Cleaning robot

Abstract

The invention discloses a cleaning robot which is characterized in that at least one swing arm assembly is arranged on a robot main body; the swing arm assembly comprises a first motor; a rotating shaft of the first motor penetrates through the robot main body and is fixedly connected with one end of the input arm; one end of the middle arm is fixedly connected with the other end of the input arm; one end of the output arm is fixedly connected with the other end of the middle arm; the sliding part is in sliding connection with the robot main body, and the sliding part is used for carrying out sliding motion relative to the robot main body in the first direction; the first direction is parallel to the advancing direction of the robot body; the other end of the output arm penetrates through the sliding part to be fixedly connected with the friction part, the first motor is used for driving the other end of the input arm to rotate around one end of the input arm, and the friction part moves relative to the robot body in the rotating process of the input arm. Based on the mode, the stability of the cleaning robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a cleaning robot. Background Art

[0002] In the prior art, a cleaning robot is usually used to clean photovoltaic panels. During cleaning, each photovoltaic panel is usually laid at different angles according to corresponding usage requirements, and the cleaning robot needs to move and clean the photovoltaic panels laid at different angles. Therefore, the cleaning robot usually relies on the friction between the track and the photovoltaic panel to move, and cleans the photovoltaic panel during the movement.

[0003] The defect of the prior art is that when the angle of the side of the photovoltaic panel supporting the cleaning robot relative to the horizontal plane is too large, the cleaning robot is prone to slipping or even falling during movement and cleaning. Therefore, the cleaning robot in the prior art has poor stability. Summary of the invention

[0004] The main technical problem solved by this application is how to improve the stability of the cleaning robot.

[0005] In order to solve the above technical problems, the technical solution adopted in the present application is: a cleaning robot, comprising: a robot body; at least one swing arm assembly, at least one swing arm assembly is arranged on the robot body; the swing arm assembly comprises: a first motor; an input arm, the rotating shaft of the first motor passes through the robot body and is fixedly connected to one end of the input arm; an intermediate arm, one end of the intermediate arm is fixedly connected to the other end of the input arm; an output arm, one end of the output arm is fixedly connected to the other end of the intermediate arm; a sliding member, the sliding member is slidably connected to the robot body, and the sliding member is used to perform relative sliding motion with the robot body in a first direction; the first direction is parallel to the forward direction of the robot body; a friction member, the other end of the output arm passes through the sliding member and is fixedly connected to the friction member, the first motor is used to drive the other end of the input arm to rotate around one end of the input arm, and the friction member performs relative motion with the robot body during the rotation of the input arm.

[0006] Among them, the intermediate arm includes: a first sub-arm, the first end of the first sub-arm is one end of the intermediate arm, the second end of the first sub-arm is the other end of the intermediate arm, the first end of the first sub-arm is rotatably connected to the other end of the input arm, and the second end of the first sub-arm is rotatably connected to one end of the output arm; a second sub-arm, the third end of the first sub-arm is located between the first end of the first sub-arm and the second end of the first sub-arm, one end of the second sub-arm is rotatably connected to the robot body, and the other end of the second sub-arm is rotatably connected to the third end of the first sub-arm.

[0007] Among them, the swing arm assembly also includes: a first fixing member, the other end of the output arm passes through the sliding member and is fixedly connected to one end of the first fixing member; at least one elastic member, one end of the elastic member is fixedly connected to the other end of the first fixing member, and the other end of the elastic member is fixedly connected to the friction member.

[0008] The sliding part includes: a slide rail, which is fixedly connected to the robot body, and the track extension direction of the slide rail is parallel to the first direction; a slider, which is slidably connected to the slide rail, and the other end of the output arm passes through the slider and is fixedly connected to the friction part.

[0009] Among them, the friction part alternately performs a first relative motion and a second relative motion with the robot body during the rotation of the input arm; the first relative motion includes a relative motion in the opposite direction of the forward direction, and the second relative motion includes a relative motion in the forward direction, a relative motion in a vertical direction and a relative motion in the opposite direction of the vertical direction, and the vertical direction is respectively perpendicular to the forward direction and the axial direction of the rotating shaft.

[0010] The cleaning robot further comprises: a lifting assembly, which is arranged on the robot body and is used for lifting the robot body in a direction away from the plane where the robot body is located.

[0011] Among them, the jacking assembly includes: a second fixing member, which is fixedly connected to the robot body; a second motor; a gear member, the rotating shaft of the second motor passes through the second fixing member and is fixedly connected to the gear member; a gear condition, the gear condition is provided with a rack along the movement direction of the jacking movement, and the gear member is meshed with the rack; a base member, the base member is fixedly connected to one end of the gear condition, and the end of the base member away from the gear condition is used for abutting against the plane where the robot body is located when the rotating shaft of the second motor rotates and the gear condition moves relative to the robot body in the direction of the plane where the robot body is located, so as to move the robot body in a direction away from the plane where the robot body is located.

[0012] The lifting assembly further includes: at least one limit sensor module, the limit sensor modules are respectively fixedly connected to the second fixing members, and the limit sensor modules are used to detect whether the tooth condition reaches the corresponding preset position.

[0013] Among them, the base member includes a base, a base bearing and a limit stopper; the base is rotatably connected to the base bearing, the base is fixedly connected to the limit stopper, and the gear condition passes through the base bearing and is fixedly connected to the limit stopper.

[0014] Among them, at least one swing arm assembly includes at least two swing arm assemblies; the at least two swing arm assemblies are respectively arranged on the left side and the right side of the robot body.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, in the technical solution of the present application, the cleaning robot includes a robot body and at least one swing arm assembly, and the at least one swing arm assembly is arranged on the robot body; the swing arm assembly includes a first motor, an input arm, an intermediate arm, an output arm, a sliding member and a friction member; the rotating shaft of the first motor passes through the robot body and is fixedly connected to one end of the input arm; one end of the intermediate arm is fixedly connected to the other end of the input arm; one end of the output arm is fixedly connected to the other end of the intermediate arm; the sliding member is slidably connected to the robot body, and the sliding member is used to perform relative sliding motion with the robot body in a first direction; wherein the first direction is parallel to the forward direction of the robot body; the other end of the output arm passes through the sliding member and is fixedly connected to the friction member, the first motor is used to drive the other end of the input arm to rotate around one end of the input arm, and the friction member performs relative motion with the robot body during the rotation of the input arm. Based on the above method, when the first motor drives its rotating shaft to rotate, the other end of the input arm can rotate around one end of the input arm to drive the intermediate arm and the output arm to perform corresponding movements, so that the friction part moves relative to the robot body along with the movement of the output arm. In the process of relative movement between the friction part and the robot body, the friction part can contact the plane where the cleaning robot is located, and the cleaning robot can assist the cleaning robot to move based on the friction force and supporting force generated by the contact. That is, based on the relative movement of the friction part, the cleaning robot can move more smoothly or remain stationary on a plane with a certain angle relative to the horizontal plane when cleaning photovoltaic panels or similar environments, thereby reducing the possibility of slipping or falling and improving the stability of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the cleaning robot of the present application;

[0018] Figure 2 It is one of the structural schematic diagrams of an embodiment of the swing arm assembly and at least a part of the robot body of the present application;

[0019] Figure 3 This is the second structural schematic diagram of an embodiment of the swing arm assembly and at least a part of the robot body of the present application;

[0020] Figure 4 It is a schematic diagram of the axial structure of an embodiment of the jacking assembly of the present application;

[0021] Figure 5 It is a schematic diagram of the exploded structure of an embodiment of the jacking assembly of the present application.

[0022] 11. swing arm assembly; 111. first motor; 112. input arm; 113. intermediate arm; 1131. first sub-arm; 1132. second sub-arm; 114. output arm; 115. sliding member; 1151. slide rail; 1152. slider; 116. friction member; 117. first fixing member; 12. lifting assembly; 121. second fixing member; 122. second motor; 123. gear member; 124. gear condition; 125. base member; 1251. base; 1252. base bearing; 1253. limit baffle; 126. limit sensor module; 127. dust cover; 128. dustproof base; 129. oil-free bushing; 13. robot body; 131. mounting plate. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present application.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "set", "connect", and "connect" 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 connected through an intermediate medium. For ordinary technicians in this field, the above-mentioned specific meanings belonging to this application can be connected according to specific circumstances.

[0026] This application proposes a cleaning robot, see Figure 1 , Figure 1 Schematic diagram of the structure of an embodiment of the cleaning robot of the present application. Figure 1 As shown, the cleaning robot includes a robot body 13 and at least one swing arm assembly 11 .

[0027] At least one swing arm assembly 11 is arranged on the robot body 13. Figure 1 As shown, one, two, or more than two swing arm assemblies 11 may be provided on the robot body 13. The specific number may be determined according to actual needs and is not limited here.

[0028] The swing arm assembly 11 can be arranged on the left side and / or right side of the robot body 13 relative to its forward direction. When the number of the swing arm assemblies 11 is more than two, that is, when at least one swing arm assembly 11 includes at least two swing arm assemblies 11, at least two swing arm assemblies 11 can be respectively arranged on the left and right sides of the robot body 13, so that the left and right sides of the robot body 13 can obtain corresponding friction force or supporting force through the corresponding swing arm assemblies 11, thereby further improving the stability of the robot body 13 during cleaning.

[0029] See also Figure 2 and Figure 3 , Figure 2 This is one of the structural schematic diagrams of an embodiment of the swing arm assembly and at least part of the robot body of the present application, Figure 3 This is a second structural schematic diagram of an embodiment of the swing arm assembly and at least part of the robot body of the present application, such as Figure 2 and Figure 3 As shown, the swing arm assembly 11 includes a first motor 111 , an input arm 112 , an intermediate arm 113 , an output arm 114 , a sliding member 115 and a friction member 116 .

[0030] The rotating shaft of the first motor 111 passes through the robot body 13 and is fixedly connected to one end of the input arm 112. The first motor 111 can be used to drive its rotating shaft to rotate, so as to drive the input arm 112 to rotate accordingly.

[0031] One end of the intermediate arm 113 is fixedly connected to the other end of the input arm 112. The rotation of the rotating shaft can cause the other end of the input arm 112 to rotate around one end of the input arm 112, so that the intermediate arm 113 can be driven by the input arm to move relative to the robot body 13.

[0032] One end of the output arm 114 is fixedly connected to the other end of the intermediate arm 113. Since the intermediate arm 113 is driven by the input arm to move relative to the robot body 13, one end of the output arm 114 can be driven by the intermediate arm 113 to move relative to the robot body 13. This relative movement can make one end of the output arm 114 move in the forward direction and the reverse direction relative to the forward direction of the robot body 13. The forward direction of the robot body 13 can be as follows: Figures 1 to 3 The first direction D1 is shown.

[0033] The sliding member 115 is slidably connected to the robot body 13, and the sliding member 115 is used to slide relative to the robot body 13 in a first direction. The other end of the output arm 114 passes through the sliding member 115 and is fixedly connected to the friction member 116. The first motor 111 is used to drive the other end of the input arm 112 to rotate around one end of the input arm 112. The friction member 116 moves relative to the robot body 13 during the rotation of the input arm 112.

[0034] The first direction is parallel to the forward direction of the robot body 13. The sliding member 115 may be provided with a hole groove extending along the second direction D2. The second direction D2 may be a direction perpendicular to the plane where the cleaning robot is located. By passing the other end of the output arm 114 through the hole groove provided on the sliding member 115 and fixedly connected with the friction member 116, the axial direction of the output arm 114 can always be parallel to the second direction D2, so that the axial direction of the output arm 114 is always perpendicular to the plane where the cleaning robot is located, and then the friction member 116 can be moved with the output arm 114. When the surfaces are in contact, the friction member 116 makes relative movement with the robot body 13 in the opposite direction of the first direction D1, and when the friction member 116 is separated from the plane where the cleaning robot is located, the friction member 116 makes relative movement with the robot body 13 in the first direction D1. The above steps are cyclically performed between the friction member 116 and the cleaning robot, so as to achieve the friction force and supporting force between the friction member 116 and the plane where the cleaning robot is located, so as to assist the cleaning robot in moving and cleaning, reduce the possibility of the cleaning robot slipping or falling, and improve the stability of the cleaning robot.

[0035] For example, the friction member 116 performs a first relative motion and a second relative motion alternately with the robot body 13 during the rotation of the input arm 112 .

[0036] The first relative motion includes relative motion in the opposite direction of the forward direction, and the second relative motion includes relative motion in the forward direction, relative motion in the vertical direction, and relative motion in the opposite direction of the vertical direction, wherein the vertical direction is perpendicular to the forward direction and the axial direction of the rotating shaft, respectively. The forward direction may specifically refer to the first direction D1, and the vertical direction may specifically refer to the second direction D2. Based on the periodic performance of the two motions, the steps of providing auxiliary force to the robot body 13 through the friction member 116 and then resetting the friction member 116 can be cyclically performed to improve the stability of the cleaning robot.

[0037] Different from the prior art, in the technical solution of the present application, the cleaning robot includes a robot body and at least one swing arm assembly, and the at least one swing arm assembly is arranged on the robot body; the swing arm assembly includes a first motor, an input arm, an intermediate arm, an output arm, a sliding member and a friction member; the rotating shaft of the first motor passes through the robot body and is fixedly connected to one end of the input arm; one end of the intermediate arm is fixedly connected to the other end of the input arm; one end of the output arm is fixedly connected to the other end of the intermediate arm; the sliding member is slidably connected to the robot body, and the sliding member is used to perform relative sliding motion with the robot body in a first direction; wherein the first direction is parallel to the forward direction of the robot body; the other end of the output arm passes through the sliding member and is fixedly connected to the friction member, the first motor is used to drive the other end of the input arm to rotate around one end of the input arm, and the friction member performs relative motion with the robot body during the rotation of the input arm. Based on the above method, when the first motor drives its rotating shaft to rotate, the other end of the input arm can rotate around one end of the input arm to drive the intermediate arm and the output arm to perform corresponding movements, so that the friction part moves relative to the robot body along with the movement of the output arm. In the process of relative movement between the friction part and the robot body, the friction part can contact the plane where the cleaning robot is located, and the cleaning robot can assist the cleaning robot to move based on the friction force and supporting force generated by the contact. That is, based on the relative movement of the friction part, the cleaning robot can move more smoothly or remain stationary on a plane with a certain angle relative to the horizontal plane when cleaning photovoltaic panels or similar environments, thereby reducing the possibility of slipping or falling and improving the stability of the cleaning robot.

[0038] When the cleaning robot is cleaning along the corresponding cleaning trajectory on the photovoltaic panel or other types of inclined planes, the possibility of slipping or falling can be effectively reduced. Alternatively, when slipping or falling occurs, the cleaning robot can be promptly controlled to adjust its posture through the movement of the swing arm assembly 11 to achieve self-rescue, reduce the possibility of failure, and improve cleaning efficiency.

[0039] In one embodiment, the middle arm 113 includes a first sub-arm 1131 and a second sub-arm 1132 .

[0040] The first end of the first sub-arm 1131 is one end of the middle arm 113, the second end of the first sub-arm 1131 is the other end of the middle arm 113, the first end of the first sub-arm 1131 is rotationally connected to the other end of the input arm 112, and the second end of the first sub-arm 1131 is rotationally connected to one end of the output arm 114.

[0041] The third end of the first sub-arm 1131 is located between the first end of the first sub-arm 1131 and the second end of the first sub-arm 1131, one end of the second sub-arm 1132 is rotationally connected to the robot body 13, and the other end of the second sub-arm 1132 is rotationally connected to the third end of the first sub-arm 1131.

[0042] Specifically, Figure 2 and Figure 3 As shown, the mounting plate 131 can be a mounting platform on the robot body 13 for carrying the first motor 111. The first motor 111 can be fixedly connected to one side of the mounting plate 131, so that the rotating shaft of the first motor 111 passes through the mounting plate 131 from one side of the mounting plate 131 and is fixedly connected to one end of the input arm 112 located on the other side of the mounting plate 131. The second sub-arm 1132 can also be rotatably connected to the mounting plate 131.

[0043] Based on the above method, based on the structure of the input arm 112, the first sub-arm 1131, the second sub-arm 1132 and the output arm 114, and in cooperation with the first motor 111 to drive the rotation of its rotating shaft and the sliding of the sliding member 115, the cleaning robot can move more smoothly or remain stationary on a plane with a certain angle relative to the horizontal plane when cleaning photovoltaic panels or similar environments based on the relative movement of the friction member 116, thereby reducing the possibility of slipping or falling and improving the stability of the cleaning robot.

[0044] In one embodiment, if Figure 2 and Figure 3 As shown, the swing arm assembly 11 further includes a first fixing member 117 and at least one elastic member (not shown).

[0045] The other end of the output arm 114 passes through the sliding member 115 and is fixedly connected to one end of the first fixing member 117 .

[0046] One end of the elastic member is fixedly connected to the other end of the first fixing member 117 , and the other end of the elastic member is fixedly connected to the friction member 116 .

[0047] Specifically, the friction member 116 may be a rubber-coated component, or other component that can generate friction with the plane where the cleaning robot is located, which is not limited here.

[0048] When the friction member 116 is driven by the output arm 114 and contacts the plane where the cleaning robot is located, the elastic member can be compressed to increase the interaction force between the friction member 116 and the plane, thereby increasing the friction force and supporting force between the friction member 116 and the plane, so as to better assist the cleaning robot in moving, rotating or cleaning, and further improve the stability of the cleaning robot.

[0049] In one embodiment, if Figure 3 As shown, the sliding member 115 includes a sliding rail 1151 and a sliding block 1152 .

[0050] The slide rail 1151 is fixedly connected to the robot body 13 , and the track extension direction of the slide rail 1151 is parallel to the first direction.

[0051] The slider 1152 is slidably connected to the slide rail 1151 , and the other end of the output arm 114 passes through the slider 1152 and is fixedly connected to the friction member 116 .

[0052] Specifically, the sliding member 115 may further include a linear bearing, the axial direction of the linear bearing is parallel to the second direction D2, and the optical axis arranged on the other end of the output arm 114 passes through the linear bearing arranged on the sliding member 1152 and is fixedly connected to the friction member 116.

[0053] Based on the above method, when the output arm 114 moves with the movement of the slider 1152 on the slide rail 1151, the axial direction of the output arm 114 can always remain parallel to the second direction D2, that is, perpendicular to the horizontal plane, to play a limiting role.

[0054] Under the above-mentioned limiting action, when the friction part 116 contacts the plane where the cleaning robot is located, the friction part 116 can be made to move relative to the robot body 13 in the opposite direction of the first direction D1. Through the friction force and supporting force between the friction part 116 and the plane where the cleaning robot is located, the cleaning robot can be provided with corresponding force to assist the cleaning robot to move forward or rotate, thereby assisting the cleaning robot to move and clean, reducing the possibility of the cleaning robot slipping or falling, and improving the stability of the cleaning robot.

[0055] When the friction member 116 is separated from the plane where the cleaning robot is located, the friction member 116 is made to move relative to the robot body 13 along the first direction D1 , so that the friction member 116 is reset.

[0056] Based on the above manner, by making the friction member 116 and the cleaning robot cyclically perform the above relative motion steps, the stability of the cleaning robot can be effectively improved.

[0057] It should be noted that, in the above embodiments, the rotational connection between the arms may be a pin connection or other types of rotational connection, which is not limited here.

[0058] In one embodiment, see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the axial structure of an embodiment of the jacking assembly of the present application. Figure 5 Schematic diagram of the exploded structure of an embodiment of the jacking assembly of the present application. Figure 1 , Figure 4 and Figure 5 As shown, the cleaning robot further includes a lifting assembly 12 .

[0059] The lifting assembly 12 is disposed on the robot body 13 , and is used to lift the robot body 13 in a direction away from a plane where the robot body 13 is located.

[0060] Specifically, the direction away from the plane where the robot body 13 is located may specifically refer to the second direction D2.

[0061] The lifting component 12 can be fixedly connected to the robot body 13, and the bottom of the lifting component 12 can be close to or away from the plane where the robot body 13 is located, thereby realizing the displacement of the robot body 13 away from (lifting) or close to the plane where the robot body 13 is located. After the robot body 13 is lifted relative to the plane where the robot body 13 is located, the robot body 13 can also be rotated on the target plane relative to the lifting component 12, so that the robot body 13 can comprehensively clean the area around the lifting component 12, thereby improving the stability and cleaning reliability of the cleaning robot during cleaning.

[0062] Alternatively, if Figure 1 , Figure 4 and Figure 5 As shown, the lifting assembly 12 includes a second fixing member 121 , a second motor 122 , a gear member 123 , a gear member 124 and a base member 125 .

[0063] The second fixing member 121 is fixedly connected to the robot body 13 .

[0064] The rotating shaft of the second motor 122 passes through the second fixing member 121 and is fixedly connected to the gear member 123 .

[0065] The gear member 124 is provided with a rack (not shown) along the movement direction of the jacking movement, and the gear member 123 is meshed with the rack.

[0066] The base member 125 is fixedly connected to one end of the gear condition 124, and the end of the base member 125 facing away from the gear condition 124 is used to abut against the plane where the robot body 13 is located when the shaft of the second motor 122 rotates to make the gear condition 124 move relative to the robot body 13 in the direction of the plane where the robot body 13 is located, so as to move the robot body 13 in a direction away from the plane where the robot body 13 is located.

[0067] Specifically, the second fixing member 121 can be fixedly connected to the robot body 13 , and respectively connected to other components in the swing arm assembly 11 , to form a swing arm assembly 11 fixedly connected to the robot body 13 .

[0068] The rotating shaft of the second motor 122 passes through the second fixing member 121 and is fixedly connected to the gear member 123. The rotating shaft of the second motor 122 can pass through the hole on the second fixing member 121 and be fixedly connected to the gear member 123. When the second motor 122 drives its rotating shaft to rotate, the gear member 123 can rotate around the rotating shaft, and the direction of rotation of the gear member 123 is the same as the direction of rotation of the rotating shaft of the second motor 122.

[0069] The gear condition 124 is provided with a rack along the movement direction of the jacking movement. For example, a rack is provided along the second direction D2 at area A of the gear condition 124, and the gear member 123 is meshed with the rack. When the second fixing member 121 is fixedly connected to the robot body 13, if the rotating shaft passing through the second fixing member 121 is rotated, the gear condition 124 where the rack is located can move forward or backward relative to the robot body 13 in the second direction D2.

[0070] The base member 125 is fixedly connected to one end of the gear condition 124. When the gear condition 124 where the rack is located moves forward or backward relative to the robot body 13 in the second direction D2, if the base member 125 abuts against the plane where the robot body 13 is located, the robot body 13 can be lifted to move the robot body 13 in a direction away from the plane where the robot body 13 is located.

[0071] When the robot body 13 is lifted, the differential movement of the tires or wheel belts provided on the robot body 13 itself can also make the robot body 13 rotate relative to the location of the lifting component 12 to perform corresponding cleaning operations. Based on this method, the cleaning operation of rotating in situ is performed, and the direct differential movement for rotation without the lifting component 12 can also reduce the possibility of the cleaning robot being positionally offset due to rotation and thus affecting the cleaning effect, thereby improving the reliability of the cleaning robot.

[0072] Furthermore, if Figure 5 As shown, the lifting assembly 12 also includes at least one limit sensor module 126 .

[0073] The limit sensing modules 126 are fixedly connected to the second fixing members 121 , respectively. The limit sensing modules 126 are used to detect whether the gear member 124 reaches a corresponding preset position.

[0074] Specifically, on the second fixing member 121 , the other end of the rack member 124 is recorded as different preset positions according to the different positions to which the rack member 124 can move relative to the second fixing member 121 .

[0075] A corresponding limit sensor module 126 may be disposed at a preset position to detect whether the other end of the rack member 124 reaches the preset position through the limit sensor module 126 , so as to determine the relative position relationship between the limit sensor module 126 and the second fixing member 121 .

[0076] One of the preset positions can be used as a limit position. When it is detected that the other end of the gear condition 124 reaches the limit position, the other end of the gear condition 124 is controlled to stop moving in the direction beyond the limit position to achieve limit, thereby reducing the possibility of malfunction of the cleaning robot.

[0077] Furthermore, if Figure 5 As shown, the base member 125 includes a base 1251 , a base bearing 1252 and a limit stopper 1253 .

[0078] The base 1251 is rotatably connected to the base bearing 1252 , the base 1251 is fixedly connected to the limit stopper 1253 , and the gear member 124 passes through the base bearing 1252 and is fixedly connected to the limit stopper 1253 .

[0079] Specifically, one end of the gear condition 124 passes through the base bearing 1252 and is fixedly connected to the limit block plate 1253, and the base 1251 is fixedly connected to the limit block plate 1253. When the lifting component 12 lifts the robot body 13, the side of the base 1251 facing the plane where the robot body 13 is located can be used as the contact surface between the lifting component 12 and the plane where the robot body 13 is located, so that the area of ​​the contact surface is enlarged relative to the area of ​​the end face of one end of the gear condition 124, thereby further improving the firmness and stability of the lifting component 12 when lifting the robot body 13, reducing the possibility of position deviation of the cleaning robot during lifting and thus affecting the cleaning effect, and improving the reliability of the cleaning robot.

[0080] In addition, a dust cover may be provided on the side of the base bearing 1252 facing the second fixing member 121 , and the dust cover can prevent external pollutants from causing corrosion or other damage to the base bearing 1252 , thereby improving the reliability of the jacking assembly 12 .

[0081] Furthermore, if Figure 5 As shown, the lifting assembly 12 may also include a dust cover 127 and a dust cover base 128. The dust cover base 128 may be arranged on the bottom side of the second fixing member 121 and fixedly connected to the second fixing member 121, and the second fixing member 121, the gear member 123 and at least part of the gear member 124 may be arranged in the accommodating cavity jointly formed by the dust cover 127 and the dust cover base 128.

[0082] Based on the above approach, the possibility of the components in the accommodating cavity being corroded or otherwise damaged by external pollutants can be effectively reduced, thereby improving the reliability of the lifting assembly 12.

[0083] Furthermore, if Figure 5 As shown, the second fixing member 121 can be fixedly connected to an oil-free bushing 129 on one side facing the base member 125, and one end of the gear condition 124 passes through the oil-free bushing 129 and is fixedly connected to the base member 125, which can reduce the friction between the gear condition 124 and the second fixing member 121, thereby improving the reliability of the jacking assembly 12.

[0084] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0085] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0086] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0087] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (which can be a personal computer, server, network device or other system that can fetch instructions from the instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0088] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: Robot body; at least one swing arm assembly, at least one of the swing arm assemblies being disposed on the robot body; Wherein, the swing arm assembly comprises: First motor; An input arm, wherein the rotating shaft of the first motor passes through the robot body and is fixedly connected to one end of the input arm; An intermediate arm, one end of which is fixedly connected to the other end of the input arm; An output arm, one end of which is fixedly connected to the other end of the intermediate arm; A sliding member, the sliding member is slidably connected to the robot body, and the sliding member is used to perform relative sliding motion with the robot body in a first direction; wherein the first direction is parallel to the forward direction of the robot body; The other end of the output arm passes through the sliding member and is fixedly connected to the friction member. The first motor is used to drive the other end of the input arm to rotate around one end of the input arm. The friction member moves relative to the robot body during the rotation of the input arm.

2. The cleaning robot according to claim 1, characterized in that: The intermediate arm comprises: a first sub-arm, wherein the first end of the first sub-arm is one end of the intermediate arm, the second end of the first sub-arm is the other end of the intermediate arm, the first end of the first sub-arm is rotatably connected to the other end of the input arm, and the second end of the first sub-arm is rotatably connected to one end of the output arm; The second sub-arm, the third end of the first sub-arm is located between the first end of the first sub-arm and the second end of the first sub-arm, one end of the second sub-arm is rotatably connected to the robot body, and the other end of the second sub-arm is rotatably connected to the third end of the first sub-arm.

3. The cleaning robot according to claim 1 or 2, characterized in that: The swing arm assembly also includes: a first fixing member, wherein the other end of the output arm passes through the sliding member and is fixedly connected to one end of the first fixing member; At least one elastic member, one end of the elastic member is fixedly connected to the other end of the first fixing member, and the other end of the elastic member is fixedly connected to the friction member.

4. The cleaning robot according to claim 1 or 2, characterized in that: The sliding member comprises: A slide rail, the slide rail is fixedly connected to the robot body, and a track extension direction of the slide rail is parallel to the first direction; A slider is slidably connected to the slide rail, and the other end of the output arm passes through the slider and is fixedly connected to the friction member.

5. The cleaning robot according to claim 1 or 2, characterized in that: The friction member alternately performs a first relative motion and a second relative motion with the robot body during the rotation of the input arm; Among them, the first relative movement includes relative movement in the opposite direction of the forward direction, and the second relative movement includes relative movement in the forward direction, relative movement in a vertical direction and relative movement in the opposite direction of the vertical direction, and the vertical direction is respectively perpendicular to the forward direction and the axial direction of the rotating shaft.

6. The cleaning robot according to claim 1 or 2, characterized in that: The cleaning robot also includes: A lifting component is arranged on the robot body, and the lifting component is used to lift the robot body in a direction away from the plane where the robot body is located.

7. The cleaning robot according to claim 6, characterized in that: The lifting assembly comprises: a second fixing member, the second fixing member being fixedly connected to the robot body; Second motor; a gear member, wherein the rotating shaft of the second motor passes through the second fixing member and is fixedly connected to the gear member; A gear condition, wherein the gear condition is provided with a rack in the direction of movement along the jacking movement, and the gear member is meshed with the rack; A base member, wherein the base member is fixedly connected to one end of the gear condition, and the end of the base member facing away from the gear condition is used to abut against the plane where the robot body is located when the shaft of the second motor rotates to cause the gear condition to move relative to the robot body in the direction of the plane where the robot body is located, so as to move the robot body in a direction away from the plane where the robot body is located.

8. The cleaning robot according to claim 7, characterized in that: The lifting assembly also includes: At least one limit sensing module, each of which is fixedly connected to the second fixing member, and is used to detect whether the tooth condition reaches a corresponding preset position.

9. The cleaning robot according to claim 7, characterized in that: The base member comprises a base, a base bearing and a limit stopper; The base is rotatably connected to the base bearing, the base is fixedly connected to the limit stopper, and the gear condition passes through the base bearing and is fixedly connected to the limit stopper.

10. The cleaning robot according to claim 1 or 2, characterized in that: At least one of the swing arm assemblies includes at least two of the swing arm assemblies; At least two of the swing arm assemblies are respectively arranged on the left and right sides of the robot body.

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