removed, the reset elastic member 20 can automatically drive the cleaning component 10 to reset to the second position through its own elastic force, so as to continue cleaning the corners that the machine body 30 cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0087] In one embodiment of the present disclosure, the cleaning component 10 is installed on the body 30 in a module manner, which can effectively reduce the difficulty of installing the cleaning component 10 and facilitate the modular design of the cleaning robot.

[0088] In one embodiment of the present disclosure, when the cleaning component 10 moves to the second position, the rotating motor 22 can maintain a self-locking state. In this way, the cleaning member 11 can overcome the force of the reset elastic member 20 under the action of an external force and move toward the inside of the machine body 30. The driven gear will not be driven to rotate through the rotating shaft 21, and the output shaft of the rotating motor 22 will not be driven to rotate. This can avoid the driving motor from being subjected to the impact force, but the entire cleaning component 10 is subjected to the impact force, thereby reducing the risk of damage to the driving motor due to force impact.

[0089] In order to facilitate the cleaning assembly 10 to be rotatably connected to the machine body 30, as shown in FIG. Figure 4 and Figure 5 As shown, in one embodiment of the present disclosure, the motion mechanism 2 further includes a rotating bracket 25, the rotating bracket 25 is rotatably connected to the machine body 30, the rotating motor 22 is fixedly disposed on the rotating bracket 25, and the rotating shaft 21 is rotatably connected to the rotating bracket 25. In this way, when the cleaning component 10 moves toward the inside of the machine body 30 under the action of an external force, the rotating bracket 25 can rotate relative to the machine body 30, thereby driving the cleaning component 10 to rotate toward the inside of the machine body 30, thereby avoiding obstacles. When the cleaning component 10 passes through an obstacle and the external force is removed, the reset elastic member 20 can automatically drive the rotating bracket 25 to rotate through its own elastic force, thereby driving the cleaning component 10 to reset to the second position, thereby continuing to clean the corners that the machine body 30 cannot fit.

[0090] Among them, Figure 4As shown, it can be understood that in one embodiment of the present disclosure, during the process of adjusting the cleaning assembly 10 by the rotating motor 22, since the driving wheel 23 and the driven wheel 24 are mutually meshing gears, the rotation directions of the two must be opposite. During the operation of the rotating motor 22 of the present disclosure, the output shaft of the rotating motor 22 and the rotating shaft 21 rotate in opposite directions, and the movement directions of the rotating motor 22 and the cleaning assembly 10 are also opposite, thereby making the rotation directions of the rotating shaft 21 and the rotating bracket 25 opposite. Figure 4 As shown, in one embodiment of the present disclosure, in order to enable the rotating shaft 21 and the rotating bracket 25 to rotate relative to each other, an upper bearing 27 is provided between the rotating shaft 21 and the rotating bracket 25 .

[0091] In another embodiment of the present disclosure, when the driving wheel 23 and the driven wheel 24 rotate in the same direction and synchronously, the output shaft of the rotating motor 22 and the rotating shaft 21 have the same rotation direction and speed, and the rotating motor 22 and the cleaning assembly 10 also have the same movement direction and speed, so that the rotating shaft 21 and the rotating bracket 25 rotate synchronously, so there is no need to set the upper bearing 27. That is, during the operation of the rotating motor 22 of the present disclosure, when the rotating shaft 21 and the rotating bracket 25 rotate synchronously, there is no need to set the upper bearing 27, and when the rotating shaft 21 and the rotating bracket 25 rotate asynchronously, the upper bearing 27 needs to be set.

[0092] like Figure 4 As shown, in one embodiment of the present disclosure, the connection portion 12 of the cleaning mechanism 1 abuts against the top of the rotating bracket 25. Since the connection portion 12 abuts against the top of the rotating bracket 25, the rotating bracket 25 can support the connection portion 12, so that the cleaning assembly 10 is maintained at a preset height, so that the cleaning member 11 can fit the work surface, and the connection portion 12 is prevented from being bent due to excessive force.

[0093] In order to enable the rotating bracket 25 to be rotatably connected to the machine body 30, as shown in FIG. Figure 4As shown, in one embodiment of the present disclosure, a receiving chamber is provided at the bottom of the rotating bracket 25, and a fixed shaft 26 fixedly connected to the body 30 is provided in the receiving chamber, and a lower bearing 28 is provided between the fixed shaft 26 and the inner wall of the receiving chamber. Since the lower bearing 28 is provided between the fixed shaft 26 and the inner wall of the receiving chamber, the rotating bracket 25 can be rotatably connected to the body 30 through the lower bearing 28, and then in the process that the cleaning component 10 can move in the direction of the body 30 under the action of external force, the rotating bracket 25 can be rotated relative to the body 30 to drive the cleaning component 10 to rotate in the direction of the body 30, thereby avoiding obstacles. After the cleaning component 10 passes through the obstacle and the external force is removed, the reset elastic member 20 can automatically drive the rotating bracket 25 to rotate relative to the body 30 through its own elastic force, and then drive the cleaning component 10 to reset to the second position, so as to continue to clean the corner position that the body 30 cannot fit.

[0094] like Figure 4 As shown, in one embodiment of the present disclosure, the rotating shaft 21 and the fixed shaft 26 are arranged; the cleaning member 11 is configured to move the entire cleaning assembly 10 between the first position and the second position under the action of an external force. It can be understood that when the rotating motor 22 is working, the rotation axis of the cleaning mechanism 1 during the rotation of the rotating shaft 21 is the rotating shaft 21, and the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force is the fixed shaft 26. Since the rotating shaft 21 and the fixed shaft 26 are arranged, when the rotating motor 22 is working, the rotation axis of the cleaning mechanism 1 and the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force can be effectively saved. The space set in the body 30. Moreover, since the cleaning member 11 moves between the first position and the second position under the action of an external force, the entire cleaning assembly 10 and the reset elastic member 20 can be subjected to an impact force, thereby reducing the risk of damage caused by excessive impact force on a single structure such as the rotating motor 22 or the cleaning member 11.

[0095] like Figure 4 and Figure 5As shown, in one embodiment of the present disclosure, the reset elastic member 20 is a torsion spring sleeved on the rotating bracket 25, and one end of the torsion spring abuts on the rotating bracket 25, and the other end abuts on the body 30. In this way, in one embodiment of the present disclosure, when the cleaning component 10 moves and rotates in the direction of the body 30 through the rotating bracket 25 under the action of external force, the two ends of the torsion spring can be compressed, and when the cleaning component 10 passes through an obstacle and the external force is removed, the torsion spring can automatically relax by its own elastic force to drive the rotating bracket 25 to rotate, thereby driving the cleaning component 10 to reset to the second position. In another embodiment of the present disclosure, when the cleaning component 10 moves and rotates in the direction of the body 30 through the rotating bracket 25 under the action of external force, the two ends of the torsion spring can be stretched, and when the cleaning component 10 passes through an obstacle and the external force is removed, the torsion spring can automatically retract by its own elastic force, and can automatically shrink by its own elastic force to drive the rotating bracket 25 to rotate, thereby driving the cleaning component 10 to reset to the second position. The principles of the two embodiments are similar and will not be repeated here.

[0096] And as Figure 6 As shown, in another embodiment of the present disclosure, the rotating shaft 21 can also be directly rotatably connected to the body 30, and the rotating bracket 25 can be rotatably connected to the rotating shaft 21. In this way, the above functions can also be achieved, which will not be repeated here.

[0097] like Fig.15 and Fig.16 As shown, in one embodiment of the present disclosure, a clamping elastic member 29 is provided between the cleaning component 10 and the rotating bracket 25, and the clamping elastic member 29 is used to eliminate the fitting clearance between the cleaning component 10 and the rotating bracket 25, thereby ensuring that no shaking occurs between the cleaning component 10 and the rotating bracket 25 when the cleaning component 10 is rotated to any position along the rotating shaft 21.

[0098] like Fig.15 and Fig.16 As shown, in one embodiment of the present disclosure, the cleaning component of the present disclosure may further include a cover body 40, which is fixed to the machine body, and each structure in the motion mechanism 2 of the present disclosure is arranged in the cover body 40, one end of the elastic member 20 abuts against the rotating bracket 25, and the other end abuts against the cover body 40, and the rotating shaft 21 is rotatably arranged in the shell.

[0099] like Figure 7 and Figure 8 As shown, in one embodiment of the present disclosure, the cleaning assembly 10 includes a driving unit 13, a cleaning member 11 and a lifting unit 14. As mentioned above, in one embodiment of the present disclosure, the driving unit 13 includes a cleaning motor 132, a reduction box 133 and a housing 131, and the cleaning motor 132 and the reduction box 133 are both disposed in the housing 131.

[0100] like Figure 7 and Figure 8 As shown, the lifting unit 14 includes a first transmission member 141 and a second transmission member 142. The first transmission member 141 is fixedly connected to the output shaft 1331 of the driving unit 13 so as to be controlled to rotate by the output shaft 1331. When the driving unit 13 includes a cleaning motor 132 and a reduction box 133, the first transmission member 141 is fixedly connected to the output shaft 1331 of the reduction box 133, and the cleaning motor 132 drives the first transmission member 141 to rotate through the reduction box 133. Specifically, as shown in FIG. Figure 7 As shown, the first transmission member 141 can be fixedly connected to the output shaft 1331 by a fixing member such as a screw. The second transmission member 142 is configured to be fixedly connected to the cleaning member 11, and is rotatably connected to the driving unit 13 through a limiting sleeve 151, and the second transmission member 142 is configured to be guided and fitted in the limiting sleeve 151 in the axial direction.

[0101] like Figures 7 to 10 As shown, one of the first transmission member 141 and the second transmission member 142 is provided with a matching portion 144, and the other is provided with an extension track 143, and the extension track 143 includes an inclined section 1431 extending obliquely along the side wall of the first transmission member 141 or the second transmission member 142 in the height direction; the first transmission member 141 is configured to make the matching portion 144 move along the extension track 143 during the rotation process, so as to drive the second transmission member 142 to move between the cleaning position and the avoidance position in the height direction. The height direction refers to the extension direction from the machine body 30 to the working surface. When the working surface is a horizontal surface, the height direction is the vertical direction, and when the working surface is a vertical surface, the height direction is the horizontal direction.

[0102] In this way, during the operation of the cleaning robot disclosed herein, when normal cleaning is required, the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to a cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30, so as to drive the cleaning member 11 to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets and other working surfaces that need to be avoided or thresholds, the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move upward in the height direction to an avoidance position, so as to avoid the cleaning member 11 from contacting obstacles such as carpets and other working surfaces that need to be avoided or thresholds, thereby preventing contamination of carpets and other working surfaces that need to be avoided, and protecting the cleaning member 11 to avoid damage caused by collision.

[0103] It can be seen that when the cleaning robot of the present disclosure faces different cleaning scenes, the driving unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenes. Moreover, the cleaning component 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 and relative to the working surface only through the driving component, without the need to set a separate structure for lifting and lowering the cleaning member 11. In this way, the overall structure of the cleaning component 10 is compact, highly integrated, and occupies little space.

[0104] Specifically, Figures 8 to 10 As shown, in one embodiment of the present disclosure, the extension track 143 has a lower dead point 1433 and an upper dead point 1434. During the process of the first transmission member 141 rotating along the first direction, the matching portion 144 is constructed to move along the extension track 143 to the lower dead point 1433, and the second transmission member 142 is constructed to drive the cleaning member 11 to move to the avoidance position; during the process of the first transmission member 141 rotating along the second direction, the matching portion 144 is constructed to move along the extension track 143 to the upper dead point 1434, and the second transmission member 142 is constructed to drive the cleaning member 11 to move to the cleaning position; and when in the cleaning position, the first transmission member 141 is constructed to drive the second transmission member 142 and the cleaning member 11 to rotate synchronously along the second direction, so as to clean the working surface through the cleaning member 11.

[0105] like Fig. 9 and Fig.10 As shown, when the matching portion 144 is disposed on the first transmission member 141 and the extension track 143 is disposed on the second transmission member 142, during the process of the first transmission member 141 rotating in the first direction, the matching portion 144 rotates in the first direction, and the extension track 143 and the second transmission member 142 move in the height direction relative to the limiting sleeve 151 until the matching portion 144 moves to the lower dead center 1433 along the inclined section 1431 of the extension track 143, at which time, the second transmission member 142 drives the cleaning member 11 to move to the avoidance position. During the process of the first transmission member 141 rotating in the second direction, the matching portion 144 rotates in the second direction, and the extension track 143 and the second transmission member 142 move in the height direction until the matching portion 144 moves to the upper dead center 1434 along the inclined section 1431 of the extension track 143 relative to the limiting sleeve 151, and the second transmission member 142 drives the cleaning member 11 to move to the cleaning position. After the second transmission member 142 drives the cleaning member 11 to move to the cleaning position, when the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.

[0106] Similar, such as Figures 11 to 14As shown, when the extension track 143 is arranged on the first transmission member 141 and the matching portion 144 is arranged on the second transmission member 142, during the process of the first transmission member 141 rotating along the first direction, the extension track 143 rotates along the first direction, and the matching portion 144 and the second transmission member 142 move relative to the limiting shaft sleeve 151 along the height direction until the matching portion 144 moves to the lower dead point 1433 along the inclined section 1431 of the extension track 143, at which time, the second transmission member 142 drives the cleaning member 11 to move to the avoidance position. During the process of the first transmission member 141 rotating along the second direction, the extension track 143 rotates along the second direction, and the matching portion 144 and the second transmission member 142 move along the height direction until the matching portion 144 moves relative to the limiting shaft sleeve 151 along the inclined section 1431 of the extension track 143 to the upper dead point 1434, and the second transmission member 142 drives the cleaning member 11 to move to the cleaning position. After the second transmission member 142 drives the cleaning member 11 to move to the cleaning position, when the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.

[0107] Since the extended track 143 includes an inclined section 1431 extending obliquely in the height direction and has a lower dead point 1433 and an upper dead point 1434, the second transmission member 142 can easily drive the cleaning member 11 to the cleaning position or the avoidance position, thereby facilitating the cleaning robot to cope with different scenarios.

[0108] Among them, Figure 7 and Fig.11 As shown, in one embodiment of the present disclosure, the second transmission member 142 can be sleeved on the outside of the first transmission member 141, so that the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142. In another embodiment of the present disclosure, the second transmission member 142 can be sleeved on the outside of the first transmission member 141, so that the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142.

[0109] The extension track 143 may have various forms. Figures 8 to 10As shown, in one embodiment of the present disclosure, the extension track 143 is a guide groove provided on the mating surface of the first transmission member 141 or the second transmission member 142, and the mating portion 144 is configured to move along the guide groove between the lower dead point 1433 and the upper dead point 1434 of the guide groove. In this way, in the process of adjusting the height of the cleaning member 11, when the first transmission member 141 rotates, the mating portion 144 can be moved along the guide groove to the lower dead point 1433 or the upper dead point 1434, so that the second transmission member 142 drives the cleaning member 11 to reach the cleaning position or the avoidance position.

[0110] Further, such as Figures 8 to 10 As shown, in one embodiment of the present disclosure, the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142. Since the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142, the processing difficulty of the guide groove can be reduced, thereby saving the processing cost of the lifting unit 14.

[0111] like Figure 12 to Figure 14 As shown, in another embodiment of the present disclosure, the extension track 143 is a guide rail protruding from the mating surface of the first transmission member 141 or the second transmission member 142, and a blocking wall 1435 is provided at the end of the lower dead point 1433 and the end of the upper dead point 1434 of the guide rail, and the blocking wall 1435 is constructed to prevent the mating part 144 from continuing to move.

[0112] In this way, during the process of adjusting the height of the cleaning member 11, when the first transmission member 141 rotates, the matching portion 144 can move along the guide rail to the lower dead point 1433 or the upper dead point 1434, and then the second transmission member 142 drives the cleaning member 11 to reach the cleaning position or the avoidance position.

[0113] It is understandable that if Figure 12 to Figure 14 As shown, in the case where the second transmission member 142 is sleeved on the outside of the first transmission member 141, when the guide rail is arranged on the outer side of the first transmission member 141 and the matching portion 144 is arranged on the inner side of the second transmission member 142, in order for the first transmission member 141 to drive the matching portion 144 to move upward through the guide rail, the matching portion 144 needs to be located above the guide rail. In another embodiment of the present disclosure, when the matching portion 144 is arranged on the outer side of the first transmission member 141 and the guide rail is arranged on the inner side of the second transmission member 142, in order for the first transmission member 141 to drive the guide rail to move upward through the matching portion 144, the matching portion 144 needs to be located below the guide rail. The case where the first transmission member 141 is sleeved on the outside of the second transmission member 142 is similar and will not be described in detail here.

[0114] Since the blocking wall 1435 is provided at the end of the lower dead point 1433 and the end of the upper dead point 1434 of the guide rail, and the blocking wall 1435 is configured to prevent the matching portion 144 from continuing to move, the matching portion 144 can drive the transmission member where the guide rail is located to move or stop moving after reaching the blocking wall 1435. Specifically, when the matching portion 144 moves along the guide rail to the blocking wall 1435 at the end of the upper dead point 1434, the second transmission member 142 drives the cleaning member 11 to reach the cleaning position, and when the first transmission member 141 continues to rotate in the second direction, the abutting matching wall and the blocking portion can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so that the cleaning member 11 can clean the working surface. When the matching part 144 moves along the guide rail to the blocking wall 1435 at the end of the lower dead point 1433, the second transmission member 142 drives the cleaning member 11 to reach the avoidance position. At this time, the matching part 144 stops moving due to the blocking resistance of the blocking wall 1435, preventing the first transmission part from continuing to drive the second transmission member 142 to idle.

[0115] Specifically, Fig.13 As shown, in one embodiment of the present disclosure, the guide rail further includes a horizontal section 1432 disposed at the bottom dead center 1433 and the top dead center 1434, and the horizontal section 1432 is configured to support the second transmission member 142 along the axial direction when the matching portion 144 is located at the horizontal section 1432. In this way, during the rotation of the first rotating member, when the matching portion 144 reaches the horizontal section 1432 disposed at the bottom dead center 1433 and the top dead center 1434, the horizontal section 1432 of the guide rail can support the second transmission member 142 along the axial direction. In particular, as Fig.14 As shown, when the guide rail is arranged on the outer side of the first transmission member 141, the matching portion 144 is arranged on the inner side of the second transmission member 142, and the matching portion 144 is located above the guide rail, when the matching portion 144 reaches the horizontal section 1432 arranged at the lower dead point 1433, the horizontal section 1432 of the guide rail can support the second transmission member 142 along the axial direction, thereby ensuring that the cleaning member 11 can be maintained in the avoidance position under the support of the horizontal section 1432, preventing the second transmission member 142 from sliding off the inclined section 1431 of the guide rail due to gravity, and preventing the cleaning member 11 from sliding from the avoidance position to the cleaning position. The principles of other situations are similar and will not be repeated here.

[0116] The matching portion 144 may also have various forms, such as Figure 8 As shown, in one embodiment of the present disclosure, the mating portion 144 is a protrusion, and the protrusion is configured to slide along the extension track 143. Fig.12 As shown, in another embodiment of the present disclosure, the matching portion 144 is a cam, and the cam is configured to roll along the extension track 143 , so that the resistance of the matching portion 144 when moving along the extension track 143 can be effectively reduced.

[0117] In particular, such as Figure 8 As shown, when the matching portion 144 is a cam and the extended track 143 is a guide rail, a wheel groove can be provided on the guide rail so that the cam can move along the wheel groove to limit the relative sliding of the first transmission member 141 and the second transmission member 142 in the radial direction, thereby ensuring the coaxial alignment of the first transmission member 141 and the second transmission member 142.

[0118] Moreover, if Fig.13 As shown, when the mating portion 144 is a cam, a groove can be opened on the mating surface of the mounting cam to partially accommodate the cam, which can not only ensure the size of the cam but also effectively reduce the radial size of the lifting unit 14.

[0119] like Fig.11 and Fig.12 As shown, in one embodiment of the present disclosure, the lifting unit 14 further includes a compression spring 17 disposed between the second transmission member 142 and the driving unit 13; during the rotation of the first transmission member 141 along the first direction, the second transmission member 142 is configured to at least overcome the elastic force of the compression spring 17 to drive the cleaning member 11 to move to the avoidance position; during the rotation of the first transmission member 141 along the second direction, the matching portion 144 is configured to move to the upper dead center 1434 along the extension track 143, and the second transmission member 142 is configured to at least drive the cleaning member 11 to move to the cleaning position under the elastic force of the compression spring 17. In this way, when the cleaning robot of the present disclosure cleans a vertical surface, the elastic force of the compression spring 17 can drive the cleaning member 11 to move to the cleaning position, so that the cleaning member 11 is pressed against the working surface by the compression spring 17 to improve the cleaning effect of the cleaning member 11 on the working surface.

[0120] When the working surface is a horizontal surface or other working surface that is at an angle to the vertical surface, in one embodiment of the present disclosure, the cleaning robot is configured to be located above the working surface; during the process of the first transmission member 141 rotating along the first direction, the second transmission member 142 is configured to overcome the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11, and drive the cleaning member 11 to move to the avoidance position; during the process of the first transmission member 141 rotating along the second direction, the matching portion 144 is configured to move to the upper dead center 1434 along the extension track 143, and the second transmission member 142 is configured to drive the cleaning member 11 to move to the cleaning position under the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11. In this way, the cleaning member 11 can be driven to move to the cleaning position by the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11, so that the cleaning effect of the cleaning member 11 on the working surface can be improved by using the compression spring 17 and pressing the cleaning member 11 against the working surface.

[0121] like Figure 7and Fig.11 As shown, in one embodiment of the present disclosure, the limiting sleeve 151 is configured to be sleeved on the outside of the second transmission member 142, and is rotatably connected to the drive unit 13 through the limiting bearing 152, and the limiting bearing 152 is configured to provide rotation resistance to the second transmission member 142. The limiting bearing 152 can be a load bearing, which can bear the load in the axial direction, and can also withstand the gravity of the limiting sleeve 151.

[0122] Since the limiting bearing 152 can provide rotational resistance to the second transmission member 142, when the height of the cleaning member 11 needs to be adjusted, when the first transmission member 141 rotates, since the limiting bearing 152 provides rotational resistance to the second transmission member 142, it can prevent the first transmission member 141 from driving the second transmission member 142 to idle, and instead make the second transmission member 142 move up and down along the limiting sleeve 151 first until it moves to the cleaning position or the avoidance position. After the second transmission member 142 and the cleaning member 11 move to the cleaning position, the first transmission member 141 overcomes the rotational resistance of the limiting bearing 152, and drives the second transmission member 142 and the cleaning member 11 to rotate synchronously, so that the cleaning member 11 moves relative to the working surface to clean the working surface.

[0123] Further, in one embodiment of the present disclosure, the limiting bearing 152 is configured to only allow the second transmission member 142 to rotate in the second direction. That is, the limiting bearing 152 can allow the second transmission member 142 to rotate in the first direction. In this way, when the first transmission member 141 rotates in the first direction, it can drive the second transmission member 142 to move to the avoidance position. After the second transmission member 142 moves to the avoidance position, under the action of the limiting bearing 152, the first transmission member 141 cannot synchronously drive the second transmission member 142 to rotate in the first direction, thereby effectively preventing the second transmission member 142 and the cleaning member 11 from idling in the avoidance position.

[0124] In order to guide the second transmission member 142 in the axial direction and fit in the limiting sleeve 151, as shown in FIG. Figure 8 and Fig.12 As shown, in one embodiment of the present disclosure, one of the outer side surface of the second transmission member 142 and the inner side surface of the limiting sleeve 151 is provided with a limiting rib 161 extending in the axial direction, and the other is provided with a limiting groove 162 corresponding to the position of the limiting rib 161, and the limiting rib 161 is configured to be guided and matched in the limiting groove 162. Since the limiting rib 161 is configured to be guided and matched in the limiting groove 162, the second transmission member 142 can be guided and matched in the limiting sleeve 151 in the axial direction.

[0125] Specifically, Figure 8 and Fig.12As shown, in one embodiment of the present disclosure, the outer side surface of the second transmission member 142 is provided with a limiting rib 161 extending in the axial direction, and the inner side surface of the limiting sleeve 151 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161. In another embodiment of the present disclosure, the inner side surface of the limiting sleeve 151 is provided with a limiting rib 161 extending in the axial direction, and the outer side surface of the second transmission member 142 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161.

[0126] It can be understood that in the case that the extended track 143 only includes the inclined section 1431, when the second transmission member 142 and the cleaning member 11 are in the avoidance position, the second transmission member 142 and the cleaning member 11 may rotate and slide from the avoidance position to the cleaning position under the action of their own gravity or the resistance of the compression spring 17.

[0127] In order to prevent the second transmission member 142 and the cleaning member 11 from rotating and sliding from the avoidance position to the cleaning position, Figure 7 As shown, in one embodiment of the present disclosure, the limiting sleeve 151 is configured to overcome the gravity of the second transmission member 142 and the cleaning member 11 through the rotational resistance after the second transmission member 142 drives the cleaning member 11 to move to the avoidance position, so that the second transmission member 142 and the cleaning member 11 are maintained in the avoidance position. The second transmission member 142 and the cleaning member 11 need to rotate in the first direction to rotate and slide from the avoidance position to the cleaning position. Since the limiting bearing 152 can provide rotational resistance, the free rotation of the second transmission member 142 and the cleaning member 11 can be limited by the limiting sleeve 151, so that the second transmission member 142 and the cleaning member 11 can be prevented from rotating and sliding from the avoidance position to the cleaning position under the action of their own gravity or the resistance of the compression spring 17, ensuring that the second transmission member 142 and the cleaning member 11 can be maintained in the avoidance position.

[0128] In order to facilitate the installation of the limiting bearing 152 and the limiting sleeve 151, as shown in FIG. Figure 7 and Fig.11As shown, in one embodiment of the present disclosure, a mounting cavity 134 is provided below the housing 131, the first transmission member 141 is configured to be provided in the mounting cavity 134, and the outer ring of the limit bearing 152 is fixedly provided on the inner wall of the mounting cavity 134. By providing the mounting cavity 134 below the housing 131 and fixing the outer ring of the limit bearing 152 on the inner wall of the mounting cavity 134, the limit bearing 152 and the limit sleeve 151 can be effectively sleeved on the outer side of the second transmission member 142. Moreover, since the first transmission member 141 is provided in the mounting cavity 134 and the second transmission member 142 is partially provided in the mounting cavity 134, during the operation of the cleaning member 11, the outer wall of the mounting cavity 134 can also prevent external dirt from splashing onto the first transmission member 141 and the second transmission member 142, thereby ensuring the normal operation of the lifting unit 14.

[0129] In order to further limit the position of the limiting sleeve 151 and protect the first transmission member 141 and the second transmission member 142, as shown in FIG. Fig.11 As shown, in one embodiment of the present disclosure, the cleaning member 11 is provided with a receiving groove for accommodating a limiting sleeve 151, and the limiting sleeve 151 is configured to move up and down in the receiving groove. In this way, by providing a receiving groove for accommodating the limiting sleeve 151 in the cleaning member 11, the radial movement of the cleaning member 11 can be effectively limited, thereby ensuring the coaxial alignment between the cleaning member 11 and the output shaft 1331, and the outer wall of the mounting cavity 134 and the limiting sleeve 151 can jointly prevent external dirt from splashing to the first transmission member 141 and the second transmission member 142, further ensuring the normal operation of the lifting unit 14.

[0130] In one embodiment of the present disclosure, the cleaning robot of the present disclosure further includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on the working surface, and the control unit is configured to control the lifting unit 14 to drive the cleaning member 11 to move to the avoidance position when the cleaning robot travels to the avoidance area. Specifically, the avoidance area may include a carpet, or other work restricted areas set by the user.

[0131] In one embodiment of the present disclosure, the cleaning robot of the present disclosure can store the corresponding position of the avoidance area in advance by means of pre-map construction or manual input by the user, and when the cleaning robot moves to the avoidance area, the control unit controls the lifting unit 14 to drive the cleaning member 11 to move to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions. In another embodiment of the present disclosure, a detection sensor for detecting work restricted areas such as carpets can be set on the cleaning robot of the present disclosure. When the detection sensor detects that the cleaning robot is about to move to work restricted areas such as carpets, the control unit can control the lifting unit 14 to drive the cleaning member 11 to move to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions.

[0132] The present disclosure also provides a cleaning assembly 10, which is configured to be integrally rotatably connected to a body 30 of a cleaning robot, and a reset elastic member 20 is provided between the body 30 and the cleaning assembly 10; the cleaning assembly 10 is configured to move relative to the body 30 under the action of an external force, and to reset under the action of the reset elastic member 20 after the external force is removed;

[0133] The cleaning component 10 includes a cleaning mechanism 1 and a moving mechanism 2; the cleaning mechanism 1 includes a cleaning piece 11, and the moving mechanism 2 is configured to drive the cleaning component 10 to move between a first position and a second position. When in the first position, the edge of the cleaning piece 11 is within the range of the edge of the body 30, and when in the second position, at least part of the edge of the cleaning piece 11 exceeds the edge of the walking range of the body 30.

[0134] In this way, during normal cleaning, the cleaning component 10 is located in the first position, and the edge of the cleaning piece 11 is within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component 10 in the present disclosure moves to the second position, the cleaning range of the cleaning piece 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corners that the body 30 cannot fit.

[0135] When the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot, and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0136] Application Scenario

[0137] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0138] The cleaning robot at least comprises a body 30 and a cleaning assembly 10, wherein the cleaning assembly 10 comprises a driving unit 13, a cleaning member 11 and a lifting unit 14, wherein the lifting unit 14 comprises a first transmission member 141 and a second transmission member 142, wherein the first transmission member 141 is fixedly connected to an output shaft 1331 of the driving unit 13 so as to be controlled to rotate by the output shaft 1331; the second transmission member 142 is configured to be fixedly connected to the cleaning member 11, and is rotationally connected to the driving unit 13 through a limiting sleeve 151, and the second transmission member 142 is configured to be guided and fitted in the limiting sleeve 151 in the axial direction;

[0139] Among them, one of the first transmission member 141 and the second transmission member 142 is provided with a matching portion 144, and the other is provided with an extension track 143, the extension track 143 includes an inclined section 1431 extending obliquely in the height direction along the side wall of the first transmission member 141 or the second transmission member 142; the first transmission member 141 is constructed to make the matching portion 144 move along the extension track 143 during the rotation process, so as to drive the second transmission member 142 to move between the cleaning position and the avoidance position in the height direction.

[0140] In this way, during the operation of the cleaning robot disclosed herein, when normal cleaning is required, the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to a cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30, so as to drive the cleaning member 11 to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets and other working surfaces that need to be avoided or thresholds, the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move upward in the height direction to an avoidance position, so as to avoid the cleaning member 11 from contacting obstacles such as carpets and other working surfaces that need to be avoided or thresholds, thereby preventing contamination of carpets and other working surfaces that need to be avoided, and protecting the cleaning member 11 to avoid damage caused by collision.

[0141] It can be seen that when the cleaning robot of the present disclosure faces different cleaning scenes, the driving unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenes. Moreover, the cleaning component 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 and relative to the working surface only through the driving component, without the need to set a separate structure for lifting and lowering the cleaning member 11. In this way, the overall structure of the cleaning component 10 is compact, highly integrated, and occupies little space.

[0142] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized in that: The invention comprises a machine body (30) and a cleaning assembly (10), wherein the cleaning assembly (10) comprises a driving unit (13), a cleaning member (11) and a lifting unit (14); the lifting unit (14) comprises: A first transmission member (141), the first transmission member (141) being fixedly connected to an output shaft (1331) of the drive unit (13) so as to be controlled to rotate by the output shaft (1331); A second transmission member (142), the second transmission member (142) being configured to be fixedly connected to the cleaning member (11) and rotatably connected to the driving unit (13) via a limiting shaft sleeve (151), and the second transmission member (142) being configured to be guided and fitted in the limiting shaft sleeve (151) in the axial direction; Wherein, one of the first transmission member (141) and the second transmission member (142) is provided with a matching portion (144), and the other is provided with an extension track (143), wherein the extension track (143) comprises an inclined section (1431) extending obliquely in the height direction along the side wall of the first transmission member (141) or the second transmission member (142); the first transmission member (141) is constructed to make the matching portion (144) move along the extension track (143) during the rotation process, so as to drive the second transmission member (142) to move between the cleaning position and the avoidance position in the height direction.

2. The cleaning robot according to claim 1, characterized in that: The extension track (143) has a lower dead point (1433) and an upper dead point (1434); when the first transmission member (141) rotates in the first direction, the matching portion (144) is configured to move along the extension track (143) to the lower dead point (1433); and the second transmission member (142) is configured to drive the cleaning member (11) to move to a avoidance position; During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position; and when in the cleaning position, the first transmission member (141) is constructed to drive the second transmission member (142) and the cleaning member (11) to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member (11).

3. The cleaning robot according to claim 2, characterized in that: The extension track (143) is a guide groove opened on the matching surface of the first transmission member (141) or the second transmission member (142), and the matching portion (144) is constructed to move along the guide groove between the lower dead point (1433) and the upper dead point (1434) of the guide groove.

4. The cleaning robot according to claim 3, characterized in that: The guide groove passes through a side surface of the first transmission member (141) or a side surface of the second transmission member (142).

5. The cleaning robot according to claim 2, characterized in that: The extension track (143) is a guide rail protruding from the mating surface of the first transmission member (141) or the second transmission member (142), and a blocking wall (1435) is provided at the end of the lower dead point (1433) and the end of the upper dead point (1434) of the guide rail, and the blocking wall (1435) is constructed to prevent the mating part (144) from continuing to move.

6. The cleaning robot according to claim 5, characterized in that: The guide rail also includes a horizontal section (1432) arranged at the lower dead center (1433) and the upper dead center (1434), and the horizontal section (1432) is constructed to axially support the second transmission member (142) when the matching portion (144) is located in the horizontal section (1432).

7. The cleaning robot according to claim 2, characterized in that: The matching portion (144) is a protrusion or a cam, the protrusion is configured to slide along the extension track (143), and the cam is configured to roll along the extension track (143).

8. The cleaning robot according to claim 2, characterized in that: The lifting unit (14) further comprises a compression spring (17) arranged between the second transmission member (142) and the driving unit (13); When the first transmission member (141) rotates in the first direction, the second transmission member (142) is configured to at least overcome the elastic force of the compression spring (17) to drive the cleaning member (11) to move to a avoidance position; During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position at least under the action of the elastic force of the compression spring (17).

9. The cleaning robot according to claim 8, characterized in that: The cleaning robot is configured to be located above the working surface; When the working surface is rotating along the first direction of the first transmission member (141), the second transmission member (142) is configured to drive the cleaning member (11) to move to a avoidance position under the action of the elastic force of the compression spring (17) and the gravity of the second transmission member (142) and the cleaning member (11); During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position under the action of the elastic force of the compression spring (17) and the gravity of the second transmission member (142) and the cleaning member (11).

10. The cleaning robot according to claim 2, characterized in that: The limiting sleeve (151) is configured to be sleeved on the outside of the second transmission member (142), and is rotationally connected to the driving unit (13) via a limiting bearing (152), and the limiting bearing (152) is configured to provide the second transmission member (142) with rotation resistance along the first direction and the second direction.

11. The cleaning robot according to claim 10, characterized in that: The limiting bearing (152) is configured to only allow the second transmission member (142) to rotate along a second direction.

12. The cleaning robot according to claim 10, characterized in that: One of the outer side surface of the second transmission member (142) and the inner side surface of the limiting sleeve (151) is provided with a limiting edge (161) extending in the axial direction, and the other is provided with a limiting groove (162) corresponding to the position of the limiting edge (161), and the limiting edge (161) is constructed to be guided and matched in the limiting groove (162).

13. The cleaning robot according to claim 10, characterized in that: The limiting sleeve (151) is configured to overcome the gravity of the second transmission member (142) and the cleaning member (11) through rotational resistance after the second transmission member (142) drives the cleaning member (11) to move to the avoidance position, so that the second transmission member (142) and the cleaning member (11) are maintained in the avoidance position.

14. The cleaning robot according to claim 10, characterized in that: The driving unit (13) comprises a cleaning motor (132), a reduction box (133) and a housing (131); the cleaning motor (132) and the reduction box (133) are both arranged in the housing (131); the rotating shaft of the cleaning motor (132) is fixedly connected to the input shaft of the reduction box (133); and the first transmission member (141) is fixedly connected to the input shaft of the reduction box (133); An installation cavity (134) is provided below the housing (131); the first transmission member (141) is configured to be disposed in the installation cavity (134); and the outer ring of the limit bearing (152) is fixedly disposed on an inner wall of the installation cavity (134).

15. The cleaning robot according to any one of claims 1 to 14, characterized in that: It also includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on a working surface, and the control unit is configured to control the lifting unit (14) to drive the cleaning member (11) to move to the avoidance position when the cleaning robot travels to the avoidance area.

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