Cleaning assembly and cleaning robot

Abstract

The invention discloses a cleaning assembly and a cleaning robot. The cleaning assembly comprises a first cleaning piece and a second cleaning piece, wherein the first cleaning piece is provided with a rotating center; the second cleaning part is rotatably connected with the first cleaning part, the second cleaning part can be switched back and forth between a first position and a second position, when the second cleaning part is in the first position, the distance between the side, away from the rotating center, of the second cleaning part and the rotating center is a first distance, and when the second cleaning part is in the second position, the distance between the side, away from the rotating center, of the second cleaning part is a second distance; at the second position, the distance between the side, deviating from the rotating center, of the second cleaning piece and the rotating center is a second distance, and the first distance is larger than the second distance. According to the cleaning assembly, the cleaning area can be increased, the situation that cleaning is not in place is avoided, and therefore the cleaning efficiency is improved.

Description

Technical Field

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

[0002] When current sweeping robots clean along blind spots such as walls, corners, and edges of obstacles, there is a certain gap between the machine and the blind spot. There are still problems with inadequate cleaning and missed cleaning of corners and edges of walls, which affects the cleaning efficiency. Summary of the invention

[0003] The embodiments of the present invention provide a cleaning component and a cleaning robot to solve at least one of the above-mentioned technical problems.

[0004] A cleaning component provided in an embodiment of the present invention comprises:

[0005] a first cleaning member, the first cleaning member having a rotation center;

[0006] A second cleaning member, the second cleaning member is rotatably connected to the first cleaning member, the second cleaning member can switch back and forth between a first position and a second position, when in the first position, the distance between the side of the second cleaning member away from the rotation center and the rotation center is a first distance, when in the second position, the distance between the side of the second cleaning member away from the rotation center and the rotation center is a second distance, and the first distance is greater than the second distance.

[0007] In the above-mentioned cleaning component, when in the first position, a first distance between a side of the second cleaning component away from the rotation center and the rotation center is greater than a second distance between a side of the second cleaning component away from the rotation center and the rotation center when in the second position. Therefore, when the cleaning component rotates, an area of ​​a circle formed by the cleaning component when the second cleaning component is in the first position is greater than an area of ​​a circle formed by the cleaning component when the second cleaning component is in the second position. This can increase the cleaning area, avoid inadequate cleaning, and thus improve cleaning efficiency.

[0008] In some embodiments, the first cleaning member is provided with a groove, one end of the second cleaning member is rotatably connected to the groove, the side wall of the groove has a first part and a second part, the first part restricts the second cleaning member to the first position, and the second part restricts the second cleaning member to the second position.

[0009] In some embodiments, the hardness of the first cleaning member is greater than the hardness of the second cleaning member.

[0010] In some embodiments, the first cleaning component includes a first elastic member, one end of the first elastic member is connected to the first cleaning member, the other end of the first elastic member is connected to the second cleaning member, and the first elastic member is configured to provide a torque for the second cleaning member to switch from the first position to the second position.

[0011] In some embodiments, the first cleaning member is provided with a first mounting groove, and one end of the first elastic member is located in the first mounting groove;

[0012] The second cleaning member is provided with a second installation groove, and the other end of the first elastic member is located in the second installation groove.

[0013] In some embodiments, a side wall of the second mounting groove is provided with a plurality of tooth grooves along the circumferential direction of the second mounting groove, and the other end of the first elastic member is located in one of the tooth grooves;

[0014] In some embodiments, the tooth groove is inclined from the side wall of the second mounting groove along the direction of the rotation center of the first cleaning member when the second cleaning member switches from the first position to the second position.

[0015] In some embodiments, the second cleaning member includes a connecting member and a telescopic member, the connecting member is rotatably connected to the first cleaning member, and the telescopic member is movably connected to the connecting member;

[0016] In some embodiments, a accommodating groove is formed on a side of the connecting member away from the first cleaning member, the telescopic member includes a third connecting portion and a cleaning portion, the third connecting portion is partially located in the accommodating groove, and the cleaning assembly includes a second elastic member, the second elastic member is located in the accommodating groove and connects the side wall of the accommodating groove and the third connecting portion.

[0017] In some embodiments, the cleaning assembly includes a cover plate and a fixing member, a rotating shaft is provided on one side of the first cleaning member along the thickness direction, one end of the second cleaning member is rotatably connected to the rotating shaft, the cover plate covers one end of the second cleaning member connected to the rotating shaft, and the fixing member passes through the cover plate and is connected to the rotating shaft to lock the cover plate and the first cleaning member;

[0018] In some embodiments, a surface of the fixing member facing away from the first cleaning member is flush with a surface of the cover plate facing away from the first cleaning member.

[0019] A cleaning robot according to an embodiment of the present invention comprises a housing, a first cleaning assembly, a second cleaning assembly, a first driving assembly and a second driving assembly, wherein the first driving assembly is connected to the first cleaning assembly and is configured to drive the first cleaning assembly to rotate relative to the housing in a first direction and a second direction, and the second driving assembly is connected to the second cleaning assembly and is configured to drive the second cleaning assembly to rotate relative to the housing in the first direction and the second direction, wherein the first direction and the second direction are opposite;

[0020] The first cleaning assembly and the second cleaning assembly are connected to the bottom of the housing in a liftable and rotatable manner, and the rotation axis of the first cleaning assembly and the rotation axis of the second cleaning assembly are perpendicular to the bottom of the housing;

[0021] The first cleaning component has an inward-retracted state and an outward-expanded state, and the area of ​​a circle formed by the rotation of the first cleaning component in the inward-retracted state is smaller than the area of ​​a circle formed by the rotation in the outward-expanded state;

[0022] The second cleaning assembly and the first cleaning assembly are both switchable between a cleaning position for contacting the ground and a ground-lifting position for detaching from the ground;

[0023] The cleaning robot is configured as follows: when the cleaning robot recognizes that a blind spot needs to be cleaned, the first cleaning component is in the expanded state and the cleaning position, the first driving component drives the first cleaning component to rotate along the second direction, and the second cleaning component is in the off-ground position.

[0024] In the above-mentioned cleaning robot, when the cleaning robot recognizes a blind spot, the first cleaning component is in an expanded state and a cleaning position, and the second cleaning component is in a position off the ground, thereby avoiding interference between the first cleaning component in the expanded state and the second cleaning component, and to a certain extent avoiding damage to the cleaning components and affecting the cleaning effect.

[0025] In some embodiments, when the cleaning robot does not identify a blind spot and needs cleaning, the cleaning robot is configured as follows:

[0026] The first cleaning assembly is in the retracted state and the cleaning position and the first driving assembly drives the first cleaning assembly to rotate along the first direction, and the second cleaning assembly is in the cleaning position and the second driving assembly drives the second cleaning assembly to rotate along the second direction.

[0027] In some embodiments, when the cleaning robot does not identify a blind spot and needs cleaning, the cleaning robot is configured as follows:

[0028] If the first cleaning component is currently in the outwardly extended state, the cleaning position, and rotates along the second direction, the first driving component drives the first cleaning component to rotate along the first direction to switch to the inwardly retracted state;

[0029] If the first cleaning component is currently in the retracted state, the cleaning position, and rotating along the first direction, the first cleaning component maintains the current state;

[0030] If the second cleaning component is currently in the cleaning position and rotates along the first direction, the second driving component drives the second cleaning component to rotate along the second direction;

[0031] If the second cleaning component is currently in the off-ground position, the second driving component drives the second cleaning component to rotate along the second direction to switch to the cleaning position.

[0032] In some embodiments, when the cleaning robot does not need to clean, the cleaning robot is configured as follows:

[0033] The first cleaning component is in the retracted state and the off-ground position, and the second cleaning component is in the off-ground position.

[0034] In some embodiments, when the cleaning robot does not need to clean, the cleaning robot is configured as follows:

[0035] If the first cleaning component is currently in the outwardly extended state, the cleaning position and rotates along the second direction, the first driving component first drives the first cleaning component to rotate along the first direction to switch to the inwardly retracted state, and then the first driving component drives the first cleaning component to rotate along the second direction to switch to the off-ground position;

[0036] If the first cleaning component is currently in the retracted state, the cleaning position, and rotating along the first direction, the first driving component drives the first cleaning component to rotate along the second direction to switch to the off-ground position;

[0037] If the first cleaning component is currently in the retracted state and the off-ground position, the first cleaning component maintains the current state;

[0038] If the second cleaning component is currently in the cleaning position and rotating in the second direction, the second driving component drives the second cleaning component to rotate in the first direction to switch to the off-ground position;

[0039] If the second cleaning component is currently in the off-ground position, the second cleaning component maintains the current state.

[0040] In some embodiments, the first driving component and the second driving component both include a driving member and a transmission component, the transmission component includes a first abutting member and a second abutting member, the first abutting member connects the driving member and the second abutting member, the second abutting member connects the cleaning component, the second abutting member is provided with a track surface, the first abutting member can movably abut on the track surface, the driving member is configured to drive the first abutting member to rotate so that the first abutting member moves on the track surface, so that the cleaning component is lifted and lowered relative to the shell, and the cleaning component includes the first cleaning component and the second cleaning component.

[0041] In some embodiments, the track surface is respectively provided with a first limit portion and a second limit portion. When the first supporting member abuts against the first limit portion, the first limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limit portion, the second limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

[0042] In some embodiments, the track surface includes a first area, a second area, and a third area. Along the first direction, the first area, the second area, and the third area are connected in sequence. When the first abutment member abuts against the first area or the third area, the cleaning component is located in the cleaning position, and when the first abutment member abuts against the second area, the cleaning component is located in the off-ground position.

[0043] In some embodiments, the cleaning robot is configured as:

[0044] When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member abuts against the first limiting portion;

[0045] When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion;

[0046] When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion;

[0047] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

[0048] In some embodiments, the cleaning robot includes a reset member;

[0049] When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member;

[0050] When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position;

[0051] When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member;

[0052] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member recovers its length and drives the second resisting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position.

[0053] In some embodiments, for the first cleaning component, the track surface includes a first area, a second area, and a third area, and along the first direction, the first area, the second area, and the third area are sequentially connected, and when the first abutting member abuts against the first area or the third area, the first cleaning component is located at the cleaning position, and when the first abutting member abuts against the second area, the first cleaning component is located at the off-ground position;

[0054] For the second cleaning component, the track surface includes a fourth area and a fifth area. Along the first direction, the fourth area and the fifth area are connected in sequence. When the first abutment member abuts against the fourth area, the second cleaning component is located in the cleaning position. When the first abutment member abuts against the fifth area, the second cleaning component is located in the off-ground position.

[0055] In some embodiments, the cleaning robot is configured as:

[0056] For the first cleaning component, when the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the first cleaning component descends from the off-ground position to the cleaning position and the first abutting member abuts against the first limiting portion;

[0057] When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the first cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion;

[0058] When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the first cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion;

[0059] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the first cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion;

[0060] For the second cleaning assembly, when the driving member drives the first abutting member to rotate from the fourth area to the fifth area along the first direction, the second cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member abuts against the first limiting portion;

[0061] When the driving member drives the first abutting member to rotate from the fifth area to the fourth area along the second direction, the second cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member abuts against the second limiting portion.

[0062] In some embodiments, the cleaning robot includes a reset member;

[0063] For the first cleaning component, when the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the resetting member is compressed by the second resisting member;

[0064] When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second resisting member to drive the first cleaning assembly to rise from the cleaning position to the off-ground position;

[0065] When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member;

[0066] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member restores its length and drives the second resisting member to drive the first cleaning assembly to rise from the cleaning position to the ground-lifting position;

[0067] For the second cleaning assembly, when the driving member drives the first abutting member to rotate from the fourth area to the fifth area along the first direction, the resetting member drives the second abutting member to drive the second cleaning assembly to rise from the cleaning position to the off-ground position;

[0068] When the driving member drives the first resisting member to rotate from the fifth area to the fourth area along the second direction, the restoring member is compressed by the second resisting member.

[0069] In some embodiments, the cleaning robot includes a third limiting portion, and the second abutting member is provided with a fourth limiting portion;

[0070] When the cleaning assembly is located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly;

[0071] When the cleaning group is not located at the cleaning position, the third limiting portion can abut against the fourth limiting portion in the circumferential direction of the cleaning assembly.

[0072] In some embodiments, the cleaning robot is configured as:

[0073] In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action;

[0074] In the process that the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by the first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action;

[0075] Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0076] In some embodiments, the rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0077] In some embodiments, the track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area;

[0078] The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments;

[0079] The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

[0080] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0082] Figures 1 to 3 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;

[0083] Figures 4 to 5 is a schematic diagram of the connection between the first cleaning component and the first driving component in an embodiment of the present invention;

[0084] Figure 6 is a schematic structural diagram of a first cleaning component according to an embodiment of the present invention;

[0085] Figure 7 is a schematic diagram of the connection between the second cleaning component and the second driving component in an embodiment of the present invention;

[0086] Figure 8 is an exploded schematic diagram of a first cleaning component according to an embodiment of the present invention;

[0087] Fig. 9 is a partial structural schematic diagram of a first cleaning component according to an embodiment of the present invention;

[0088] Fig.10 is another partial structural schematic diagram of the first cleaning component according to an embodiment of the present invention;

[0089] Fig.11 is a top view of the connection between the first cleaning assembly and the first driving assembly in an embodiment of the present invention;

[0090] Fig.12 yes Fig.11 Sectional view along line AA;

[0091] Fig.13 is another schematic diagram of the connection between the first cleaning component and the first driving component in an embodiment of the present invention;

[0092] Fig.14 is a partial cross-sectional view of a first cleaning assembly according to an embodiment of the present invention;

[0093] Figures 15 to 23 is a schematic diagram of a cleaning scene of a cleaning robot according to an embodiment of the present invention;

[0094] Figure 24 to Figure 25 is a schematic structural diagram of a second abutting member according to an embodiment of the present invention;

[0095] Fig.26 is a schematic structural diagram of a sleeve according to an embodiment of the present invention;

[0096] Figure 27 to Figure 28 is another structural schematic diagram of the second abutting member according to an embodiment of the present invention;

[0097] Fig.29 is a schematic structural diagram of the abutment between the third limiting portion and the fourth limiting portion according to an embodiment of the present invention;

[0098] Fig.30 is a partially expanded schematic diagram of a ring portion according to an embodiment of the present invention;

[0099] Fig.31 is a schematic diagram of a trajectory of the first abutting member rotating from the third area to the second area in an embodiment of the present invention;

[0100] Fig.32 It is another schematic diagram of the trajectory of the first resisting member rotating from the third area to the second area according to an embodiment of the present invention.

[0101] Description of main component reference numerals:

[0102] First cleaning component 100, second cleaning component 102, shell 12, first drive component 15, second drive component 17, drive member 19, transmission component 21, first connecting portion 23, second connecting portion 25, connecting hole 27, first cleaning member 10, groove 13, first part 14, second part 16, first mounting groove 18, second cleaning member 20, second mounting groove 22, tooth groove 24, through hole 26, connecting member 28, accommodating groove 30, telescopic member 32, third connecting portion 34, cleaning portion 36, first elastic member 42, second elastic member 44, cover plate 46, third mounting groove 48, mounting through hole 50, connecting through hole 52, water outlet hole 54, first fixing member 56, first rotating shaft 58, screw Hole 60, first supporting member 62, second supporting member 64, track surface 66, ring portion 68, push rod 70, gear set 72, first limiting portion 74, second limiting portion 76, first area 78, second area 80, third area 82, reset member 84, accommodating chamber 86, mounting portion 88, second fixing member 90, second rotating shaft 92, positioning portion 94, fourth area 96, fifth area 98, first connecting area 97, second connecting area 95, third connecting area 93, third limiting portion 91, fourth limiting portion 89, sleeve 87, first sub-area 85, second sub-area 83, first connecting section 81, third sub-area 79, fourth sub-area 77, second connecting section 75, cleaning robot 200. DETAILED DESCRIPTION

[0103] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0104] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0105] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0106] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0107] The disclosure herein provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described herein. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0108] In the related art, a sweeping robot has two mops. One of the mops is an outward-expanding mop, which can improve the cleaning effect of blind spots such as walls, corners, and edges of obstacles. However, when the sweeping robot cleans the blind spots, the outward-expanding mop will interfere with the other mop during rotation, damaging the mop and affecting the cleaning effect of the mop.

[0109] Please refer to Figures 1 to 4 and Figure 7A cleaning robot 200 according to an embodiment of the present invention includes a shell 12, a first cleaning component 100, a second cleaning component 102, a first driving component 15 and a second driving component 17. The first driving component 15 is connected to the first cleaning component 100 and is configured to drive the first cleaning component 100 to rotate along a first direction R1 and a second direction R2 relative to the shell 12. The second driving component 17 is connected to the second cleaning component 102 and is configured to drive the second cleaning component 102 to rotate along a first direction R1 and a second direction R2 relative to the shell 12. The first direction R1 and the second direction R2 are opposite.

[0110] The first cleaning assembly 100 and the second cleaning assembly 102 are connected to the bottom of the housing 12 in a liftable and rotatable manner, and the rotation axis P1 of the first cleaning assembly 100 and the rotation axis P2 of the second cleaning assembly 102 are perpendicular to the bottom of the housing 12. The first cleaning assembly 100 has an inward state and an outward state, and the area of ​​the circle formed by the rotation of the first cleaning assembly 100 in the inward state is smaller than the area of ​​the circle formed by the rotation in the outward state. Both the second cleaning assembly 102 and the first cleaning assembly 100 can switch between a cleaning position for contacting the ground and a ground-lift position for detaching from the ground.

[0111] The cleaning robot 200 is configured as follows: when the cleaning robot 200 recognizes that the blind spot needs to be cleaned, the first cleaning component 100 is in an expanded state and a cleaning position, the first driving component 15 drives the first cleaning component 100 to rotate along the second direction R2, and the second cleaning component 102 is off the ground.

[0112] In the above-mentioned cleaning robot 200, when the cleaning robot 200 identifies a blind spot, the first cleaning component 100 is in an extended state and a cleaning position, and the second cleaning component 102 is off the ground, thereby avoiding interference between the first cleaning component 100 in the extended state and the second cleaning component 102, and to a certain extent avoiding damage to the cleaning components and affecting the cleaning effect.

[0113] Specifically, the cleaning robot 200 includes but is not limited to a sweeping robot, a sweeping and mopping machine, a floor scrubber (a robot with a mopping function but no sweeping function), a double-rotating-disk sweeper, a floor scrubber (such as a handheld floor scrubber and a non-handheld floor scrubber), etc. When the cleaning robot 200 recognizes that a blind spot needs to be cleaned, the cleaning robot 200 may be in a blind spot cleaning state.

[0114] The cleaning robot 200 has a detection component, which can be installed on the housing 12, and the detection component is used to detect blind spots. Optionally, the detection component may include but is not limited to a camera, an infrared sensor, a laser radar, etc. The cleaning robot 200 can clean the blind spots, which may include wall edges, corners, edges of other obstacles, etc., where the corners are divided into inner corners and outer corners. The cleaning robot 200 is provided with a first cleaning component 100 and a second cleaning component 102. For the convenience of explanation, wall edges, corners, etc. may be collectively referred to as obstacles.

[0115] In one example, the cleaning robot 200 can move along the outer edge of the obstacle (travel around the obstacle), and the edge of the first cleaning component 100 in the outward expansion state can be close to the outer edge of the obstacle, so that the outer edge of the obstacle is completely scanned without missing. In one example, the cleaning robot 200 can move along the inner edge of the obstacle (located in the inner area surrounded by the obstacle), and the edge of the first cleaning component 100 in the outward expansion state can be close to the inner edge of the obstacle, so that the inner edge of the obstacle is completely scanned without missing. In one example, the cleaning robot 200 can move in a straight line along the edge of the obstacle, and the edge of the first cleaning component 100 in the outward expansion state can be close to the edge, so that there is no gap between the edge of the first cleaning component 100 and the edge of the obstacle.

[0116] Optionally, the first drive assembly 15 and the second drive assembly 17 may be partially located in the housing 12. When the cleaning robot 200 uses the first cleaning assembly 100 and the second cleaning assembly 102 for cleaning, the first cleaning assembly 100 and the second cleaning assembly 102 are both located in a cleaning position for contacting the ground, and during cleaning, the rotation direction of the first cleaning assembly 100 and the rotation direction of the second cleaning assembly 102 are opposite. For example, during cleaning, the rotation direction of the first cleaning assembly 100 is the first direction R1, and the rotation direction of the second cleaning assembly 102 is the second direction R2. For another example, during cleaning, the rotation direction of the first cleaning assembly 100 is the second direction R2, and the rotation direction of the second cleaning assembly 102 is the first direction R1.

[0117] Optionally, in the embodiment shown in the figure, the first direction R1 is a clockwise direction, and the second direction R2 is a counterclockwise direction. Optionally, in other embodiments, the first direction R1 may be a counterclockwise direction, and the second direction R2 may be a clockwise direction. For the convenience of explaining the implementation of the present invention, the following embodiments are all described by taking the first direction R1 as a clockwise direction and the second direction R2 as a counterclockwise direction as an example. When the first direction R1 is a counterclockwise direction and the second direction R2 is a clockwise direction, the structure and logic of the cleaning robot 200 can be changed, replaced, combined, etc. with reference to the embodiment in which the first direction R1 is a clockwise direction and the second direction R2 is a counterclockwise direction, and the technical solutions after these changes, replacements, combinations, etc. are all within the protection scope of the present invention.

[0118] The first cleaning assembly 100 and the second cleaning assembly 102 are connected to the bottom of the housing 12 in a liftable manner, so that each cleaning assembly can be switched between a cleaning position and a position off the ground. When the first cleaning assembly 100 is needed for cleaning, the first cleaning assembly 100 can be lowered to the cleaning position, and the first driving assembly 15 can drive the first cleaning assembly 100 to rotate along the first direction R1 or the second direction R2. When the first cleaning assembly 100 is not needed for cleaning, the first cleaning assembly 100 can be raised to a position off the ground, and the first driving assembly 15 does not need to drive the first cleaning assembly 100 to rotate.

[0119] When the second cleaning assembly 102 is needed for cleaning, the second cleaning assembly 102 can be lowered to the cleaning position, and the second driving assembly 17 can drive the second cleaning assembly 102 to rotate along the second direction R2 or the first direction R1. When the second cleaning assembly 102 is not needed for cleaning, the second cleaning assembly 102 can be raised to a position off the ground, and the second driving assembly 17 does not need to drive the second cleaning assembly 102 to rotate. When the second cleaning assembly 102 is in the off-ground position and the first cleaning assembly 100 is in the expanded state and the cleaning position, the first cleaning assembly 100 and the second cleaning assembly 102 are staggered in a direction perpendicular to the bottom of the housing 12, such as Figure 1 As shown, the first cleaning component 100 in the expanded state can be prevented from interfering with the second cleaning component 102, and damage to the cleaning components and the impact on the cleaning effect can be avoided to a certain extent.

[0120] The first cleaning component 100 has an inward state and an outward state. The area of ​​the circle S2 formed by the rotation of the first cleaning component 100 in the inward state is smaller than the area of ​​the circle S1 formed by the rotation in the outward state. Therefore, in the outward state, the area of ​​the circle S1 formed by the rotation of the first cleaning component 100 is larger, so that the edge of the first cleaning component 100 can be close to the edge of the obstacle, or a part of the first cleaning component 100 can extend into a low gap area to reduce the missed scanning rate. In the inward state, the area of ​​the circle S2 formed by the rotation of the first cleaning component 100 is smaller. When the cleaning robot 200 does not identify the blind spot and the two cleaning components need to be cleaned, the first cleaning component 100 and the second cleaning component 102 can be avoided from interfering.

[0121] Optionally, the area of ​​the circle formed by the second cleaning assembly 102 when rotating may be the same as the area of ​​the circle S2 formed by the first cleaning assembly 100 when rotating in the retracted state.

[0122] Optionally, the first cleaning assembly 100 may be a mop assembly, and the second cleaning assembly 102 may be a mop assembly. The shape of the first cleaning assembly 100 in the retracted state includes but is not limited to a disc shape, and the shape of the second cleaning assembly 102 includes but is not limited to a disc shape.

[0123] Optionally, the bottom of the housing 12 is provided with a mounting hole (not shown), and the first drive assembly 15 and the second drive assembly 17 may include a drive member 19 and a transmission assembly 21, and the transmission assembly 21 may connect the drive member 19 and the cleaning assembly, and the drive member 19 may drive the cleaning assembly to rotate along the first direction R1 and the second direction R2 through the transmission assembly 21. The transmission assembly 21 may be provided with a mounting hole, the drive member 19 may be located inside the housing 12, and the cleaning assembly may be located outside the housing 12. The cleaning assembly may be detachably connected to the transmission assembly 21. In one embodiment, the first cleaning assembly 100 and the second cleaning assembly 102 include a first connecting portion 23, and the transmission assembly 21 includes a second connecting portion 25, the first connecting portion 23 is non-cylindrical (such as a polygonal prism), and the second connecting portion 25 is provided with a connecting hole 27, and the shape of the connecting hole 27 matches the shape of the first connecting portion 23. The first connecting portion 23 is located in the connecting hole 27. The drive member 19 may drive the second connecting portion 25 to rotate, and when the second connecting portion 25 rotates, the first connecting portion 23 may be driven to rotate, thereby driving the cleaning assembly to rotate. The detachable connection method between the cleaning component and the transmission component 21 includes, but is not limited to, bolts, magnets, snaps, etc., which are not specifically limited here.

[0124] When the cleaning robot 200 recognizes that the blind spot needs to be cleaned, the first cleaning component 100 is in an outward expansion state and a cleaning position, so that the edge of the first cleaning component 100 can be close to the edge of the obstacle, and the first driving component 15 drives the first cleaning component 100 to rotate along the second direction R2, so that the first cleaning component 100 can clean the blind spot. At this time, the second cleaning component 102 can be off the ground. When the first cleaning component 100 is in an outward expansion state and a cleaning position, the first cleaning component 100 and the second cleaning component 102 are staggered in a direction perpendicular to the bottom of the shell 12, so that the first cleaning component 100 in the outward expansion state and the second cleaning component 102 can be prevented from interfering, and damage to the cleaning component can be avoided to a certain extent, and the cleaning effect can be avoided to a certain extent.

[0125] In some embodiments, when the cleaning robot 200 does not identify a blind spot and needs cleaning, the cleaning robot 200 is configured as follows:

[0126] The first cleaning assembly 100 is in the retracted state and the cleaning position and the first driving assembly 15 drives the first cleaning assembly 100 to rotate along the first direction R1, the second cleaning assembly 102 is in the cleaning position and the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the second direction R2. Figure 2 shown.

[0127] Therefore, the cleaning robot 200 can utilize two cleaning components for cleaning, thereby improving cleaning efficiency.

[0128] Specifically, when the cleaning robot 200 does not identify the blind spot and needs to be cleaned, the cleaning robot 200 may be in a normal cleaning state. In one embodiment, initially, the cleaning robot 200 is in a normal cleaning state. Both cleaning components are located in the cleaning position. The first driving component 15 drives the first cleaning component 100 to rotate along the first direction R1, and the second driving component 17 drives the second cleaning component 102 to rotate along the second direction R2. The rotation directions of the two cleaning components are opposite, which is conducive to ensuring the stability of the cleaning robot 200 during movement to a certain extent.

[0129] In some embodiments, when the cleaning robot 200 does not identify a blind spot and needs cleaning, the cleaning robot 200 is configured as follows:

[0130] If the first cleaning assembly 100 is currently in the outward-expanded state, the cleaning position and rotates along the second direction R2, the first driving assembly 15 drives the first cleaning assembly 100 to rotate along the first direction R1 to switch to the inward-expanded state;

[0131] If the first cleaning assembly 100 is currently in the retracted state, the cleaning position, and rotates along the first direction R1, the first cleaning assembly 100 maintains the current state;

[0132] If the second cleaning assembly 102 is currently in the cleaning position and rotates along the first direction R1, the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the second direction R2;

[0133] If the second cleaning assembly 102 is currently in the off-ground position, the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the first direction R1 or the second direction R2 to switch to the cleaning position.

[0134] Thus, the two cleaning components can be switched to the cleaning position with the two cleaning components rotating in opposite directions.

[0135] Specifically, in one embodiment, when the cleaning robot 200 recognizes a blind spot and needs to be cleaned, the cleaning robot 200 is in a blind spot cleaning state. When the cleaning robot 200 does not recognize a blind spot and needs to be cleaned, the cleaning robot 200 needs to switch from the blind spot cleaning state to the normal cleaning state.

[0136] If the first cleaning component 100 is currently in the extended state, the cleaning position and rotating along the second direction R2, the first driving component 15 drives the first cleaning component 100 to rotate along the first direction R1 to switch to the retracted state. In other words, the first driving component 15 can switch the first cleaning component 100 to the retracted state by reverse rotation (switching from the second direction R2 to the first direction R1), and then the first cleaning component 100 is switched to the retracted state, the cleaning position and rotating along the first direction R1.

[0137] If the first cleaning assembly 100 is currently in the retracted state, the cleaning position, and rotates along the first direction R1, the first cleaning assembly 100 maintains the current state.

[0138] If the second cleaning assembly 102 is currently in the cleaning position and rotates along the first direction R1 , the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the second direction R2 , thereby making the rotation direction of the first cleaning assembly 100 opposite to that of the second cleaning assembly 102 .

[0139] If the second cleaning assembly 102 is currently in the off-ground position, the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the second direction R2 to switch to the cleaning position, thereby causing the second cleaning assembly 102 to switch to the cleaning position and rotate along the second direction R2.

[0140] In some embodiments, when the cleaning robot 200 does not need to clean, the cleaning robot 200 is configured as follows:

[0141] The first cleaning assembly 100 is in a retracted state and off the ground, and the second cleaning assembly 102 is in a off the ground position. Figure 3shown.

[0142] Thus, both cleaning components can be in a position off the ground, and the first cleaning component 100 is in a retracted state, thereby protecting the cleaning components to a certain extent.

[0143] Specifically, in certain application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and air drying, the cleaning robot 200 does not need to perform cleaning operations, and the two cleaning components can be off the ground, so that when the cleaning robot 200 moves, the two cleaning components can be prevented from being damaged by collision or friction with the ground or obstacles on the ground to a certain extent, and the travel resistance of the cleaning robot 200 can also be reduced. The first cleaning component 100 is in a retracted state, which can prevent the edge of the first cleaning component 100 from colliding with obstacles and damaging the first cleaning component 100 to a certain extent, thereby protecting the cleaning component.

[0144] In some embodiments, when the cleaning robot 200 does not need to clean, the cleaning robot 200 is configured as follows:

[0145] If the first cleaning assembly 100 is currently in the extended state, the cleaning position and rotates along the second direction R2, the first driving assembly 15 first drives the first cleaning assembly 100 to rotate along the first direction R1 to switch to the retracted state, and then the first driving assembly 15 drives the first cleaning assembly 100 to rotate along the second direction R2 to switch to the off-ground position;

[0146] If the first cleaning assembly 100 is currently in the retracted state, the cleaning position and rotates along the first direction R1, the first driving assembly 15 drives the first cleaning assembly 100 to rotate along the second direction R2 to switch to the off-ground position;

[0147] If the first cleaning component 100 is currently in the retracted state and off the ground, the first cleaning component 100 maintains the current state;

[0148] If the second cleaning assembly 102 is currently in the cleaning position and rotates along the second direction R2, the second driving assembly 17 drives the second cleaning assembly 102 to rotate along the first direction R1 to switch to the off-ground position;

[0149] If the second cleaning component 102 is currently in the off-ground position, the second cleaning component 102 maintains the current state.

[0150] Thereby, the two cleaning components can be switched to the off-ground position.

[0151] Specifically, the cleaning robot 200 does not need to clean, which may include but is not limited to not recognizing a blind spot and not needing cleaning, recognizing a carpet and not needing cleaning, etc.

[0152] In one embodiment, when the cleaning robot 200 identifies a blind spot and needs to clean, the cleaning robot 200 is in a blind spot cleaning state. When the cleaning robot 200 does not need to clean, the state of the cleaning component needs to be switched.

[0153] If the first cleaning component 100 is currently in the outward expansion state, the cleaning position and rotates along the second direction R2, the first driving component 15 first drives the first cleaning component 100 to rotate along the first direction R1 to switch to the retracted state, and then the first driving component 15 drives the first cleaning component 100 to rotate along the second direction R2 to switch to the off-ground position. In other words, the first driving component 15 can first switch the first cleaning component 100 to the retracted state by reverse rotation (switching from the second direction R2 to the first direction R1), and then the first driving component 15 switches the first cleaning component 100 to the off-ground position by another reverse rotation (switching from the first direction R1 to the second direction R2), and then the first cleaning component 100 switches to the retracted state and the off-ground position. At this time, the first driving component 15 can stop driving the first cleaning component 100 to rotate.

[0154] If the first cleaning assembly 100 is currently in the retracted state, the cleaning position and rotates along the first direction R1, the first driving assembly 15 drives the first cleaning assembly 100 to rotate along the second direction R2 to switch to the off-ground position. In other words, the first driving assembly 15 can switch the first cleaning assembly 100 to the off-ground position by rotating in the reverse direction (switching from the first direction R1 to the second direction R2). At this time, the first driving assembly 15 can stop driving the first cleaning assembly 100 to rotate.

[0155] If the first cleaning assembly 100 is currently in the retracted state and the off-ground position, the first cleaning assembly 100 maintains the current state. At this time, the first driving assembly 15 can stop driving the first cleaning assembly 100 to rotate.

[0156] If the second cleaning assembly 102 is currently in the cleaning position and rotates in the second direction R2, the second driving assembly 17 drives the second cleaning assembly 102 to rotate in the first direction R1 to switch to the off-ground position. In other words, the second driving assembly 17 can switch the second cleaning assembly 102 to the off-ground position by reverse rotation (switching from the second direction R2 to the first direction R1). At this time, the second driving assembly 17 can stop driving the second cleaning assembly 102 to rotate.

[0157] If the second cleaning assembly 102 is currently in the off-ground position, the second cleaning assembly 102 maintains the current state. At this time, the second driving assembly 17 can stop driving the second cleaning assembly 102 to rotate.

[0158] In some embodiments, the first cleaning assembly 100 includes:

[0159] The first cleaning member 10 and the second cleaning member 20. The first cleaning member 10 has a rotation center O1. The second cleaning member 20 is rotatably connected to the first cleaning member 10. The second cleaning member 20 can switch back and forth between a first position and a second position. When in the first position, the distance between the side of the second cleaning member 20 that is away from the rotation center O1 and the rotation center O1 is a first distance L1. When in the second position, the distance between the side of the second cleaning member 20 that is away from the rotation center O1 and the rotation center O1 is a second distance L2. The first distance L1 is greater than the second distance L2.

[0160] Thus, in the first position, the first distance L1 between the side of the second cleaning member 20 away from the rotation center O1 and the rotation center O1 is greater than the second distance L2 between the side of the second cleaning member 20 away from the rotation center O1 and the rotation center O1 in the second position, so that when the first cleaning assembly 100 rotates, the area of ​​the circle S1 formed by the first cleaning assembly 100 when the second cleaning member 20 is in the first position is greater than the area of ​​the circle S2 formed by the first cleaning assembly 100 when the second cleaning member 20 is in the second position, thereby increasing the cleaning area and improving the cleaning efficiency of the blind spot. L1 is equivalent to the radius of the circle S1, and L2 is equivalent to the radius of the circle S2.

[0161] Specifically, when the second cleaning member 20 is in the first position, the first cleaning assembly 100 is in an outward expansion state. When the second cleaning member 20 is in the second position, the first cleaning assembly 100 is in an inward contraction state. When the cleaning robot 200 performs blind spot cleaning, the edge of the second cleaning member 20 can be closely attached to the edge of the obstacle, so that there is no gap between the second cleaning member and the edge of the obstacle.

[0162] In this solution, the second cleaning member 20 can increase the cleaning area, so that blind spots such as the wall, corners, and edges of obstacles can be cleaned. In addition, the second cleaning member 20 can also better clean the gap area of ​​obstacles, and the second cleaning member 20 can be extended into the gap area to achieve cleaning. The second cleaning component 102 has a rotation center O2, and the rotation axis P2 of the second cleaning component 102 passes through the rotation center O2.

[0163] Combination Figure 4 , Figures 15 to 17 The cleaning robot 200 can be located in the cleaning area and move along the wall to clean (clean in a straight line). The rotation of the first cleaning member 10 drives the second cleaning member 20 to rotate. The second cleaning member 20 can swing to the first position. At this time, the edge of the second cleaning member (such as the edge of the mop) can be close to the wall, and the edge-adhering effect is good, thereby achieving no missed sweeping.

[0164] Combination Figure 4 , Figures 18 to 20, the two walls can form an inner corner, the cleaning robot 200 can be located in the cleaning area to clean the inner corner (cleaning the concave corner), the second cleaning member 20 can be swung to the first position driven by the first cleaning member 10, and then as the first cleaning member 10 rotates, a telescopic extension member can be added to the second cleaning member 20, so that the edge of the second cleaning member can be tightly attached to the inner corner, and the corner-attaching effect is good at this time, so that the second cleaning member can extend to the inner corner of the corner, adjust the telescopic extension member, so that the second cleaning member can clean the inner corner without dead ends, thereby achieving the effect of no missed sweeping.

[0165] Combination Figure 4 and Fig.21 , the two walls can form an outer corner, the cleaning robot 200 can be located in the cleaning area to clean the outer corner (cleaning the outer convex corner), the second cleaning member 20 can be swung to the first position driven by the first cleaning member 10, and then as the first cleaning member 10 rotates, a telescopic extension member can be added to the second cleaning member 20, so that the edge of the second cleaning member can be tightly attached to the outer corner, and the corner-attaching effect is good at this time, so that the second cleaning member can extend to the outer corner of the corner, so that the second cleaning member can clean the outer corner without dead ends, thereby achieving the effect of no missed sweeping.

[0166] Combination Figure 4 , Fig. 22 and Fig.23 The cleaning robot 200 can be located in the cleaning area to clean the low gap area of ​​the obstacle (low gap cleaning). The first cleaning member 10 rotates to drive the second cleaning member 20 to rotate. The second cleaning member 20 can swing to the first position. The cleaning robot 200 can stick to the edge of the obstacle so that the second cleaning member 20 can extend into the low gap area, thereby cleaning the low gap area. Optionally, the second cleaning member 20 can be equipped with a telescopic extension member to further increase the cleaning area, increase the cleaning strength in the low gap area, and make the cleaning more thorough. The low gap area includes the bottom of items such as TV cabinets, coffee tables, and cabinets.

[0167] exist Figure 5 and Figure 8In the illustrated embodiment, the first cleaning member 10 may be in the shape of a disk, the first cleaning member 10 may be used as a center disk, a mop may be installed on the lower surface of the first cleaning member 10, and the first cleaning member 10 may be provided with a rotation center O1, which is a point on the first cleaning member 10 where the rotation axis P1 of the first cleaning assembly 100 is located. Optionally, the second cleaning member 20 may be in the shape of an arc, the second cleaning member 20 may be used as an outer expansion disk, a mop may also be installed on the lower surface of the second cleaning member 20, and the second cleaning member 20 may be rotatably connected to the first cleaning member 10, for example, the second cleaning member 20 may be rotatably connected to the upper surface of the first cleaning member 10. Optionally, the second cleaning member 20 may be detachably connected to the first cleaning member 10 to facilitate replacement of the second cleaning member 20. In the figure, D may represent the up and down direction.

[0168] exist Figure 6 In the embodiment, the second cleaning member 20 is in the second position. Figures 4 to 5 In the embodiment, the second cleaning member 20 is in the first position. For the convenience of explanation, when the second cleaning member 20 is in the second position, the state of the first cleaning assembly 100 can be called the retracted state. When the second cleaning member 20 is in the first position, the state of the first cleaning assembly 100 can be called the expanded state.

[0169] Please combine Figure 2 and Figure 6 In the retracted state and cleaning position, the first cleaning component 100 can rotate close to the ground along the first direction R1, and the second cleaning member 20 is subjected to the friction force of the ground along the second direction R2. The second cleaning member 20 is located in the second position and is close to the first cleaning member 10.

[0170] When the first cleaning component 100 needs to switch from the retracted state to the expanded state, the first cleaning component 100 can rotate in the reverse direction, that is, the first driving component 15 can drive the first cleaning component 100 to rotate along the second direction R2 close to the ground, and the second cleaning member 20 is subjected to the ground friction along the first direction R1, and switches from the second position to the first position, so that the first cleaning component 100 switches to the expanded state. Thus, the first driving component 15 can switch the first cleaning component 100 to the expanded state by rotating in the reverse direction (switching from the first direction R1 to the second direction R2), such as Figure 5 shown.

[0171] When the first cleaning component 100 needs to be switched from the outwardly extended state to the inwardly retracted state, if the first cleaning component 100 is in the cleaning position, the first driving component 15 can drive the first cleaning component 100 to rotate in the opposite direction (from the second direction R2 to the first direction R1). Thus, the first driving component 15 can switch the first cleaning component 100 to the inwardly retracted state by rotating in the opposite direction (from the second direction R2 to the first direction R1).

[0172] When the second cleaning member 20 is in the first position, the area of ​​the circle S1 formed by the rotation of the first cleaning component 100 is greater than the area of ​​the circle S2 formed by the rotation of the first cleaning component 100 when the second cleaning member 20 is in the second position. Therefore, when the cleaning robot 200 moves to the blind spot for cleaning, the first cleaning component 100 is in an outward expansion state, thereby increasing the cleaning area and avoiding inadequate cleaning, thereby improving the cleaning efficiency.

[0173] In addition, in other embodiments, the first cleaning assembly 100 may include a driving member 19, and the second cleaning member 20 may be driven to rotate to switch between the first position and the second position by the driving member 19. In another embodiment, the first cleaning assembly 100 may also include a friction member (not shown), which may be mounted on the second cleaning member 20, thereby increasing the friction between the second cleaning member 20 and the ground to switch between the first position and the second position.

[0174] Optionally, the first cleaning member 10 is provided with a plurality of water outlet holes 54, which are arranged at intervals along the circumferential direction of the first cleaning member 10. Water can flow from the plurality of water outlet holes 54 into a plurality of different positions of the mop below the first cleaning member 10, respectively, and the mop is wetted from a plurality of different positions, so that the wetting effect is uniform, and the cleaning effect of the cleaning assembly 100 is better.

[0175] Optionally, the second cleaning component 102 is also provided with a plurality of water outlet holes 54 .

[0176] In other embodiments, the shape and number of the water outlet holes 54 are not specifically limited. Figure 8 In the embodiment, the first cleaning member 10 is provided with three water outlet holes 54, which are evenly arranged along the circumference of the first cleaning member 10, and each of the water outlet holes 54 has substantially the same shape, so that the area exposed by the mop from the water outlet holes 54 is substantially the same. Figure 8 In other embodiments, the number of the water outlet holes 54 may be single, the shape of the water outlet holes 54 may be other shapes except the fan shape, and the shape of each water outlet hole 54 may be the same or different.

[0177] Optionally, the number of the second cleaning members 20 is multiple (such as two or more than two). Figure 8 In the embodiment, the number of the second cleaning members 20 is three, and the three rotational connections between the three second cleaning members 20 and the first cleaning member 10 are arranged at equal angles along the circumference of the first cleaning member 10, so that the uniformity of the distribution of the second cleaning members can be improved. It can be understood that in other embodiments, the number of the second cleaning member 20 can be single.

[0178] Please combine Figure 8 and Fig. 9In some embodiments, the first cleaning member 10 is provided with a groove 13. One end of the second cleaning member 20 is rotatably connected to the groove 13. The side wall of the groove 13 has a first portion 14 and a second portion 16. The first portion 14 restricts the second cleaning member 20 in a first position. The second portion 16 restricts the second cleaning member 20 in a second position.

[0179] In this way, the second cleaning member 20 can be restricted to the first position and the second position by the first restricting portion and the second restricting portion, thereby limiting the moving space of the second cleaning member 20 .

[0180] Specifically, the groove 13 can be provided on the upper surface of the first cleaning member. The groove 13 can be connected to the edge of the first cleaning member 10. The second cleaning member 20 has a cylindrical portion at one end connected to the first cleaning member 10, which can be installed in the groove 13 and can be rotatably connected to the first cleaning member 10. During the rotation of the second cleaning member 20, the cylindrical portion at one end of the second cleaning member 20 can abut against the side wall of the groove 13 close to the rotation center O1, which can keep the rotation more stable.

[0181] The first portion 14 is disposed on a side wall of the groove 13 near the edge of the first cleaning member 10. The second portion 16 is disposed on the other side wall of the groove 13 near the edge of the first cleaning member 10. In one embodiment, when the first cleaning assembly 100 rotates along the second direction R2 to perform a cleaning operation, the second cleaning member 20 may abut against the first portion 14 to limit the second cleaning member 20 to a first position (outward expansion state). When the first cleaning assembly 100 rotates along the first direction R1 to perform a cleaning operation, the second cleaning member 20 may abut against the second portion 16 to limit the second cleaning member 20 to a second position (inward retracted state), and the second cleaning member 20 is limited to the first position and the second position by the first portion 14 and the second portion 16, thereby limiting the activity space of the second cleaning member 20 to avoid interference, which may cause the first cleaning assembly 100 to fail to work normally.

[0182] The first cleaning member 10 may be provided with a plurality of grooves 13, the number of the grooves 13 may be the same as the number of the second cleaning member 20, and the shape of each groove 13 may be the same or different. It is understood that in other embodiments, the shape and number of the grooves 13 may also be set according to specific circumstances, and are not specifically limited here.

[0183] Please combine Figures 8 to 10 In some embodiments, the cleaning assembly 100 includes a first elastic member 42. One end of the first elastic member 42 is connected to the first cleaning member 10, and the other end of the first elastic member 42 is connected to the second cleaning member 20. The first elastic member 42 is configured to provide a torque for switching the second cleaning member 20 from the first position to the second position.

[0184] In this way, when the second cleaning member 20 is switched from the first position to the second position, the second cleaning member 20 can cooperate with the torque of the first elastic member 42 through friction, so that the switching process is more stable.

[0185] Optionally, the first elastic member 42 may include a torsion spring. In one embodiment, the first cleaning assembly 100 rotates along the second direction R2 in the retracted state and the cleaning position, and the second cleaning member 20 is subjected to the ground friction along the first direction R1 so that the second cleaning member 20 is located in the second position. The second cleaning member 20 can be close to the first cleaning member 10 under the restriction of the second part 16 and remain stable under the torque of the first elastic member 42. When it is necessary to switch to the outward expansion state, the cleaning assembly 100 can rotate in the opposite direction, the direction of the second cleaning member 20 subjected to the ground friction is changed, the second cleaning member 20 overcomes the torque of the first elastic member 42, and the second cleaning member 20 is driven to switch from the second position to the first position until it is close to the first part 14. The second cleaning member 20 is located in the first position, and the cleaning assembly 100 is in the outward expansion state, so that the friction force cooperates with the torque of the first elastic member 42, making the switching process more stable.

[0186] Combination Fig. 9 The number of first elastic members 42 can be multiple, and each second cleaning member 20 is connected to a first elastic member 42. It can be understood that in other embodiments, the first elastic member 42 can also include a tension spring, which can provide a certain tension to provide a torque for the second cleaning member 20 to switch from the first position to the second position.

[0187] Please combine Fig. 9 and Fig.10 In some embodiments, the first cleaning member 10 is provided with a first mounting groove 18 . One end of the first elastic member 42 is located in the first mounting groove 18 . The second cleaning member 20 is provided with a second mounting groove 22 . The other end of the first elastic member 42 is located in the second mounting groove 22 .

[0188] In this way, the first elastic member 42 can be further firmly installed.

[0189] Specifically, a first mounting groove 18 may be provided at the bottom of the groove 13, and a pattern formed by the first mounting groove 18 may be similar to a water drop, and one end of the first elastic member 42 may be installed in the first mounting groove 18. A second mounting groove 22 may be provided on the side of the second cleaning member 20 facing the first cleaning member 10, and the second mounting groove 22 may be in a circular ring shape. The second mounting groove 22 is located at one end of the second cleaning member 20 connected to the first cleaning member 10, and the other end of the first elastic member 42 may be installed in the second mounting groove 22. In one embodiment, during the installation of the first elastic member 42, one end of the first elastic member 42 may be first installed in the first mounting groove 18, and then the other end of the first elastic member 42 may be installed in the second mounting groove 22, so that the first elastic member 42 can be further stably installed.

[0190] In addition, the number and shape of the first mounting grooves 18 and the second mounting grooves 22 can be set according to specific circumstances and are not specifically limited here.

[0191] Please combine Fig.10 In some embodiments, the side wall of the second mounting groove 22 is provided with a plurality of tooth grooves 24 along the circumferential direction of the second mounting groove 22. The other end of the first elastic member 42 is located in one of the tooth grooves 24.

[0192] In this way, by providing a plurality of tooth grooves 24 , the first elastic member 42 can be better matched, thereby improving practicality.

[0193] Specifically, a plurality of tooth grooves 24 may be arranged around the side wall of the second installation groove 22. In one embodiment, due to the size processing error of the first elastic member 42, the end position of one end of the first elastic member 42, and the torque required by the first elastic member 42 to provide the second cleaning member 20 to move from the first position to the second position, the first elastic member 42 may be easily installed by providing a plurality of tooth grooves 24, while meeting the torque requirement of the first elastic member 42, so that the first elastic member 42 may be better adapted to improve practicality. In addition, the shape of the tooth groove 24 may be arranged according to the specific situation, and is not specifically limited here.

[0194] Please combine Figure 4 , Figure 8 and Fig.10 In some embodiments, the tooth groove 24 is inclined from the side wall of the second mounting groove 22 along the rotation direction of the first cleaning member 10 when the second cleaning member 20 switches from the first position to the second position.

[0195] In this way, it is helpful to switch the second cleaning member 20 from the first position to the second position.

[0196] Specifically, in Fig.10 In one embodiment, the plurality of tooth grooves 24 are arranged around the second mounting groove 22 to form a windmill shape. Figure 8When the second cleaning member 20 is in the first position, the first cleaning member 10 can rotate clockwise, and the second cleaning member 20 is subjected to the friction force of the ground in the counterclockwise direction, driving the second cleaning member 20 to switch from the first position to the second position. Figure 6 As shown, the tooth groove 24 can be inclined from the side wall of the second mounting groove 22 along the rotation direction of the first cleaning member 10, so that along the rotation direction of the first cleaning member 10, the inclined direction of the tooth groove 24 can provide a torque that is easy to overcome, thereby helping the second cleaning member 20 to switch from the first position to the second position.

[0197] Please combine Figure 8 and Fig.12 In some embodiments, the cleaning assembly 100 includes a cover plate 46 and a first fixing member 56. A first rotating shaft 58 is provided on one side of the first cleaning member 10 along the thickness direction. One end of the second cleaning member 20 is rotatably connected to the first rotating shaft 58. The cover plate 46 covers one end of the second cleaning member 20 connected to the first rotating shaft 58. The first fixing member 56 passes through the cover plate 46 and is connected to the first rotating shaft 58 to lock the cover plate 46 and the first cleaning member 10.

[0198] In this way, the second cleaning member 20 can rotate via the first rotating shaft 58 , and the first fixing member 56 can be connected to the first rotating shaft 58 and fix the cover plate 46 and the first cleaning member 10 together, thereby preventing the second cleaning member 20 from sliding off the first rotating shaft 58 .

[0199] Specifically, the cover plate 46 may be in the shape of a disk. Figure 8 In the figure, along the D direction, the upper surface of the first cleaning member 10 may be provided with a first rotating shaft 58. The first rotating shaft 58 may be convexly arranged in the groove 13. A through hole 26 may be provided at one end of the second cleaning member 20, and the first rotating shaft 58 may pass through the through hole 26, so that the second cleaning member 20 can be rotatably connected to the first rotating shaft 58. The cover plate 46 may cover the end of the second cleaning member 20 connected to the first rotating shaft 58, and the position of the cover plate 46 corresponding to the first rotating shaft 58 may be provided with a third mounting groove 48, and the end of the first rotating shaft 58 away from the first cleaning member 10 may be located in the third mounting groove 48, which can play a role in positioning and facilitating installation.

[0200] During the installation process, along the D direction, the end of the first rotating shaft 58 away from the first cleaning member 10 can be first installed in the third installation groove 48 to limit the rotation of the cover 46, and then the first fixing member 56 passes through the cover 46 and is connected to the first rotating shaft 58 and locked, so that the cover 46 and the first cleaning member 10 are fixed together, thereby preventing the second cleaning member 20 from slipping off the first rotating shaft 58.

[0201] exist Figure 8In the embodiment, the cover plate 46 is provided with a mounting through hole 50, and the mounting through hole 50 is located in the middle of the cover plate 46. The second abutting member 64 can penetrate the mounting through hole 50 to connect the first cleaning member 10. The cover plate 46 is also provided with a connecting through hole 52. The first rotating shaft 58 can be provided with a screw hole 60. The first fixing member 56 penetrates the connecting through hole 52 and is screwed into the screw hole 60, thereby locking the cover plate 46 and the first cleaning member 10.

[0202] Please combine Fig.12 In some embodiments, the surface of the first fixing member 56 facing away from the first cleaning member 10 is flush with the surface of the cover plate 46 facing away from the first cleaning member 10 .

[0203] In this way, the first fixing member 56 can be prevented from protruding, thereby reducing space occupation.

[0204] Specifically, the first fixing member 56 includes a countersunk bolt. The first fixing member 56 passes through the cover plate 46, and the surface of the first fixing member 56 facing away from the first cleaning member 10 is flush with the surface of the cover plate 46 facing away from the first cleaning member 10, that is, the end of the first fixing member 56 away from the first cleaning member 10 is flush with the upper surface of the cover plate 46, so that after installation, the end of the first fixing member 56 away from the first cleaning member 10 will not protrude from the upper surface of the cover plate 46, thereby reducing space occupation.

[0205] The other end of the first fixing member 56 can be connected to the first rotating shaft 58 and will not pass through the surface of the first cleaning member 10 facing away from the cover plate 46, thereby ensuring the fit between the first cleaning member 10 and the ground.

[0206] Please combine Fig.13 In some embodiments, the second cleaning member 20 includes a connecting member 28 and a telescopic member 32. The connecting member 28 is rotatably connected to the first cleaning member 10. The telescopic member 32 is movably connected to the connecting member 28.

[0207] In this way, the cleaning force on the blind spot can be increased, and at the same time, the second cleaning member 20 can be protected to prevent obstacles in the blind spot from damaging the second cleaning member 20.

[0208] Specifically, in Fig.13 In the embodiment, the connecting member 28 can be rotatably connected to the first cleaning member 10 via the first rotating shaft 58. The telescopic member 32 is movably connected to the side of the connecting member 28 away from the first cleaning member 10. The telescopic member 32 can move along the arc direction formed by the side of the connecting member 28 facing away from the rotation center O1.

[0209] In one embodiment, when the first cleaning component 100 is performing a cleaning operation, after the second cleaning member 20 is located in the first position, when the telescopic member 32 touches an obstacle, the telescopic member 32 as a whole can move toward the direction close to the connecting member 28, thereby protecting the obstacle and the second cleaning member 20 and preventing the obstacle from damaging the second cleaning member 20.

[0210] Please combine Fig.13 and Fig.14 In some embodiments, a side of the connecting member 28 away from the first cleaning member 10 is provided with a receiving groove 30. The telescopic member 32 includes a third connecting portion 34 and a cleaning portion 36. The third connecting portion 34 is partially located in the receiving groove 30. The cleaning assembly 100 also includes a second elastic member 44. The second elastic member 44 is located in the receiving groove 30 and connects the side wall of the receiving groove 30 and the third connecting portion 34.

[0211] In this way, the cleaning portion 36 can be further protected to avoid damage to the cleaning portion 36 and the wall surface.

[0212] Specifically, in Fig.14 In the embodiment, the third connecting portion 34 is fixedly connected to one end of the cleaning portion 36 near the connecting member 28. Optionally, the second elastic member 44 may include a spring. The second elastic member 44 is disposed in the receiving groove 30. One end of the second elastic member 44 may be connected to the side wall of the receiving groove 30, and the other end may be connected to the third connecting portion 34.

[0213] In one embodiment, when the first cleaning assembly 100 performs a cleaning operation near a wall, the cleaning portion 36 may touch the wall. After the cleaning portion 36 touches the wall, the reaction force of the wall may drive the third connection portion 34 to retract toward the receiving groove 30, the second elastic member 44 is compressed, and the cleaning portion 36 moves toward the connection member 28, which can further protect the cleaning portion 36 and prevent damage to the cleaning portion 36 and the wall. When the cleaning portion 36 does not touch the wall, the compressed second elastic member 44 may drive the third connection portion 34 to extend away from the receiving groove 30, thereby resetting the cleaning portion 36.

[0214] In some embodiments, the hardness of the first cleaning member 10 is greater than the hardness of the second cleaning member 20 .

[0215] In this way, the second cleaning member 20 can be installed on the first cleaning member 10 more stably, and the second cleaning member 20 is softer, which can reduce damage to obstacles (such as walls).

[0216] Specifically, the second cleaning member 20 is mounted on the first cleaning member 10. The first cleaning member 10 has a greater hardness, which can provide a better mounting and supporting platform for the second cleaning member 20, and the second cleaning member 20 can be more stably mounted on the first cleaning member 10. During the rotation of the cleaning assembly 100, the first cleaning member 10 is not easily deformed, and the second cleaning member 20 has a better cleaning effect on the ground.

[0217] The second cleaning member 20 is relatively soft. When the second cleaning member 20 touches an obstacle (such as a wall), the relatively soft second cleaning member 20 can reduce damage to the obstacle.

[0218] The materials of the first cleaning member 10 and the second cleaning member 20 are not specifically limited. In one example, the material of the first cleaning member 10 includes but is not limited to plastic, and the material of the second cleaning member 20 includes but is not limited to silicone rubber. The second cleaning member 20 can be processed by a secondary injection molding process.

[0219] In certain embodiments, see 5 and Figure 7 The first driving assembly 15 and the second driving assembly 17 both include a driving member 19 and a transmission assembly 21. The transmission assembly 21 includes a first abutting member 62 and a second abutting member 64. The first abutting member 62 is connected to the driving member 19 and the second abutting member 64. The second abutting member 64 is connected to the cleaning assembly. The second abutting member 64 is provided with a track surface 66. The first abutting member 62 can be movably abutted on the track surface 66. The driving member 19 is configured to drive the first abutting member 62 to rotate so that the first abutting member 62 moves on the track surface 66, so that the cleaning assembly is lifted relative to the housing 12. The cleaning assembly includes a first cleaning assembly 100 and a second cleaning assembly 102.

[0220] In this way, the driving member 19 can drive the cleaning assembly to rise and fall relative to the housing 12 through the structure of the transmission assembly 21 .

[0221] Specifically, in some application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and air drying, the cleaning robot 200 may not need to perform cleaning operations (such as mopping operations). If the cleaning component is still in the cleaning position, the cleaning component will be close to the ground. In the case of the cleaning component being close to the ground, the movement of the cleaning robot 200 will cause a certain movement resistance of the cleaning robot 200. Moreover, when the cleaning robot 200 is crossing an obstacle, the cleaning component being close to the ground will also increase the difficulty of crossing the obstacle.

[0222] Therefore, the cooperation between the first abutment 62 and the second abutment 64 can make the cleaning assembly rise and fall relative to the housing 12. When the cleaning assembly does not need to touch the ground (no need to clean), the cleaning assembly can be raised to a position off the ground, and when the cleaning assembly needs to touch the ground, the cleaning assembly can be lowered to a cleaning position. In other words, the cleaning assembly can be located in a cleaning position for abutting the ground and in a position off the ground for detaching from the ground.

[0223] Optionally, in Fig.24 and Fig. 27 In the figure, the second abutting member 64 includes a ring portion 68, and the top surface of the ring portion 68 is provided with two track surfaces 66. The first abutting member 62 includes two push rods 70, and each push rod 70 is located above a corresponding track surface 66, and the two push rods 70 abut against the two track surfaces 66, respectively. The track surface 66 has high and low areas. When the push rod 70 abuts against the high area, the cleaning assembly can be located in the cleaning position, and when the push rod 70 abuts against the low area, the cleaning assembly can be located in the off-ground position. It can be understood that if the push rod 70 and the track surface 66 interchange the upper and lower positions, when the push rod 70 abuts against the high area, the cleaning assembly can be located in the off-ground position, and when the push rod 70 abuts against the low area, the cleaning assembly can be located in the cleaning position. It should be noted that the present invention does not specifically limit the number and relative position relationship of the track surfaces 66 and the push rods 70. Fig.12 In the embodiment, the first abutting member 62 moves on the track surface 66 by sliding. It is understood that in other embodiments, a roller may be added to the end of the push rod 70, the roller contacts the track surface 66, and the first abutting member 62 moves on the track surface 66 by rolling. It is understood that the number of track surfaces 66 is not limited to two, and may be one, or more than two, and the present invention does not specifically limit this.

[0224] Optionally, the transmission assembly 21 includes a gear set 72, the gear set 72 includes at least one gear, the gear set 72 connects the driving member 19 and the first abutting member 62, and the gear set 72 transmits the power of the driving member 19 to the first abutting member 62, so that the driving member 19 can drive the first abutting member 62 to move to different areas on the track surface 66, thereby adjusting the height of the cleaning assembly. The gear set 72 can be a reduction gear set 72.

[0225] Optionally, the driving member 19 may include a motor, and the rotation direction of the motor is the same as the rotation direction of the cleaning assembly, that is, when the rotor of the motor rotates in the first direction R1, the cleaning assembly rotates in the first direction R1, and when the rotor of the motor rotates in the second direction R2, the cleaning assembly rotates in the second direction R2.

[0226] In some embodiments, a first limit portion 74 and a second limit portion 76 are respectively provided on the track surface 66. When the first supporting member 62 abuts against the first limit portion 74, the first limit portion 74 is configured to limit the end point of the movement stroke of the first supporting member 62 on the track surface 66 along the first direction R1. When the first supporting member 62 abuts against the second limit portion 76, the second limit portion 76 is configured to limit the end point of the movement stroke of the first supporting member 62 on the track surface 66 along the second direction R2.

[0227] In this way, through the two limiting portions, when the first abutting member 62 abuts against the limiting portions, the first abutting member 62 stops moving on the track surface 66 .

[0228] Specifically, when the first abutting member 62 abuts against the first limiting portion 74, the first limiting portion 74 is configured to limit the end point of the movement of the first abutting member 62 along the first direction R1 on the track surface 66. At this time, the first abutting member 62 cannot move relative to the second abutting member 64 along the first direction R1. If the driving member 19 continues to drive the first abutting member 62 to rotate along the first direction R1, the first abutting member 62 drives the second abutting member 64 to rotate along the first direction R1 through the first limiting portion 74, and then drives the cleaning assembly to rotate along the first direction R1.

[0229] When the first abutting member 62 abuts against the second limiting portion 76, the second limiting portion 76 is configured to limit the end point of the movement of the first abutting member 62 along the second direction R2 on the track surface 66. At this time, the first abutting member 62 cannot move relative to the second abutting member 64 along the second direction R2. If the driving member 19 continues to drive the first abutting member 62 to rotate along the second direction R2, the first abutting member 62 drives the second abutting member 64 to rotate along the second direction R2 through the second limiting portion 76, and then drives the cleaning assembly to rotate along the second direction R2.

[0230] Therefore, when the first abutting member 62 has not yet abutted against the first limiting portion 74 or the second limiting portion 76, the first abutting member 62 can be moved to different areas on the track surface 66 when rotating, so that the cleaning assembly can be lifted and lowered. When the first abutting member 62 abuts against the first limiting portion 74 or the second limiting portion 76, the first abutting member 62 can be rotated again to drive the second abutting member 64 to rotate, so that the cleaning assembly can be rotated.

[0231] In certain embodiments, see Figure 24 to Figure 25 The track surface 66 includes a first area 78, a second area 80 and a third area 82. Along the first direction R1, the first area 78, the second area 80 and the third area 82 are connected in sequence. When the first abutting member 62 abuts against the first area 78 or the third area 82, the cleaning component is located in the cleaning position. When the first abutting member 62 abuts against the second area 80, the cleaning component is located in the off-ground position.

[0232] In this way, for the first cleaning assembly 100 and the second cleaning assembly 102 , the first cleaning assembly 100 and the second cleaning assembly 102 can be switched between the off-ground position and the cleaning position through the three areas of the track surface 66 .

[0233] Specifically, in the present embodiment, the track surfaces 66 of the first cleaning assembly 100 and the second cleaning assembly 102 each include a first region 78 , a second region 80 , and a third region 82 .

[0234] exist Figure 24 to Figure 25 In the embodiment, the first direction R1 is a clockwise direction, and the second direction R2 is a counterclockwise direction. It can be understood that in other embodiments, the first direction R1 can be a counterclockwise direction, and the second direction R2 can be a clockwise direction. Figure 5 and Fig.24 ,exist Figure 5 In the embodiment, the first abutting member 62 abuts against the first area 78 and contacts the second limiting portion 76 .

[0235] The track surface 66 further includes a first connection area 97 and a second connection area 95. The first connection area 97 connects the third area 82 and the second area 80. The second connection area 95 connects the second area 80 and the first area 78. The first abutment member 62 can move from one area to another through the connection areas. Fig.24 and Fig.25 , the positions of the first area 78 and the third area 82 are higher than the position of the second area 80. The first abutting member 62 is located above the track surface 66. When the first abutting member 62 abuts against the first area 78 or the third area 82, the distance between the first abutting member 62 and the cleaning assembly is relatively far, and the cleaning assembly is located at the cleaning position. When the first abutting member 62 abuts against the second area 80, the distance between the first abutting member 62 and the cleaning assembly is relatively close, and the cleaning assembly is located off the ground.

[0236] Along the first direction R1 , the first region 78 , the second region 80 , and the third region 82 are sequentially connected. That is, along the second direction R2 , the third region 82 , the second region 80 , and the first region 78 are sequentially connected.

[0237] When the first abutting member 62 moves from the first region 78 to the second region 80 along the first direction R1, the cleaning assembly switches from the cleaning position to the off-ground position. When the first abutting member 62 moves from the second region 80 to the third region 82 along the first direction R1, the cleaning assembly switches from the off-ground position to the cleaning position.

[0238] When the first abutment 62 moves from the third region 82 to the second region 80 along the second direction R2, the cleaning assembly switches from the cleaning position to the off-ground position. When the first abutment 62 moves from the second region 80 to the first region 78 along the second direction R2, the cleaning assembly switches from the off-ground position to the cleaning position.

[0239] In some embodiments, the cleaning robot 200 is configured as:

[0240] When the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the third area 82 along the first direction R1, the cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member 62 abuts against the first limiting portion 74;

[0241] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member 62 is separated from the first limiting portion 74 and the second limiting portion 76;

[0242] When the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the first area 78 along the second direction R2, the cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member 62 abuts against the second limiting portion 76;

[0243] When the driving member 19 drives the first resisting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1 , the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member 62 is separated from the second limiting portion 76 and the first limiting portion 74 .

[0244] In this way, the driving member 19 can be used to drive the rotation direction of the first abutting member 62 to achieve the first abutting member 62 abutting against different areas of the track surface 66, thereby controlling the lifting and lowering of the cleaning component.

[0245] Specifically, in one embodiment, initially, the first abutting member 62 abuts against the second region 80, and the driving member 19 has not yet driven the first abutting member 62 to rotate. At this time, the cleaning assembly is located off the ground.

[0246] When the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the third area 82 along the first direction R1, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member 62 abuts against the first limiting portion 74. At this time, the continuous driving of the driving member 19 can make the first abutting member 62 drive the second abutting member 64 to rotate along the first direction R1 through the first limiting portion 74, thereby driving the cleaning assembly to rotate along the first direction R1.

[0247] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member 62 is separated from the first limiting portion 74 and the second limiting portion 76. At this time, the first abutting member 62 cannot drive the cleaning assembly to rotate through the second abutting member 64, and the cleaning assembly does not rotate and is located at the ground-lifting position.

[0248] When the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the first area 78 along the second direction R2, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member 62 abuts against the second position-limiting portion 76. At this time, the continuous driving of the driving member 19 can make the first abutting member 62 drive the second abutting member 64 to rotate along the second direction R2 through the second position-limiting portion 76, thereby driving the cleaning assembly to rotate along the second direction R2.

[0249] When the driving member 19 drives the first abutting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member 62 is separated from the second limiting portion 76 and the first limiting portion 74. At this time, the first abutting member 62 cannot drive the cleaning assembly to rotate through the second abutting member 64, and the cleaning assembly does not rotate and is located at the ground-lifting position.

[0250] In summary, the driving assembly can switch the cleaning assembly between the off-the-ground position and the cleaning position by reverse rotation (switching from the first direction R1 to the second direction R2, or switching from the second direction R2 to the first direction R1).

[0251] In some embodiments, the cleaning robot 200 includes a reset member 84;

[0252] When the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the third region 82 along the first direction R1, the restoring member 84 is compressed by the second abutting member 64;

[0253] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the restoring member 84 restores its length and drives the second abutting member 64 to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position;

[0254] When the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the first region 78 along the second direction R2, the restoring member 84 is compressed by the second abutting member 64;

[0255] When the driving member 19 drives the first resisting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the restoring member 84 recovers its length and drives the second resisting member 64 to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position.

[0256] In this way, by compressing the reset member 84, the cleaning assembly can be driven to rise when the reset member 84 is extended, and the structure is simple.

[0257] For details, please refer to Fig.12 and Fig.24, a receiving cavity 86 is provided in the second abutting member 64, and the reset member 84 is located in the receiving cavity 86. In one embodiment, the second abutting member 64 includes a mounting portion 88, and the mounting portion 88 is located in the space surrounded by the ring portion 68, and the mounting portion 88 and the ring portion 68 are located at the top of the second connecting portion 25. The mounting portion 88 is provided with a receiving cavity 86, and the first cleaning assembly 100 and the second cleaning assembly 102 both include a second fixing member 90, and the transmission assembly 21 includes a second rotating shaft 92, and the second rotating shaft 92 can be connected to the gear set 72, and the second rotating shaft 92 is driven to rotate by the gear set 72. The second rotating shaft 92 passes through the first abutting member 62 and the mounting portion 88, and one end of the second rotating shaft 92 extends into the receiving cavity 86. The second fixing member 90 can be fixed to one end of the second rotating shaft 92 located in the receiving cavity 86. The reset member 84 is clamped between the upper side wall of the receiving cavity 86 and the second fixing member 90. Optionally, a positioning portion 94 is provided on the upper side wall of the accommodating cavity 86 , and the restoring member 84 is sleeved on the positioning portion 94 , so that the restoring member 84 is more stable during compression and extension.

[0258] When the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the third region 82 along the first direction R1, the second abutting member 64 descends, driving the cleaning assembly to descend from the off-ground position to the cleaning position. The reset member 84 is compressed by the upper side wall of the accommodating cavity 86, shortening the reset member 84.

[0259] When the driving member 19 drives the first supporting member 62 to rotate from the third area 82 to the second area 80 along the second direction R2, the reset member 84 restores its length, and the extended reset member 84 provides an upward force to the upper side wall of the accommodating cavity 86, so that the second supporting member 64 rises, driving the cleaning assembly to rise from the cleaning position to the ground position.

[0260] When the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the first region 78 along the second direction R2, the second abutting member 64 descends, driving the cleaning assembly to descend from the off-ground position to the cleaning position. The reset member 84 is compressed by the upper side wall of the accommodating cavity 86, shortening the reset member 84.

[0261] When the driving member 19 drives the first supporting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the reset member 84 restores its length, and the extended reset member 84 provides an upward force to the upper side wall of the accommodating cavity 86, so that the second supporting member 64 rises, driving the cleaning assembly to rise from the cleaning position to the ground position.

[0262] The reset member 84 includes but is not limited to elastic members such as tension springs, torsion springs, and spring sheets, and other reset members 84 that can be deformed by external force and can restore the deformation when the external force is removed. Fig.12 The reset member 84 shown in FIG. 8 is a tension spring.

[0263] In some embodiments, for the first cleaning assembly 100, the track surface 66 includes a first area 78, a second area 80, and a third area 82. Along the first direction R1, the first area 78, the second area 80, and the third area 82 are sequentially connected. When the first abutting member 62 abuts against the first area 78 or the third area 82, the first cleaning assembly 100 is located in the cleaning position. When the first abutting member 62 abuts against the second area 80, the first cleaning assembly 100 is located in the off-ground position.

[0264] For the second cleaning component 102, the track surface 66 includes a fourth area 96 and a fifth area 98. Along the first direction R1, the fourth area 96 and the fifth area 98 are connected in sequence. When the first abutting member 62 abuts against the fourth area 96, the second cleaning component 102 is located in the cleaning position. When the first abutting member 62 abuts against the fifth area 98, the second cleaning component 102 is located in the off-ground position.

[0265] Thus, the first cleaning component 100 is switched between the off-ground position and the cleaning position through the three regions of the track surface 66 , and the second cleaning component 102 is switched between the off-ground position and the cleaning position through the two regions of the track surface 66 .

[0266] Specifically, in this embodiment, please combine Fig.24 and Fig. 27 The track surface 66 of the first cleaning assembly 100 includes a first region 78 , a second region 80 , and a third region 82 . The track surface 66 of the second cleaning assembly 102 includes a fourth region 96 and a fifth region 98 .

[0267] exist Fig.24 and Fig. 27 In the embodiment, the first direction R1 is a clockwise direction, and the second direction R2 is a counterclockwise direction. It can be understood that in other embodiments, the first direction R1 can be a counterclockwise direction, and the second direction R2 can be a clockwise direction.

[0268] For the explanation of the lifting of the first cleaning component 100, reference may be made to the explanation of the lifting of the cleaning component when the track surface 66 of the first cleaning component 100 includes three areas in the aforementioned embodiment, which will not be elaborated in detail here.

[0269] For the second cleaning assembly 102, the fourth area 96 and the fifth area 98 may be connected via the third connecting area 93, and the first abutting member 62 may move between the fourth area 96 and the fifth area 98 via the third connecting area 93. Fig. 27 and Fig.28, the position of the fourth region 96 is higher than the position of the fifth region 98. The first abutting member 62 is located above the track surface 66. When the first abutting member 62 abuts against the fourth region 96, the distance between the first abutting member 62 and the second cleaning assembly 102 is relatively far, and the second cleaning assembly 102 is located at the cleaning position. When the first abutting member 62 abuts against the fifth region 98, the distance between the first abutting member 62 and the second cleaning assembly 102 is relatively close, and the second cleaning assembly 102 is located off the ground.

[0270] The fourth region 96 and the fifth region 98 are sequentially connected along the first direction R1 , that is, the fifth region 98 and the fourth region 96 are sequentially connected along the second direction R2 .

[0271] When the first resisting member 62 moves from the fourth region 96 to the fifth region 98 along the first direction R1 , the second cleaning assembly 102 rises from the cleaning position to the ground-lifting position.

[0272] When the first resisting member 62 moves from the fifth region 98 to the fourth region 96 along the second direction R2 , the second cleaning assembly 102 descends from the off-ground position to the cleaning position.

[0273] In some embodiments, the cleaning robot 200 is configured as:

[0274] For the first cleaning assembly 100, when the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the third area 82 along the first direction R1, the first cleaning assembly 100 descends from the off-ground position to the cleaning position and the first abutting member 62 abuts against the first limiting portion 74;

[0275] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the first cleaning assembly 100 rises from the cleaning position to the ground-lifting position and the first abutting member 62 is separated from the first limiting portion 74 and the second limiting portion 76;

[0276] When the driving member 19 drives the first abutting member 62 to rotate from the second area 80 to the first area 78 along the second direction R2, the first cleaning assembly 100 descends from the off-ground position to the cleaning position and the first abutting member 62 abuts against the second limiting portion 76;

[0277] When the driving member 19 drives the first abutting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the first cleaning assembly 100 rises from the cleaning position to the ground-lifting position and the first abutting member 62 is separated from the second limiting portion 76 and the first limiting portion 74;

[0278] For the second cleaning assembly 102, when the driving member 19 drives the first abutting member 62 to rotate from the fourth region 96 to the fifth region 98 along the first direction R1, the second cleaning assembly 102 rises from the cleaning position to the ground-lifting position and the first abutting member 62 abuts against the first limiting portion 74;

[0279] When the driving member 19 drives the first abutting member 62 to rotate from the fifth area 98 to the fourth area 96 along the second direction R2 , the second cleaning assembly 102 descends from the off-ground position to the cleaning position and the first abutting member 62 abuts against the second limiting portion 76 .

[0280] In this way, the driving member 19 can be used to drive the rotation direction of the first abutting member 62 to achieve the first abutting member 62 abutting against different areas of the track surface 66, thereby controlling the lifting and lowering of the cleaning component.

[0281] Specifically, the explanation of the lifting of the first cleaning component 100 can refer to the explanation of the lifting of the cleaning component when the track surface 66 of the first cleaning component 100 includes three areas in the aforementioned embodiment, which will not be elaborated in detail here.

[0282] For the second cleaning assembly 102, in one embodiment, initially, the first abutting member 62 abuts against the fifth region 98, and the driving member 19 has not yet driven the first abutting member 62 to rotate. At this time, the second cleaning assembly 102 is located off the ground.

[0283] When the driving member 19 drives the first abutting member 62 to rotate along the second direction R2 from the fifth area 98 to the fourth area 96, the second cleaning assembly 102 descends from the off-the-ground position to the cleaning position and the first abutting member 62 abuts against the second position-limiting portion 76. At this time, the continuous driving of the driving member 19 can make the first abutting member 62 drive the second abutting member 64 to rotate along the second direction R2 through the second position-limiting portion 76, and further drive the second cleaning assembly 102 to rotate along the second direction R2.

[0284] When the driving member 19 drives the first abutting member 62 to rotate from the fourth region 96 to the fifth region 98 along the first direction R1, the second cleaning assembly 102 rises from the cleaning position to the ground-lifting position and the first abutting member 62 abuts against the first limiting portion 74. At this time, the continuous driving of the driving member 19 can make the first abutting member 62 drive the second abutting member 64 to rotate along the first direction R1 through the first limiting portion 74, thereby driving the second cleaning assembly 102 to rotate along the first direction R1.

[0285] In some embodiments, the cleaning robot 200 includes a reset member 84;

[0286] For the first cleaning assembly 100 , when the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the third region 82 along the first direction R1 , the reset member 84 is compressed by the second abutting member 64 ;

[0287] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the restoring member 84 restores its length and drives the second abutting member 64 to drive the first cleaning assembly 100 to rise from the cleaning position to the ground-lifting position;

[0288] When the driving member 19 drives the first abutting member 62 to rotate from the second region 80 to the first region 78 along the second direction R2, the restoring member 84 is compressed by the second abutting member 64;

[0289] When the driving member 19 drives the first abutting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the restoring member 84 restores its length and drives the second abutting member 64 to drive the first cleaning assembly 100 to rise from the cleaning position to the ground-lifting position;

[0290] For the second cleaning assembly 102, when the driving member 19 drives the first abutting member 62 to rotate from the fourth region 96 to the fifth region 98 along the first direction R1, the reset member 84 drives the second abutting member 64 to drive the second cleaning assembly 102 to rise from the cleaning position to the ground-lifting position;

[0291] When the driving member 19 drives the first resisting member 62 to rotate along the second direction R2 from the fifth area 98 to the fourth area 96 , the restoring member 84 is compressed by the second resisting member 64 .

[0292] In this way, by compressing the reset member 84, the cleaning assembly can be driven to rise when the reset member 84 is extended, and the structure is simple.

[0293] Specifically, the explanation of the restoring member 84 of this embodiment can refer to the aforementioned explanation of the embodiment of the restoring member 84, which will not be elaborated in detail here.

[0294] In some embodiments, the cleaning robot 200 includes a third limiting portion 91 , and a fourth limiting portion 89 is provided on the second abutting member 64 ;

[0295] When the cleaning assembly is located at the cleaning position, the third limiting portion 91 and the fourth limiting portion 89 are staggered in the lifting direction of the cleaning assembly;

[0296] When the cleaning assembly is not located at the cleaning position, the third limiting portion 91 can abut against the fourth limiting portion 89 in the circumferential direction of the cleaning assembly.

[0297] In this way, it can be ensured to a certain extent that the cleaning component can be smoothly lowered to the cleaning position.

[0298] Specifically, the first drive assembly 15 and the second drive assembly 17 both include a sleeve 87, and a third stopper 91 is convexly provided on the inner wall of the inner cavity of the sleeve 87. When the cleaning assembly is located at the off-ground position, the second abutment member 64 is partially located in the inner cavity of the sleeve 87.

[0299] When the cleaning assembly is not in the cleaning position, the first abutting member 62 may be located in the second area 80, the fifth area 98 or the connection area. When the cleaning assembly is not in the cleaning position, the third limiting portion 91 can abut against the fourth limiting portion 89 in the circumferential direction of the cleaning assembly. It can be understood that one situation is: when the cleaning assembly is in the off-ground position (the first abutting member 62 is located in the second area 80 or the fifth area 98), the third limiting portion 91 and the fourth limiting portion 89 have not yet abutted in the circumferential direction of the cleaning assembly, and the second abutting member 64 needs to drive the fourth limiting portion 89 to rotate a certain angle before abutting against the third limiting portion 91. Another situation is: when the cleaning assembly is in the off-ground position, the third limiting portion 91 and the fourth limiting portion 89 abut in the circumferential direction of the cleaning assembly. In another case, when the cleaning assembly is located between the off-the-ground position and the cleaning position (the first abutting member 62 is located in the connection area), the third limiting portion 91 and the fourth limiting portion 89 are not yet in contact with each other in the circumferential direction of the cleaning assembly, and the second abutting member 64 needs to drive the fourth limiting portion 89 to rotate a certain angle before contacting the third limiting portion 91. In another case, when the cleaning assembly is located between the off-the-ground position and the cleaning position (the first abutting member 62 is located in the connection area), the third limiting portion 91 and the fourth limiting portion 89 are in contact with each other in the circumferential direction of the cleaning assembly.

[0300] During the process of switching the cleaning component from the off-ground position to the cleaning position, when the driving member 19 drives the first abutting member 62 to move on the track surface 66 and the first abutting member 62 has not yet abutted against the first limiting portion 74 or the second limiting portion 76, due to the friction between the first abutting member 62 and the track surface 66 (the reset force of the superimposed reset member 84), the friction may cause the first abutting member 62 and the track surface 66 (the second abutting member 64) to not rotate relative to each other, so that the first abutting member 62 is always located in the second area 80, the fifth area 98 or the connecting area, so that the first low support member cannot smoothly reach the first area 78, the third area 82 or the fourth area 96, or causes the two to rotate relative to each other but the relative rotation speed is slow, so that the first abutting member 62 takes a longer time to reach the first area 78, the third area 82 or the fourth area 96.

[0301] The second abutting member 64 drives the fourth limiting portion 89 to rotate in the sleeve 87. Fig.29Taking the first cleaning assembly 100 as an example, when the fourth limiting portion 89 rotates to abut against the third limiting portion 91, the second abutting member 64 (and the track surface 66) cannot continue to rotate due to the obstruction of the third limiting portion 91, and the driving member 19 continues to drive the first abutting member 62 to rotate, thereby ensuring to a certain extent that the first abutting member 62 and the track surface 66 have the desired relative rotation and relative rotation speed. When the first abutting member 62 abuts against the first limiting portion 74 or the second limiting portion 76 of the second abutting member 64, the second abutting member 64 drives the fourth limiting portion 89 to move downward along the third limiting portion 91, so that the first cleaning assembly 100 descends from the off-the-ground position to the cleaning position.

[0302] When the cleaning assembly is in the cleaning position, the second abutting member 64 can extend out of the sleeve 87, and the third limiting portion 91 and the fourth limiting portion 89 are staggered in the lifting direction of the cleaning assembly. At this time, the first abutting member 62 abuts against the first area 78, the third area 82 or the fourth area 96 (in Figure 5 In the embodiment, the first abutting member 62 abuts against the first area 78). Since the third limiting portion 91 and the fourth limiting portion 89 are staggered in the lifting direction of the cleaning assembly, as shown in FIG. Figure 4 and Figure 7 As shown, in the rotation direction of the cleaning assembly, the third limiting portion 91 will not hinder the rotation of the cleaning assembly, and the first abutting member 62 can drive the cleaning assembly to rotate through the first limiting portion 74 or the second limiting portion 76 .

[0303] Further, as an example, the first abutting member 62 rotates from the third area 82 to the second area 80 along the second direction R2 at an angle T. When the driving member 19 drives the first abutting member 62 to rotate from the third area 82 to the second area 80 along the second direction R2, the driving member 19 can drive the first abutting member 62 to rotate at an angle K less than T along the second direction R2. When the reset member 84 is extended, the second abutting member 64 can be driven to rotate relative to the first abutting member 62 along the first direction R1 at an angle (TK), thereby enabling the first abutting member 62 to rotate at an angle T along the second direction R2, so that the first abutting member 62 abuts against the second area 80, and the cleaning assembly is located off the ground. The driving member 19 drives the first abutting member 62 to rotate at an angle K less than T along the second direction R2, so that when the fourth limiting portion 89 abuts against the third limiting portion 91, the impact force of the first abutting member 62 on the driving member 19 and the blocking force of the driving member 19 can be reduced. The specific size of the angle K can be determined by designing the shape of the connecting area 58.

[0304] In some embodiments, the cleaning robot 200 is configured as:

[0305] When the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the driving member 19 first drives the first abutting member 62 to rotate along the second direction R2 by a first rotation angle, and then drives the first abutting member 62 to perform at least one reverse rotation action.

[0306] When the driving member 19 drives the first abutting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the driving member 19 first drives the first abutting member 62 to rotate along the first direction R1 by a first rotation angle, and then drives the first abutting member 62 to perform at least one reverse rotation action.

[0307] The rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0308] In this way, the first resisting member 62 can be smoothly located in the second area 80 , thereby allowing the first cleaning assembly 100 to be located off the ground.

[0309] Optionally, in one embodiment, the rotation direction of the driving member 19 is the same as the rotation direction of the first abutting member 62. The rotation direction of the first abutting member 62 is the same as the rotation direction of the cleaning assembly.

[0310] The driving member 19 rotates a corresponding rotation angle, thereby driving the first abutting member 62 to rotate. A first connecting region 97 is provided between the second region 80 and the third region 82 , and a second connecting region 95 is provided between the first region 78 and the second region 80 .

[0311] Combination Figure 30 to Figure 32 In the process of the driving member 19 driving the first abutting member 62 to rotate from the third area 82 to the second area 80 along the second direction R2, the driving member 19 first drives the first abutting member 62 to rotate along the second direction R2 by the first rotation angle. When the first abutting member 62 reaches the second area 80, due to the effect of inertia, the first abutting member 62 can rush from the second area 80 to the second connecting area 95. At this time, the driving member 19 drives the first abutting member 62 to perform at least one reverse rotation action, and the rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle. In this way, it is ensured that the first abutting member 62 can rotate to the second area 80, so that the first cleaning component 100 is located off the ground.

[0312] Optionally, in Fig.31 In the process that the driving member 19 drives the first abutting member 62 to rotate from the third region 82 to the second region 80 along the second direction R2, the driving member 19 drives the first abutting member 62 to perform a reverse rotation action V1, and the reverse rotation action V1 is along the first direction R1. Fig.32In the process that the driving member 19 drives the first abutting member 62 to rotate from the third area 82 to the second area 80 along the second direction R2, the driving member 19 drives the first abutting member 62 to perform two reverse rotation actions V2 and V3, and the reverse rotation action V2 is along the first direction R1. The reverse rotation action V3 is along the second direction R2. Optionally, the second rotation angle of the reverse rotation action V3 can be the same as or different from the second rotation angle of the reverse rotation action V2. Optionally, the second rotation angle of the reverse rotation action V3 is smaller than the second rotation angle of the reverse rotation action V2.

[0313] It is understood that the driving member 19 can not only drive the first abutting member 62 to perform one reverse rotation action, two reverse rotation actions, but also drive the first abutting member 62 to perform three reverse rotation actions, four reverse rotation actions or other reverse rotation actions, which is not specifically limited in the present invention. It is understood that, Fig.31 and Fig.32 It only shows the change of the rotation direction of the first resisting member 62 , and does not represent the actual movement trajectory of the first resisting member 62 .

[0314] Similarly, when the driving member 19 drives the first resisting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the above understanding can be obtained.

[0315] Further, in the process that the driving member 19 drives the first abutting member 62 to rotate from the first area 78 to the second area 80 along the first direction R1, the driving member 19 first drives the first abutting member 62 to rotate by the first rotation angle along the first direction R1. When the first abutting member 62 reaches the second area 80, due to the effect of inertia, the first abutting member 62 can rush up the first connection area 97 from the second area 80, and at this time, the driving member 19 drives the first abutting member 62 to rotate by the second rotation angle along the second direction R2, and the first abutting member 62 can rotate from the first connection area 97 to the second area 80, but due to the effect of inertia, the first abutting member 62 can rush up the second connection area 95 from the second area 80, and at this time, the driving member 19 drives the first abutting member 62 to rotate by the third rotation angle along the first direction R1. The first rotation angle is greater than the second rotation angle, and the second rotation angle is greater than the third rotation angle, thereby ensuring that the first abutting member 62 can rotate to the second area 80, so that the first cleaning component 100 is located off the ground.

[0316] In some embodiments, the rotation angle of the driving member 19 corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0317] In this way, it can be ensured that the driving member 19 can drive the first resisting member 62 to rotate from the first area 78 to the second area 80 or drive the first resisting member 62 to rotate from the third area 82 to the second area 80 .

[0318] Specifically, the driving member 19 may include a motor. Taking the rotation of the first abutting member 62 from the third area 82 to the second area 80 as an example, assuming that the first abutting member 62 is located in the third area 82, the corresponding rotation angle of the motor is 0 degrees. In this solution, since a transmission component 21 such as a reduction gearbox may be provided between the driving member 19 and the first abutting member 62, the rotation angle of the driving member 19 may be inconsistent with the rotation angle of the first abutting member 62. It is understood that in other embodiments, the rotation angle of the driving member 19 may also be the same as the rotation angle of the first abutting member 62, and the present invention does not specifically limit this.

[0319] In one embodiment, when the first abutting member 62 abuts against the third region 82, the rotation angle of the driving member 19 can be calibrated as 0 degrees. When the angle of rotation of the driving member 19 along the second direction R2 is between 85 degrees and 95 degrees (including 85 degrees and 95 degrees), the first abutting member 62 can be driven to rotate along the second direction R2 by a first rotation angle, thereby driving the first abutting member 62 to rotate from the third region 82 to the second region 80. In one embodiment, when the first abutting member 62 abuts against the first region 78, the rotation angle of the driving member 19 can be calibrated as 0 degrees. When the angle of rotation of the driving member 19 along the first direction R1 is between 85 degrees and 95 degrees (including 85 degrees and 95 degrees), the first abutting member 62 can be driven to rotate along the first direction R1 by a first rotation angle, thereby driving the first abutting member 62 to rotate from the first region 78 to the second region 80.

[0320] The rotation angle of the driving member 19 corresponding to the first rotation angle may be 85 degrees, 86 degrees, 87 degrees, 88 degrees, 89 degrees, 90 degrees, 91 degrees, 92 degrees, 93 degrees, 94 degrees, 95 degrees or other values ​​between 85 degrees and 95 degrees. The rotation angle of the mop or the driving member 19 may be detected by an angle detection device such as a code disk.

[0321] Alternatively, in one embodiment, the first rotation angle may also correspond to the rotation angle of the first cleaning assembly 100. Alternatively, the second rotation angle may also correspond to the rotation angle of the first cleaning assembly 100. Alternatively, the third rotation angle may also correspond to the rotation angle of the first cleaning assembly 100.

[0322] In some embodiments, the track surface 66 includes a first connection area 97 and a second connection area 95, the first connection area 97 connecting the third area 82 and the second area 80, and the second connection area 95 connecting the second area 80 and the first area 78;

[0323] The first connection area 97 includes a first sub-area 85 and a second sub-area 83. Along the second direction R2, the third area 82 is connected to the second area 80 through the second sub-area 83 and the first sub-area 85 in sequence. The second sub-area 83 includes a plurality of first connection segments 81 connected in sequence end to end. The slope of the first sub-area 85 is greater than the slope of at least one of the plurality of first connection segments 81.

[0324] The second connection area 95 includes a third sub-area 79 and a fourth sub-area 77. Along the first direction R1, the first area 78 is connected to the second area 80 in sequence through the fourth sub-area 77 and the third sub-area 79. The fourth sub-area 77 includes a plurality of second connection segments 75 connected end to end in sequence. The slope of the third sub-area 79 is greater than the slope of at least one of the plurality of second connection segments 75.

[0325] Thus, when the first abutting member 62 rotates to the second area 80 , the first sub-area 85 and the third sub-area 79 can further ensure that the first abutting member 62 is in the second area 80 , thereby ensuring that the first cleaning assembly 100 is located off the ground.

[0326] Specifically, in Fig.30 In the process of the first abutting member 62 rotating from the third area 82 to the second area 80, the first abutting member 62 can be rotated to the multiple first connecting segments 81, and then rotated to the first sub-area 85 through the multiple first connecting segments 81. The slope of the first sub-area 85 is greater than the slope of at least one of the multiple first connecting segments 81, so that the first abutting member 62 is easy to rotate to the second area 80, thereby ensuring that the first abutting member 62 is in the second area 80, ensuring that the first cleaning component 100 is located off the ground.

[0327] During the process of the first abutment 62 rotating from the first area 78 to the second area 80, the first abutment 62 can be rotated to the multiple second connecting segments 75, and then rotated to the third sub-area 79 through the multiple second connecting segments 75. The slope of the third sub-area 79 is greater than the slope of at least one of the multiple second connecting segments 75, so that the first abutment 62 is easy to rotate to the second area 80, thereby ensuring that the first abutment 62 is in the second area 80, ensuring that the first cleaning component 100 is located off the ground.

[0328] In one embodiment, the slope of the first sub-region 85 may be greater than the average slope of the first connecting segments 81. In one embodiment, the slope of the first sub-region 85 may be greater than the slope of one first connecting segment 81, the slopes of two first connecting segments 81, or the slopes of another number of first connecting segments 81, or the slopes of all first connecting segments 81.

[0329] In one embodiment, the slope of the third sub-region 79 may be greater than the average slope of the second connecting segments 75. In one embodiment, the third sub-region 79 may be greater than the slope of one second connecting segment 75, the slopes of two second connecting segments 75, the slopes of another number of second connecting segments 75, or the slopes of all second connecting segments 75.

[0330] It is understood that the slope can refer to the angle between the area and the horizontal plane. Fig.30 In the embodiment, the slope of the first sub-region 85 may be an angle θ between the first sub-region 85 and the horizontal plane.

[0331] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0332] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cleaning component, characterized in that: The cleaning component comprises: a first cleaning member, the first cleaning member having a rotation center; A second cleaning member, the second cleaning member is rotatably connected to the first cleaning member, the second cleaning member can switch back and forth between a first position and a second position, when in the first position, the distance between the side of the second cleaning member away from the rotation center and the rotation center is a first distance, when in the second position, the distance between the side of the second cleaning member away from the rotation center and the rotation center is a second distance, and the first distance is greater than the second distance.

2. The cleaning assembly according to claim 1, characterized in that: The first cleaning member is provided with a groove, one end of the second cleaning member is rotatably connected to the groove, the side wall of the groove has a first part and a second part, the first part restricts the second cleaning member to the first position, and the second part restricts the second cleaning member to the second position, and / or; The hardness of the first cleaning member is greater than the hardness of the second cleaning member.

3. The cleaning assembly according to claim 1, characterized in that: The first cleaning assembly includes a first elastic member, one end of the first elastic member is connected to the first cleaning member, the other end of the first elastic member is connected to the second cleaning member, and the first elastic member is configured to provide a torque for the second cleaning member to switch from the first position to the second position.

4. The cleaning assembly according to claim 3, characterized in that: The first cleaning member is provided with a first installation groove, and one end of the first elastic member is located in the first installation groove; The second cleaning member is provided with a second installation groove, and the other end of the first elastic member is located in the second installation groove.

5. The cleaning assembly according to claim 4, characterized in that: The side wall of the second installation groove is provided with a plurality of tooth grooves along the circumferential direction of the second installation groove, and the other end of the first elastic member is located in one of the tooth grooves; Optionally, the tooth groove is inclined from the side wall of the second installation groove along the direction of the rotation center of the first cleaning member when the second cleaning member switches from the first position to the second position.

6. The cleaning assembly according to claim 1, characterized in that: The second cleaning member comprises a connecting member and a telescopic member, wherein the connecting member is rotatably connected to the first cleaning member, and the telescopic member is movably connected to the connecting member; Optionally, a accommodating groove is formed on a side of the connecting member away from the first cleaning member, the telescopic member includes a third connecting portion and a cleaning portion, the third connecting portion is partially located in the accommodating groove, and the cleaning assembly includes a second elastic member, the second elastic member is located in the accommodating groove and connects the side wall of the accommodating groove and the third connecting portion.

7. The cleaning assembly according to claim 1, characterized in that: The cleaning assembly comprises a cover plate and a fixing member, wherein a rotating shaft is provided on one side of the first cleaning member along the thickness direction, one end of the second cleaning member is rotatably connected to the rotating shaft, the cover plate covers one end of the second cleaning member connected to the rotating shaft, and the fixing member passes through the cover plate and is connected to the rotating shaft to lock the cover plate and the first cleaning member; Optionally, a surface of the fixing member facing away from the first cleaning member is flush with a surface of the cover plate facing away from the first cleaning member.

8. A cleaning robot, characterized in that: The invention comprises a housing, a first cleaning assembly, a second cleaning assembly, a first driving assembly and a second driving assembly, wherein the first driving assembly is connected to the first cleaning assembly and configured to drive the first cleaning assembly to rotate relative to the housing in a first direction and a second direction, and the second driving assembly is connected to the second cleaning assembly and configured to drive the second cleaning assembly to rotate relative to the housing in the first direction and the second direction, wherein the first direction and the second direction are opposite; The first cleaning assembly and the second cleaning assembly are connected to the bottom of the housing in a liftable and rotatable manner, and the rotation axis of the first cleaning assembly and the rotation axis of the second cleaning assembly are perpendicular to the bottom of the housing; The first cleaning component has an inward-retracted state and an outward-expanded state, and the area of ​​a circle formed by the rotation of the first cleaning component in the inward-retracted state is smaller than the area of ​​a circle formed by the rotation in the outward-expanded state; The second cleaning assembly and the first cleaning assembly are both switchable between a cleaning position for contacting the ground and a ground-lifting position for detaching from the ground; The cleaning robot is configured as follows: when the cleaning robot recognizes that a blind spot needs to be cleaned, the first cleaning component is in the expanded state and the cleaning position, the first driving component drives the first cleaning component to rotate along the second direction, and the second cleaning component is in the off-ground position.

9. The cleaning robot according to claim 8, characterized in that: When the cleaning robot does not recognize the blind area and needs to clean, the cleaning robot is configured as follows: The first cleaning assembly is in the retracted state and the cleaning position and the first driving assembly drives the first cleaning assembly to rotate along the first direction, and the second cleaning assembly is in the cleaning position and the second driving assembly drives the second cleaning assembly to rotate along the second direction; Optionally, when the cleaning robot does not identify a blind spot and needs cleaning, the cleaning robot is configured as follows: If the first cleaning component is currently in the outwardly extended state, the cleaning position, and rotates along the second direction, the first driving component drives the first cleaning component to rotate along the first direction to switch to the inwardly retracted state; If the first cleaning component is currently in the retracted state, the cleaning position, and rotating along the first direction, the first cleaning component maintains the current state; If the second cleaning component is currently in the cleaning position and rotates along the first direction, the second driving component drives the second cleaning component to rotate along the second direction; If the second cleaning component is currently in the off-ground position, the second driving component drives the second cleaning component to rotate along the second direction to switch to the cleaning position.

10. The cleaning robot according to claim 8, characterized in that: When the cleaning robot does not need to clean, the cleaning robot is configured as follows: The first cleaning component is in the retracted state and the off-ground position, and the second cleaning component is in the off-ground position; Optionally, when the cleaning robot does not need to clean, the cleaning robot is configured as follows: If the first cleaning component is currently in the outwardly extended state, the cleaning position and rotates along the second direction, the first driving component first drives the first cleaning component to rotate along the first direction to switch to the inwardly retracted state, and then the first driving component drives the first cleaning component to rotate along the second direction to switch to the off-ground position; If the first cleaning component is currently in the retracted state, the cleaning position, and rotating along the first direction, the first driving component drives the first cleaning component to rotate along the second direction to switch to the off-ground position; If the first cleaning component is currently in the retracted state and the off-ground position, the first cleaning component maintains the current state; If the second cleaning component is currently in the cleaning position and rotating in the second direction, the second driving component drives the second cleaning component to rotate in the first direction to switch to the off-ground position; If the second cleaning component is currently in the off-ground position, the second cleaning component maintains the current state.

11. The cleaning robot according to claim 8, characterized in that: The first driving assembly and the second driving assembly both include a driving member and a transmission assembly, the transmission assembly includes a first abutting member and a second abutting member, the first abutting member connects the driving member and the second abutting member, the second abutting member connects the cleaning assembly, the second abutting member is provided with a track surface, the first abutting member can movably abut on the track surface, the driving member is configured to drive the first abutting member to rotate so that the first abutting member moves on the track surface, so that the cleaning assembly is lifted and lowered relative to the shell, and the cleaning assembly includes the first cleaning assembly and the second cleaning assembly.

12. The cleaning robot according to claim 11, characterized in that: The track surface is respectively provided with a first limiting portion and a second limiting portion. When the first supporting member abuts against the first limiting portion, the first limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limiting portion, the second limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

13. The cleaning robot according to claim 12, characterized in that: The track surface includes a first area, a second area and a third area. The first area, the second area and the third area are sequentially connected along the first direction. When the first abutting member abuts against the first area or the third area, the cleaning assembly is located at the cleaning position. When the first abutting member abuts against the second area, the cleaning assembly is located at the off-ground position. Optionally, the cleaning robot is configured as: When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member abuts against the first limiting portion; When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion; When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

14. The cleaning robot according to claim 13, characterized in that: The cleaning robot comprises a resetting member; When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member; When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position; When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member recovers its length and drives the second resisting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position.

15. The cleaning robot according to claim 12, characterized in that: For the first cleaning component, the track surface includes a first area, a second area and a third area. Along the first direction, the first area, the second area and the third area are sequentially connected. When the first abutting member abuts against the first area or the third area, the first cleaning component is located at the cleaning position. When the first abutting member abuts against the second area, the first cleaning component is located at the off-ground position. For the second cleaning component, the track surface includes a fourth area and a fifth area, and along the first direction, the fourth area and the fifth area are sequentially connected, when the first abutting member abuts against the fourth area, the second cleaning component is located at the cleaning position, and when the first abutting member abuts against the fifth area, the second cleaning component is located at the off-ground position; Optionally, the cleaning robot is configured as: For the first cleaning assembly, when the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the first cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member abuts against the first limiting portion; When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the first cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion; When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the first cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the first cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion; For the second cleaning assembly, when the driving member drives the first abutting member to rotate from the fourth area to the fifth area along the first direction, the second cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member abuts against the first limiting portion; When the driving member drives the first abutting member to rotate from the fifth area to the fourth area along the second direction, the second cleaning assembly descends from the off-ground position to the cleaning position and the first abutting member abuts against the second limiting portion.

16. The cleaning robot according to claim 15, characterized in that: The cleaning robot comprises a resetting member; For the first cleaning component, when the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the resetting member is compressed by the second resisting member; When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second resisting member to drive the first cleaning assembly to rise from the cleaning position to the ground-lifting position; When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member restores its length and drives the second resisting member to drive the first cleaning assembly to rise from the cleaning position to the ground-lifting position; For the second cleaning assembly, when the driving member drives the first abutting member to rotate from the fourth area to the fifth area along the first direction, the resetting member drives the second abutting member to drive the second cleaning assembly to rise from the cleaning position to the off-ground position; When the driving member drives the first resisting member to rotate from the fifth area to the fourth area along the second direction, the restoring member is compressed by the second resisting member.

17. The cleaning robot according to any one of claims 11 to 16, characterized in that: The cleaning robot comprises a third limiting portion, and the second abutting member is provided with a fourth limiting portion; When the cleaning assembly is located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly; When the cleaning group is not located at the cleaning position, the third limiting portion can abut against the fourth limiting portion in the circumferential direction of the cleaning assembly.

18. The cleaning robot according to claim 13 or 15, characterized in that: The cleaning robot is configured as follows: In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action; In the process that the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by the first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action; Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

19. The cleaning robot according to claim 18, characterized in that: The rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

20. The cleaning robot according to claim 18, characterized in that: The track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area; The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments; The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

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