Cleaning robot

Abstract

The application discloses a cleaning robot. The cleaning robot comprises a body and a cleaning assembly, wherein the cleaning assembly comprises a cleaning component support, a rotating driving component, a one-way bearing and a crank. The cleaning component support is movably connected with the body and can be lifted and lowered relative to the bottom of the body. The cleaning component support has a lifting position and a lowering position. The one-way bearing can be drivingly connected with the rotating driving component. The crank is connected with the one-way bearing on one side and connected with the cleaning component support. The rocker comprises opposite first and second ends. The first end is connected with the other side of the crank, and the second end is movably connected with the body. The rotating driving component can drive the rocker to swing through the one-way bearing and the crank. The swinging of the rocker with the second end as a supporting point makes the cleaning component support switch between the lifting position and the lowering position. The above cleaning robot can lift the cleaning assembly relative to the ground with a simple and stable result.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, in particular to a cleaning robot. Background Art

[0002] A cleaning robot is an automated device for cleaning the floor. The cleaning robot comprises a body and a cleaning component, and the cleaning component can clean the floor.

[0003] In some use cases of cleaning robots, it is necessary to lift the cleaning component relative to the bottom of the body to get off the ground. For example, after the cleaning robot finishes cleaning an area, it is necessary to lift the cleaning component when returning to the base station to prevent the dirty cleaning component from causing secondary contamination of the ground. However, existing cleaning robots are unable to achieve this. Summary of the Invention

[0004] The present invention provides a cleaning robot, the cleaning components of which can be raised and lowered, so that the cleaning robot can adapt to more usage scenarios.

[0005] An embodiment of the present invention provides a cleaning robot, comprising a body and a cleaning component, wherein the cleaning component comprises: a cleaning member bracket, which is movably connected to the body and can be raised and lowered relative to the bottom of the body, and the cleaning member bracket has a raised position and a lowered position; a rotating drive member; a one-way bearing, which can be transmission-connected to the rotating drive member; a crank, one side of the crank is connected to the one-way bearing, and the crank is connected to the cleaning member bracket; a rocker, comprising a first end and a second end relative to each other, the first end is connected to the other side of the crank, and the second end is movably connected to the body, the rotating drive member can drive the rocker to swing through the one-way bearing and the crank, and the swing of the rocker with the second end as the support point causes the cleaning member bracket to switch between the raised position and the lowered position.

[0006] According to an embodiment of the present invention, a cleaning robot includes a body and a cleaning component, wherein the cleaning component includes a cleaning member bracket, a rotating drive member, a one-way bearing, a crank, and a rocker. The one-way bearing can be transmission-connected to the rotating drive member, one side of the crank is connected to the one-way bearing, the first end of the rocker is connected to the other side of the crank, and the second end is movably connected to the body. The rotating drive member can drive the rocker to swing through the one-way bearing and the crank, and the swing of the rocker with the second end as the support point causes the cleaning member bracket to switch between a raised position and a lowered position. When the cleaning member bracket is in the lowered position, the cleaning component can be in a position where it can clean the ground. When the cleaning member bracket is in the raised position, the cleaning member bracket rises, and the cleaning component is raised relative to the ground, making it easier for the cleaning robot to cope with usage scenarios where the cleaning component needs to be raised. By arranging the above-mentioned specific connection of the rotating drive member, the one-way bearing, the crank, and the rocker, it is possible to achieve a simpler and more stable result of raising the cleaning component relative to the ground.

[0007] According to the aforementioned embodiment of the first aspect of the present invention, the cleaning assembly further includes: a cleaning member, rotatably arranged on the cleaning member bracket; a first rotating shaft, connected to the one-way bearing; a second rotating shaft, coaxially connected to the cleaning member, and the rotating output shaft of the rotating driving member is transmission-connected to the first rotating shaft and the second rotating shaft. In the above embodiment, the rotating output shaft of the rotating driving member is transmission-connected to the first rotating shaft and the second rotating shaft. When the cleaning member needs to work normally, the rotating driving member can drive the cleaning member to rotate normally through the second rotating shaft. When the cleaning member bracket needs to be raised or lowered, the rotating driving member can drive the cleaning member bracket to be raised or lowered through the first rotating shaft. Therefore, only one power source is required to drive the cleaning member bracket to rise and fall and drive the cleaning member to rotate, thereby reducing the manufacturing cost of the cleaning robot and saving hardware layout space.

[0008] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning assembly further comprises: a stopper fixedly connected to the cleaning member bracket, the outer periphery of the crank having a stopper protrusion extending outwardly, and when the cleaning member bracket moves to the raised position, the stopper protrusion abuts against the stopper. In the above embodiment, the cleaning member bracket has a lowered position and a raised position. When the cleaning member bracket is in the lowered position, the cleaning member can contact the ground. At this time, the rotation drive member can drive the cleaning member to rotate via the second rotating shaft, thereby achieving cleaning of the ground by the cleaning member. When the cleaning member bracket is in the raised position, the cleaning member bracket and the cleaning member are raised relative to the ground, thereby forming a certain gap between them and the ground. The cleaning assembly includes a stopper, the outer periphery of the crank having a stopper protrusion extending outwardly, and when the cleaning member bracket moves to the raised position, the stopper protrusion abuts against the stopper, so that the rotation of the crank and the rocker arm is stopped at the position defined by the stopper, ensuring that the cleaning member bracket can be raised into position and preventing the crank from continuing to rotate and causing the cleaning member bracket to fall back down.

[0009] According to any of the aforementioned embodiments of the first aspect of the present invention, the cleaning robot further includes: an in-place detection member, which is arranged on the cleaning member bracket and / or the body, and the in-place detection member is configured to be triggered when the cleaning member bracket moves to the raised position to generate a raised-in-place signal; a control member, which is electrically connected to the in-place detection member and the rotating drive member, and the control member can send a lifting signal and a holding signal to the rotating drive member, wherein, when the cleaning member bracket is in the lowered position, the rotating drive member drives the first rotating shaft to rotate along the first direction according to the lifting signal, so that the cleaning member bracket can move to the raised position; the control member generates the holding signal after receiving the raised-in-place signal, and the rotating drive member causes the first rotating shaft to have a tendency to rotate along the first direction according to the holding signal, so that the cleaning member bracket can remain in the raised position. In the above embodiment, the cleaning robot includes an in-position detection member and a control member. When the cleaning member bracket moves to the raised position, the in-position detection member is triggered and generates a raised-in-position signal, so that the controller can accurately know the time when the cleaning member bracket is raised to the raised position, and facilitates the control of the cleaning member bracket to remain in the raised position after the cleaning member bracket is raised to the raised position. The control member generates a holding signal after receiving the raised-in-position signal, and the rotating drive member causes the first rotating shaft to have a tendency to rotate along the first direction according to the holding signal, so that the cleaning member bracket can remain in the raised position, thereby preventing the cleaning member bracket from accidentally falling or shaking at the bottom of the machine body, ensuring that the walking activity of the cleaning robot after the cleaning component is raised is not interfered with by the lifted cleaning component, and reducing the noise generated by the shaking of the cleaning member bracket.

[0010] According to any of the aforementioned embodiments of the first aspect of the present invention, the control member is capable of sending a first descending signal to the rotary drive member. When the cleaning member bracket is in the raised position, the rotary drive member drives the first rotating shaft to rotate along the second direction according to the first descending signal. The internal friction of the one-way bearing enables the crank to rotate along the second direction by a preset angle. The limiting protrusion separates from the limiting member, allowing the cleaning member bracket to move to the lowered position. In the above embodiment, it is only necessary to control the forward or reverse rotation of the rotating output shaft of one rotary drive member to achieve the lifting and lowering position change of the cleaning member bracket and the rotational movement of the cleaning member, making the driving structure of the cleaning robot more streamlined.

[0011] According to any of the aforementioned embodiments of the first aspect of the present invention, the limiting member includes: a limiting block bracket, connected to the cleaning member bracket, the limiting block bracket being provided with a movable groove; a limiting block, movably arranged in the movable groove, the limiting block having a limiting portion; an elastic member, elastically connecting the limiting block to the limiting block bracket, the elastic member making the initial state of the limiting block be that the limiting portion extends out of the movable groove, and when the cleaning member bracket moves to the lifting position, the limiting protrusion abuts against the limiting portion. In the above embodiment, when the cleaning member bracket moves to the lifting position, the limiting protrusion abuts against the limiting portion, and the limiting block can be elastically movable, and when the cleaning member bracket moves to the lifting position, the rigid contact between the limiting protrusion and the limiting portion can be elastically buffered by the elastic member, thereby improving the service life of the limiting member and the crank.

[0012] According to any of the aforementioned embodiments of the first aspect of the present invention, the limiting portion has a notch portion, the notch portion is provided with a slope structure, a portion of the surface of the limiting block bracket matches the notch portion, and when the cleaning member bracket moves to the raised position, the limiting protrusion at least partially abuts within the notch portion. In the above embodiment, by providing the notch portion in the limiting portion, when the cleaning member bracket moves to the raised position, the limiting protrusion at least partially abuts within the notch portion and matches the notch portion, making it easier for the cleaning member bracket to stably remain in the raised position.

[0013] According to any of the aforementioned embodiments of the first aspect of the present invention, the rotating drive member generates a first output torque according to the holding signal, the control member can send a second descending signal to the rotating drive member, and when the cleaning member bracket is in the raised position, the rotating drive member generates a second output torque according to the second descending signal and drives the first rotating shaft to rotate along the first direction, the value of the second output torque is greater than the value of the first output torque, and the limiting protrusion passes over the limiting member along the slope structure and separates from the limiting member, so that the cleaning member bracket can move to the descending position. In the above embodiment, by providing an elastic limiting member and controlling the rotation of the rotating drive member through a controller, the lifting position change of the cleaning member bracket and the rotational movement of the cleaning member can be achieved while using one rotating drive member, so that the driving structure of the cleaning robot is more streamlined.

[0014] According to any of the aforementioned embodiments of the first aspect of the present invention, the body is provided with a limiting groove, the limiting groove has a first abutting portion and a second abutting portion relative to each other, the second end of the rocker is provided with a roller, and the roller is movably arranged in the limiting groove, when the cleaning member bracket moves to the raised position, the roller abuts against the first abutting portion, and when the cleaning member bracket moves to the lowered position, the roller abuts against the second abutting portion.

[0015] According to any of the aforementioned embodiments of the first aspect of the present invention, the rotating output shaft of the rotating driving member is connected to the first rotating shaft and the second rotating shaft through a transmission assembly, and the cleaning assembly further includes: a transmission box connected to the cleaning member bracket, the transmission assembly is located in the transmission box, the first rotating shaft passes through the transmission box, and the rocker is located outside the transmission box. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0017] Figure 1 A bottom perspective diagram of an embodiment of a cleaning robot according to the present invention;

[0018] Figure 2 This is a schematic exploded perspective diagram of a cleaning robot according to an embodiment of the present invention from a bottom perspective;

[0019] Figure 3 A half-section perspective diagram of the bottom structure of a cleaning robot according to an embodiment of the present invention;

[0020] Figure 4 is a three-dimensional schematic diagram of a cleaning component in an embodiment of a cleaning robot according to the present invention;

[0021] Figure 5 is a schematic exploded perspective view of a cleaning component in an embodiment of a cleaning robot according to the present invention;

[0022] Figure 6 is a schematic exploded perspective view of a cleaning component in an embodiment of a cleaning robot according to the present invention;

[0023] Figure 7 This is a three-dimensional schematic diagram of the one-way bearing, crank, and rocker in an assembled state in one embodiment of the cleaning robot of the present invention;

[0024] Figure 8 This is a bottom perspective diagram of an embodiment of the cleaning robot of the present invention with the bottom portion of the body structure removed;

[0025] Figure 9 A schematic cross-sectional view of a cleaning assembly in an embodiment of a cleaning robot according to the present invention when a cleaning member support is raised;

[0026] Figure 10A schematic cross-sectional view of a cleaning assembly in an embodiment of a cleaning robot according to the present invention when a cleaning member support is lowered;

[0027] Figure 11 This is a schematic exploded perspective view of a limiting member in an alternative embodiment of the cleaning robot of the present invention;

[0028] Figure 12 This is a three-dimensional schematic diagram of a limiting member in an alternative embodiment of the cleaning robot of the present invention in an assembled state;

[0029] Figure 13 A schematic cross-sectional view of a cleaning assembly in an alternative embodiment of the cleaning robot of the present invention when the cleaning member support is raised;

[0030] Figure 14 A schematic cross-sectional view of a cleaning assembly in an alternative embodiment of the cleaning robot of the present invention when the cleaning member support is lowered;

[0031] Figure 15 A half-cutaway perspective diagram of the bottom structure of an embodiment of a cleaning robot according to the present invention in a raised position;

[0032] Figure 16 This is a half-section perspective diagram of the bottom structure of an embodiment of the cleaning robot of the present invention in a lowered position.

[0033] In the picture:

[0034] 1000-cleaning robot;

[0035] 100-cleaning components;

[0036] 110-cleaning part bracket; 111-connecting arm;

[0037] P1-first rotating shaft; P2-second rotating shaft;

[0038] 120-one-way bearing;

[0039] 130-crank; 131-limiting protrusion;

[0040] 140 - rocker; 141 - first end; 142 - second end; 143 - roller;

[0041] 150-cleaning parts;

[0042] 160-rotation drive member;

[0043] 170-limiting member; 171-limiting block bracket; C1-movable groove; 172-limiting block; 172a-limiting portion; C2-notch portion; 173-elastic member;

[0044] 180-in-place inspection parts;

[0045] 190-transmission box;

[0046] TC-transmission components;

[0047] 200 - fuselage; 200a - fuselage bottom; 210 - limiting groove; 211 - first abutting portion; 212 - second abutting portion;

[0048] X1-first turn; X2-second turn.

[0049] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0051] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] Figure 1 This is a three-dimensional schematic diagram of a cleaning robot according to an embodiment of the present invention from a bottom perspective. Figure 2 This is a schematic exploded perspective view of the bottom of an embodiment of the cleaning robot of the present invention. Figure 3 FIG1 is a half-cutaway perspective view of the bottom structure of an embodiment of a cleaning robot according to the present invention. The cleaning robot 1000 includes a body 200 and a cleaning assembly 100 .

[0054] Figure 4 is a three-dimensional schematic diagram of a cleaning component in an embodiment of the cleaning robot of the present invention, Figure 5 、 Figure 6 The cleaning assembly 100 includes a cleaning member support 110 , a rotating driving member 160 , a one-way bearing 120 , a crank 130 , and a rocker 140 .

[0055] The cleaning member support 110 is movably connected to the body 200 and can be raised and lowered relative to the bottom 200a of the body. The cleaning member support 110 has a raised position and a lowered position. In some embodiments, the cleaning member support 110 in the raised position is higher than the cleaning member support 110 in the lowered position. The rotating drive member 160 is, for example, a rotating motor. The one-way bearing 120 can be transmission-connected to the rotating drive member 160. In some embodiments, the one-way bearing 120 has an inner ring and an outer ring. One side of the crank 130 is connected to the one-way bearing 120, and the crank 130 is connected to the cleaning member support 110. The rocker 140 includes a first end 141 and a second end 142 opposite to each other. The first end 141 is connected to the other side of the crank 130, and the second end 142 is movably connected to the body 200.

[0056] The rotary driving member 160 can drive the rocker 140 to swing through the one-way bearing 120 and the crank 130. The swing of the rocker 140 with the second end 142 as the support point enables the cleaning member bracket 110 to switch between the raised position and the lowered position.

[0057] According to an embodiment of the present invention, the cleaning robot 1000 includes a body 200 and a cleaning assembly 100. The cleaning assembly 100 includes a cleaning member bracket 110, a rotating drive member 160, a one-way bearing 120, a crank 130, and a rocker 140. The one-way bearing 120 can be connected to the rotating drive member 160 by transmission, one side of the crank 130 is connected to the one-way bearing 120, the first end 141 of the rocker 140 is connected to the other side of the crank 130, and the second end 142 is movably connected to the body 200. The rotating drive member 160 can drive the rocker 140 to swing through the one-way bearing 120 and the crank 130. The swing of the rocker 140 with the second end 142 as the support point causes the cleaning member bracket 110 to switch between a raised position and a lowered position. When the cleaning member bracket 110 is in the lowered position, the cleaning assembly can be in a position where it can clean the floor. When the cleaning member support 110 is in the raised position, the cleaning member support 110 is raised, and the cleaning assembly 100 is lifted relative to the ground, which facilitates the cleaning robot 1000 to cope with usage scenarios that require lifting the cleaning assembly 100. By setting the above-mentioned specific connection between the first rotating shaft P1, the one-way bearing 120, the crank 130, and the rocker 140, the cleaning assembly 100 can be lifted relative to the ground in a simpler and more stable manner.

[0058] The cleaning assembly 100 can be a cleaning assembly capable of sweeping the floor, or a mopping assembly capable of mopping the floor. In some embodiments, the cleaning members of the cleaning assembly and the mopping assembly are both rolling members.

[0059] In some embodiments, the cleaning robot 1000 includes two or more cleaning components 100. Optionally, the two or more cleaning components 100 of the cleaning robot 1000 are of different types. For example, the cleaning robot 1000 includes a cleaning component that can sweep the floor and a mopping component that can mop the floor. The cleaning component and the mopping component can each be raised and lowered relative to the bottom 200a of the body according to the structure of the above-mentioned embodiment of the present invention. In this case, the cleaning robot 1000 can have multiple usage modes. For example, the cleaning robot 1000 can have a single sweeping mode. In this case, the cleaning component can work and the mopping component is raised. In this case, the cleaning robot 1000 can be used to clean complex floors such as carpets. The cleaning robot 1000 can have a single mopping mode. In this case, the mopping component can work and the cleaning component is raised. In this case, the mopping component of the cleaning robot 1000 can clean dirt on the floor and prevent water stains from wetting the cleaning component and preventing water stains from being sucked into the dust box through the cleaning component. The cleaning robot 1000 can operate in a mopping and sweeping mode, in which both the mopping and cleaning components are not raised and can function, improving cleaning efficiency. After cleaning is complete, the mopping and cleaning components can be raised simultaneously to prevent secondary contamination of the cleaned floor by the mopping and cleaning components. When the cleaning robot 1000 is navigating a bump or recharging, the mopping and cleaning components can be raised simultaneously, enabling more efficient navigating or recharging.

[0060] The cleaning member bracket 110 includes a connecting arm 111 extending toward the front or rear side of the body 200 . The connecting arm 111 is rotatably connected to the body 200 . The connecting arm 111 swings relative to the body 200 to allow the cleaning member bracket 110 to rise and fall relative to the body bottom 200 a .

[0061] In some embodiments, a compression spring is provided between the cleaning member support 110 and the body 200. When the cleaning member support 110 is in the lowered position, the compression spring can increase the pressure of the cleaning member 150 on the ground during operation, thereby improving the cleaning effect.

[0062] In some embodiments, cleaning assembly 100 further includes a cleaning member 150, a first rotating shaft P1, and a second rotating shaft P2. Cleaning member 150 is rotatably mounted on cleaning member support 110. First rotating shaft P1 is connected to one-way bearing 120. Second rotating shaft P2 is coaxially connected to cleaning member 150. A rotating output shaft of a rotating drive member 160 is drivingly connected to first rotating shaft P1 and second rotating shaft P2. Rotating drive member 160 is, for example, a motor.

[0063] In some embodiments, the rotation driving member 160 can drive the first rotation axis P1 to rotate along opposite first and second rotation directions X1 and X2.

[0064] In this embodiment, when the cleaning member holder 110 is in the lowered position and the first rotating shaft P1 rotates along the second direction X2, the one-way bearing 120 can rotate, and the rotational force of the first rotating shaft P1 is substantially not transmitted to the crank 130, thereby maintaining the cleaning member holder in the lowered position. When the cleaning member holder 110 is in the lowered position and the first rotating shaft P1 rotates along the first direction X1, the one-way bearing 120 is locked, and the rotational force of the first rotating shaft P1 is transmitted to the crank 130 through the locked one-way bearing 120. The crank 130 drives the rocker 140 to swing around the second end 142 as the support point, thereby raising the cleaning member holder 110 relative to the main body 200.

[0065] In the above embodiment, the rotating output shaft of the rotating driving member 160 is transmission-connected with the first rotating shaft P1 and the second rotating shaft P2. When the cleaning member 150 needs to work normally, the rotating driving member 160 can drive the cleaning member 150 to rotate normally through the second rotating shaft P2. When the cleaning member bracket 110 needs to be raised or lowered, the rotating driving member 160 can drive the cleaning member bracket 110 to be raised or lowered through the first rotating shaft P1. Therefore, only one power source is required to drive the cleaning member bracket 110 to rise and fall and drive the cleaning member 150 to rotate, thereby reducing the manufacturing cost of the cleaning robot 1000 and saving hardware layout space.

[0066] In some embodiments, the rotation output shaft of the rotation driving member 160 is in transmission connection with the first rotation shaft P1 and the second rotation shaft P2 via a transmission assembly TC.

[0067] The cleaning assembly 100 further includes a transmission box 190 connected to the cleaning member bracket 110 . The transmission assembly TC is located in the transmission box 190 . The first rotating shaft P1 passes through the transmission box 190 . The rocker 140 is located outside the transmission box 190 .

[0068] In this embodiment, the transmission assembly TC is a gear transmission. In some embodiments, the transmission assembly TC is a pulley transmission. For example, the transmission assembly TC includes a first synchronous pulley coaxially connected to the first rotating shaft P1, a second synchronous pulley coaxially connected to the second rotating shaft P2, and a third synchronous pulley coaxially connected to the rotating output shaft of the rotating driving member 160. It also includes a first transmission belt that transmission-connects the first and third synchronous pulleys, and a second transmission belt that transmission-connects the second and third synchronous pulleys.

[0069] Figure 7This is a three-dimensional schematic diagram of the assembled one-way bearing, crank, and rocker arm of one embodiment of the cleaning robot according to the present invention. In some embodiments, the transmission case 190 is connected to the cleaning member bracket 110, and the connection between the two can be detachable. The first rotating shaft P1 extends through the transmission case 190, while the one-way bearing 120, crank 130, and rocker arm 140 are located outside the transmission case 190. The rotary drive member 160 is located outside the transmission case 190, and the rotary output shaft of the rotary drive member 160 extends into the transmission case 190.

[0070] As previously mentioned, the cleaning member support 110 has a lowered position and a raised position. In some embodiments, the cleaning member support 110 in the raised position is higher than the cleaning member support 110 in the lowered position.

[0071] In some embodiments, the cleaning assembly 100 further includes a stopper 170, which is fixedly connected to the cleaning member bracket 110. In this embodiment, the stopper 170 is disposed on an outer wall of the transmission box 190. The stopper 170 can be detachably connected to the transmission box 190.

[0072] The outer periphery of the crank 130 has a limiting protrusion 131 extending outward. When the cleaning member bracket 110 moves to the raised position, the limiting protrusion 131 abuts against the limiting member 170 .

[0073] In the above embodiment, the cleaning member support 110 has a lowered position and a raised position. When the cleaning member support 110 is in the lowered position, the cleaning member 150 can contact the ground. At this time, the rotating drive member 160 can drive the cleaning member 150 to rotate via the second rotating shaft P2, so that the cleaning member 150 cleans the ground. When the cleaning member support 110 is in the raised position, the cleaning member support 110 and the cleaning member 150 are raised relative to the ground, thereby forming a certain gap between them and the ground. The cleaning assembly 100 includes a limit member 170. The outer periphery of the crank 130 has a limit protrusion 131 extending outward. When the cleaning member support 110 moves to the raised position, the limit protrusion 131 abuts against the limit member 170, so that the rotation of the crank 130 and the rocker 140 is stopped at the position defined by the limit member 170, ensuring that the cleaning member support 110 can be raised into position and preventing the crank 130 from continuing to rotate and causing the cleaning member support 110 to fall back down. Furthermore, when the limiting member 170 and the rocker 140 are set within a preset angle range, the cleaning member bracket 170 can be locked in the raised position without falling back down without applying any other external force.

[0074] Figure 8This is a three-dimensional schematic diagram of the bottom perspective of an embodiment of the cleaning robot of the present invention, in which the bottom portion of the structure of the fuselage is removed. In some embodiments, the cleaning robot 1000 further includes an in-place detection member 180 and a control member (not shown). The in-place detection member 180 is provided on the cleaning member support 110 and / or the fuselage 200. The in-place detection member 180 is configured to be triggered when the cleaning member support 110 moves to the raised position to generate a raised-in-place signal. The control member is electrically connected to the in-place detection member 180 and the rotation drive member 160, and the control member is capable of sending a lifting signal and a holding signal to the rotation drive member 160.

[0075] Figure 9 This is a cross-sectional schematic diagram of the cleaning assembly of one embodiment of the cleaning robot according to the present invention, showing the cleaning member support 110 in the raised position. When the cleaning member support 110 is in the lowered position, the rotary drive 160, in response to the raise signal, drives the first rotary shaft P1 to rotate along the first direction X1, allowing the cleaning member support 110 to move to the raised position. Upon receiving the raised position signal, the control member generates a hold signal, which in turn causes the rotary drive 160 to rotate the first rotary shaft P1 along the first direction X1, maintaining the cleaning member support 110 in the raised position.

[0076] In some embodiments, the in-place detection member 180 is a contact switch disposed on the cleaning member holder 110 and / or the body 200. In some embodiments, the in-place detection member 180 includes a trigger and a sensor, such as a Hall effect sensor or a magnetic sensor, with one of the trigger and the sensor disposed on the cleaning member holder 110 and the other disposed on the body 200. In other embodiments, the in-place detection member 180 may be another detection member capable of performing in-place detection.

[0077] In the above embodiment, the cleaning robot 1000 includes an in-position detection member 180 and a control member. When the cleaning member support 110 moves to the raised position, the in-position detection member 180 is triggered and generates a raised in-position signal, so that the controller can accurately know the time when the cleaning member support 110 is raised to the raised position, so as to control the cleaning member support 110 to remain in the raised position after the cleaning member support 110 is raised to the raised position. The control member generates a holding signal after receiving the raised in-position signal. The rotation drive member 160 causes the first rotating shaft P1 to have a tendency to rotate along the first direction X1 according to the holding signal, so that the cleaning member support 110 can remain in the raised position, thereby preventing the cleaning member support 110 from accidentally falling or shaking at the bottom 200a of the fuselage, ensuring that the walking movement of the cleaning robot 1000 is not interfered with by the raised cleaning member 100 after the cleaning component 100 is raised, and reducing the noise generated by the shaking of the cleaning member support 110.

[0078] Figure 10This is a cross-sectional diagram of the cleaning assembly of one embodiment of the cleaning robot according to the present invention, as the cleaning member holder is lowered. In some embodiments, the control member can send a first lowering signal to the rotational drive member 160. In response to the first lowering signal, the rotational drive member 160 drives the first rotating shaft P1 to rotate along the second direction X2, disengaging the stop protrusion 131 from the stop member 170, allowing the cleaning member holder 110 to move to the lowered position.

[0079] In the above embodiment, when the cleaning member bracket 110 is in the lowered position, the rotating output shaft of the rotating driving member 160 can rotate forward. At this time, the rotating driving member 160 drives the cleaning member 150 to rotate through the second rotating shaft P2 to achieve cleaning of the ground. The first rotating shaft P1 rotates along the second direction X2, and the one-way bearing 120 can rotate. The rotational force of the first rotating shaft P1 will basically not be transmitted to the crank 130. At this time, the cleaning component 100 will not move up and down. When the cleaning component 100 needs to be lifted, the control component sends a lifting signal to the rotating drive component 160, the rotating output shaft of the rotating drive component 160 is reversed, the first rotating shaft P1 rotates along the first direction X1, the one-way bearing 120 is locked, and the rotating drive component 160 drives the rocker 140 to swing with the second end 142 as the support point through the first rotating shaft P1, the locked one-way bearing 120, and the crank 130, so that the cleaning component bracket 110 is lifted relative to the fuselage 200. When the limiting protrusion 131 is against the limiting component 170, the cleaning component bracket 110 is lifted into place. At this time, the in-place detection component 180 triggers the generation of a lifting into place signal, and the control component sends a holding signal to the rotating drive component 160, so that the cleaning component bracket 110 can be maintained in the lifted position. When the cleaning assembly 100 needs to be lowered, the control component sends a first descending signal to the rotating drive component 160, the rotating output shaft of the rotating drive component 160 rotates forward, the first rotating shaft P1 rotates along the second direction X2, the limiting protrusion 131 separates from the limiting component 170, and the cleaning component bracket 110 falls back to the descending position.

[0080] In the above embodiment, it is only necessary to control the forward or reverse rotation of the rotation output shaft of the rotating driving member 160 to realize the lifting position change of the cleaning member bracket 110 and the rotation movement of the cleaning member 150, so that the driving structure of the cleaning robot 1000 is more simplified.

[0081] In the above embodiment, the one-way bearing 120 includes an inner ring and an outer ring. When the first rotating shaft P1 rotates along the first direction X1, the one-way bearing 120 is locked, that is, the inner and outer rings of the one-way bearing 120 engage and lock. When the cleaning member holder 110 is in the raised position and the first rotating shaft P1 rotates along the second direction X2, a predetermined friction force is generated between the inner and outer rings of the one-way bearing 120. Under the influence of this friction force and the weight of the cleaning member holder 110, the rotation of the first rotating shaft P1 along the second direction X2 causes the limiting protrusion 131 to separate from the limiting member 170, and the cleaning member holder 110 returns to the lowered position. In other embodiments, other structures can be used to achieve the separation of the limiting protrusion 131 from the limiting member 170 when the cleaning member holder 110 is in the raised position and the first rotating shaft P1 rotates along the second direction X2.

[0082] The structure of the limiting member is not limited to the above example. In other embodiments, the limiting member may have other structures. Figure 11 This is a three-dimensional exploded schematic diagram of a limiting member in an alternative embodiment of the cleaning robot of the present invention. Figure 12 This is a three-dimensional schematic diagram of a limiting member in an alternative embodiment of the cleaning robot of the present invention in an assembled state. In some embodiments, the limiting member 170 includes a limiting block bracket 171, a limiting block 172, and an elastic member 173. The limiting block bracket 171 is connected to the cleaning member bracket 110, and the limiting block bracket 171 is provided with a movable groove C1. The limiting block 172 is movably arranged in the movable groove C1, and the limiting block 172 has a limiting portion 172a. The elastic member 173 elastically connects the limiting block 172 to the limiting block 172 bracket 171, and the elastic member 173 makes the initial state of the limiting block 172 be that the limiting portion 172a extends out of the movable groove C1. When the cleaning member bracket 110 moves to the raised position, the limiting protrusion 131 abuts against the limiting portion 172a.

[0083] In the above embodiment, the limit member 170 includes a limit block 172 bracket 171, a limit block 172 and an elastic member 173. The elastic member 173 elastically connects the limit block 172 and the limit block 172 bracket 171. When the cleaning member bracket 110 moves to the raised position, the limit protrusion 131 abuts against the limit portion 172a, and the limit block 172 can move elastically. When the cleaning member bracket 110 moves to the raised position, the rigid contact between the limit protrusion 131 and the limit portion 172a can be elastically buffered by the elastic member 173, thereby improving the service life of the limit member 170 and the crank 130.

[0084] In some embodiments, the limiting portion 172a has a notch portion C2, and the notch portion C2 is provided with a slope structure. Part of the surface of the limiting block 172 bracket 171 matches the notch portion C2. When the cleaning member bracket 110 moves to the raised position, the limiting protrusion 131 at least partially abuts against the notch portion C2.

[0085] In the above embodiment, by setting the notch portion C2 in the limiting portion 172a, when the cleaning member holder 110 moves to the raised position, the limiting protrusion 131 at least partially abuts against the notch portion C2 and matches the notch portion C2, making it easier for the cleaning member holder 110 to be stably maintained in the raised position.

[0086] In the above embodiment, the lifting position change of the cleaning member holder 110 is achieved by controlling the forward or reverse rotation of the rotating output shaft of the rotating driving member 160. In other embodiments, the lifting position change of the cleaning member holder 110 can be achieved by other control methods.

[0087] Figure 13 This is a cross-sectional schematic diagram of the cleaning assembly of an alternative embodiment of the cleaning robot according to the present invention, when the cleaning member support is raised. The control unit can send a lift signal and a hold signal to the rotary drive unit 160. When the cleaning member support 110 is in the lowered position, the rotary drive unit 160 drives the first rotating shaft P1 to rotate along the first direction X1 in response to the lift signal, allowing the cleaning member support 110 to move to the raised position. Upon receiving the lift-in-place signal, the control unit generates a hold signal. In response to the hold signal, the rotary drive unit 160 causes the first rotating shaft P1 to rotate along the first direction X1, allowing the cleaning member support 110 to remain in the raised position.

[0088] In an alternative embodiment, the rotary driver 160 generates the first output torque in response to the hold signal.

[0089] Figure 14 This figure is a cross-sectional schematic diagram of the cleaning assembly of an alternative embodiment of the cleaning robot according to the present invention, as the cleaning member support is lowered. In this alternative embodiment, the control member can send a second lowering signal to the rotary drive member 160. When the cleaning member support 110 is in the raised position, the rotary drive member 160 generates a second output torque in response to the second lowering signal, driving the first rotating shaft P1 to rotate along the first direction X1. The magnitude of the second output torque is greater than the magnitude of the first output torque, causing the stop protrusion 131 to pass over the stop member 170 along the ramp structure and separate from the stop member 170, allowing the cleaning member support 110 to move to the lowered position.

[0090] In the above-mentioned alternative embodiment, when the cleaning member bracket 110 is in the lowered position, the rotating output shaft of the rotating driving member 160 can rotate forward. At this time, the rotating driving member 160 drives the cleaning member 150 to rotate through the second rotating shaft P2 to achieve cleaning of the ground. The first rotating shaft P1 rotates along the second direction X2, and the one-way bearing 120 can rotate. The rotational force of the first rotating shaft P1 will basically not be transmitted to the crank 130. At this time, the cleaning component 100 will not move up and down. When the cleaning assembly 100 needs to be lifted, the control component sends a lifting signal to the rotating drive component 160, the rotating output shaft of the rotating drive component 160 is reversed, the first rotating shaft P1 rotates along the first direction X1, the one-way bearing 120 is locked, and the rotating drive component 160 drives the rocker 140 to swing with the second end 142 as the support point through the first rotating shaft P1, the locked one-way bearing 120, and the crank 130, so that the cleaning component bracket 110 is lifted relative to the fuselage 200. When the limiting protrusion 131 is against the limiting component 170, the cleaning component bracket 110 is lifted into place. At this time, the in-place detection component 180 triggers the generation of a lifting into place signal. The control member sends a holding signal to the rotating drive member 160, and the first rotating shaft P1 has a tendency to rotate along the first direction X1. At this time, the rotating drive member 160 generates a first output torque according to the holding signal. The first output torque is relatively small. For example, at this time, the controller controls the rotating output shaft of the rotating drive member 160 to continue to generate a reverse trend. The current controlled by the controller to rotate the driving member 160 is small. This small current can ensure that the cleaning member bracket 110 can be maintained in the raised position, that is, after the first output torque is transmitted to the crank 130 through the first rotating shaft P1, the limiting protrusion 131 cannot break through the limiting effect of the limiting member 170. When the cleaning assembly 100 needs to be lowered, the control member sends a second descending signal to the rotating drive member 160, and the rotating output shaft of the rotating drive member 160 still reverses. The rotating drive member 160 generates a second output torque according to the second descending signal, and the second output torque is relatively large. For example, the controller controls the current of the rotating drive member 160 to increase. At this time, after the second output torque is transmitted to the crank 130 through the first rotating shaft P1, the limiting protrusion 131 pushes the limiting block 172 to overcome the elastic force of the elastic member 173 and the limiting protrusion 131 passes over the limiting member 170 along the slope structure and separates from the limiting member 170. The cleaning member bracket 110 falls back. When the in-place detection member 180 is no longer triggered, the controller can control the rotating output shaft of the rotating drive member 160 to rotate forward. After that, the cleaning member bracket 110 falls back to the lowered position, and the cleaning member 150 rotates under the drive of the rotating drive member 160.

[0091] In the above-mentioned alternative embodiment, by providing an elastic limit member 170 and controlling the rotation of the rotating drive member 160 through a controller, the lifting and lowering position change of the cleaning member bracket 110 and the rotation movement of the cleaning member 150 can be achieved while using one rotating drive member 160, thereby making the driving structure of the cleaning robot 1000 more streamlined.

[0092] like Figure 3 In some embodiments, the housing 200 is provided with a limiting slot 210 having a first abutting portion 211 and a second abutting portion 212 that oppose each other. The second end 142 of the rocker 140 is provided with a roller 143 that is movably disposed in the limiting slot 210. The cleaning member holder 110 has a lowered position and a raised position. The cleaning member holder 110 in the raised position is higher than the cleaning member holder 110 in the lowered position.

[0093] Figure 15 This is a half-section perspective diagram of the bottom structure of the cleaning robot according to an embodiment of the present invention in the raised position. When the cleaning member bracket 110 moves to the raised position, the roller 143 abuts against the first abutting portion 211 .

[0094] Figure 16 This is a half-section perspective diagram of the bottom structure of the cleaning robot according to an embodiment of the present invention in the lowered position. When the cleaning member bracket 110 moves to the lowered position, the roller 143 abuts against the second abutting portion 212 .

[0095] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that: The device comprises a body and a cleaning component, wherein the cleaning component comprises: a cleaning member support, movably connected to the body and capable of being raised and lowered relative to the bottom of the body, the cleaning member support having a raised position and a lowered position; Rotating drive member; A one-way bearing capable of being transmission-connected to the rotating drive member; a crank, one side of the crank being connected to the one-way bearing, and the crank being connected to the cleaning member bracket; The rocker comprises a first end and a second end opposite to each other, wherein the first end is connected to the other side of the crank, and the second end is movably connected to the fuselage. The rotary driving member can drive the rocker to swing through the one-way bearing and the crank, and the swing of the rocker with the second end as the support point enables the cleaning member bracket to switch between the raised position and the lowered position.

2. The cleaning robot according to claim 1, wherein: The cleaning component also includes: A cleaning member, rotatably mounted on the cleaning member support; a first rotating shaft connected to the one-way bearing; The second rotating shaft is coaxially connected to the cleaning member, The rotation output shaft of the rotation driving member is transmission-connected to the first rotating shaft and the second rotating shaft.

3. The cleaning robot according to claim 2, wherein: The cleaning component also includes: The limiting member is fixedly connected to the cleaning member bracket, The outer periphery of the crank is provided with a limiting protrusion extending outward, and when the cleaning member bracket moves to the raised position, the limiting protrusion abuts against the limiting member.

4. The cleaning robot according to claim 3, wherein: Also includes: an in-place detection member, provided on the cleaning member support and / or the body, wherein the in-place detection member is configured to be triggered when the cleaning member support moves to the raised position, so as to generate a raised-in-place signal; A control member is electrically connected to the in-position detection member and the rotation drive member, and the control member can send a lifting signal and a holding signal to the rotation drive member, wherein when the cleaning member bracket is in the lowered position, the rotation drive member drives the first rotating shaft to rotate along the first direction according to the lifting signal, so that the cleaning member bracket can move to the lifting position; the control member generates the holding signal after receiving the lifting-in-position signal, and the rotation drive member causes the first rotating shaft to have a tendency to rotate along the first direction according to the holding signal, so that the cleaning member bracket can be maintained in the lifting position.

5. The cleaning robot according to claim 4, wherein: The control member can send a first descending signal to the rotating drive member. When the cleaning member bracket is in the raised position, the rotating drive member drives the first rotating shaft to rotate along the second direction according to the first descending signal. The internal friction force of the one-way bearing enables the crank to rotate along the second direction by a preset angle. The limiting protrusion is separated from the limiting member, so that the cleaning member bracket can move to the descending position.

6. The cleaning robot according to claim 4, wherein: The limiting member includes: A limit block bracket is connected to the cleaning member bracket, and the limit block bracket is provided with a movable slot; a limiting block movably disposed in the movable groove, wherein the limiting block has a limiting portion; An elastic member elastically connects the limit block to the limit block bracket, wherein the elastic member enables the initial state of the limit block to be that the limit portion extends out of the movable groove. When the cleaning member bracket moves to the lifting position, the limiting protrusion abuts against the limiting portion.

7. The cleaning robot according to claim 6, wherein: The limiting portion has a notch portion, the notch portion is provided with a slope structure, a portion of the surface of the limiting block bracket matches the notch portion, and when the cleaning member bracket moves to the raised position, the limiting protrusion at least partially abuts against the notch portion.

8. The cleaning robot according to claim 7, wherein: The rotation driving member generates a first output torque according to the holding signal, The control member is capable of sending a second descending signal to the rotation driving member, When the cleaning member bracket is in the raised position, the rotating drive member generates a second output torque according to the second descending signal and drives the first rotating shaft to rotate along the first direction, the value of the second output torque is greater than the value of the first output torque, and the limiting protrusion passes over the limiting member along the slope structure and separates from the limiting member, so that the cleaning member bracket can move to the descending position.

9. The cleaning robot according to claim 1, wherein: The body is provided with a limiting groove, the limiting groove having a first abutting portion and a second abutting portion opposite to each other, the second end of the rocker is provided with a roller, the roller is movably provided in the limiting groove, When the cleaning member bracket moves to the raised position, the roller abuts against the first abutting portion; when the cleaning member bracket moves to the lowered position, the roller abuts against the second abutting portion.

10. The cleaning robot according to claim 2, wherein: The rotating output shaft of the rotating driving member is connected to the first rotating shaft and the second rotating shaft through a transmission assembly, and the cleaning assembly further includes: A transmission box is connected to the cleaning member bracket, the transmission assembly is located in the transmission box, the first rotating shaft passes through the transmission box, and the rocker is located outside the transmission box.

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