Cleaning robot

Abstract

The invention relates to the technical field of robots, and provides a cleaning robot which comprises a robot body, a cleaning device, a collecting device and a lifting device, the cleaning device is arranged at the bottom of the robot body, and the cleaning device interferes with a to-be-cleaned surface to remove sundries on the to-be-cleaned surface; the collecting device is arranged in the robot body and comprises an inlet, and sundries removed from the to-be-cleaned surface by the cleaning device enter the collecting device through the inlet; the lifting device is rotatably arranged on the robot body and used for lifting the robot body; when the cleaning robot is lifted through the lifting device, the inlet is inclined upwards or perpendicular to the ground. The cleaning device and the collecting device which are arranged on the robot body can remove sundries on the surface to be cleaned, and the lifting device arranged on the robot body can lift the cleaning robot, so that the cleaning robot is convenient to carry.

Description

[0001] This case is a divisional case of application number 202011565416.X, application date 2020.12.25, and invention name Cleaning Robot. Technical Field

[0002] The present disclosure relates to the field of robotics, and in particular to a cleaning robot. Background Art

[0003] A cleaning robot is a robot that automatically cleans an area without the need for user intervention. When the cleaning robot is ready to work or has finished its work, it often requires the user to move it. Summary of the Invention

[0004] The present disclosure provides a cleaning robot to facilitate the transportation of the cleaning robot.

[0005] The present disclosure provides a cleaning robot, comprising:

[0006] Robot body;

[0007] The cleaning device is arranged at the bottom of the robot body, and removes debris from the surface to be cleaned by interfering with the surface to be cleaned;

[0008] A collecting device is disposed in the robot body and includes an inlet. Debris removed from the surface to be cleaned by the cleaning device enters the collecting device through the inlet.

[0009] A lifting device is rotatably provided on the robot body and is used to lift the robot body;

[0010] When the cleaning robot is lifted by the lifting device, the inlet is tilted upward or perpendicular to the ground.

[0011] In one embodiment of the present disclosure, the lifting device is provided at the top end of the robot body.

[0012] In one embodiment of the present disclosure, the lifting device is arranged in front of the collecting device according to the forward direction of the cleaning movement of the robot body.

[0013] In one embodiment of the present disclosure, the lifting device can rotate at a preset angle relative to the robot body, and the preset angle is an acute angle.

[0014] In one embodiment of the present disclosure, a limiting portion is provided on the robot body, and the limiting portion is used to come into limited contact with the lifting device to limit the rotation angle of the lifting device relative to the robot body.

[0015] In one embodiment of the present disclosure, the lifting device comprises:

[0016] Main body;

[0017] The connecting shaft is arranged on the main body and is rotatably arranged on the robot body.

[0018] In one embodiment of the present disclosure, the main body is an arc-shaped structure, and the connecting shafts are arranged in pairs, with the two connecting shafts in a pair being respectively arranged at both ends of the main body, so that the main body can be rotatably arranged relative to the robot body through the two connecting shafts.

[0019] In one embodiment of the present disclosure, the connecting shaft is arranged on a side of the main body facing the robot body, a slot is provided on the robot body, and the connecting shaft is rotatably arranged in the slot.

[0020] In one embodiment of the present disclosure, a hook and a limiting protrusion are provided on the robot body, and a slot is formed between the hook and the limiting protrusion.

[0021] In one embodiment of the present disclosure, the connecting shaft and the main body are an integrated structure.

[0022] In one embodiment of the present disclosure, the main body comprises:

[0023] a plate body, wherein the connecting shaft is arranged on the plate body;

[0024] The reinforcing ribs are arranged on a side of the plate facing the robot body.

[0025] In one embodiment of the present disclosure, there are multiple reinforcing ribs, and the multiple reinforcing ribs are staggered.

[0026] In one embodiment of the present disclosure, a receiving groove is provided on the robot body, and the pulling device can be rotated into the receiving groove.

[0027] In one embodiment of the present disclosure, the accommodating groove is adapted to the lifting device, so that when the lifting device is accommodated in the accommodating groove, the upper surface of the lifting device is higher than the end of the accommodating groove.

[0028] The cleaning robot of the disclosed embodiment can remove debris from the surface to be cleaned through the cleaning device and the collecting device provided on the robot body, while the lifting device provided on the robot body can lift the cleaning robot, thereby facilitating the transportation of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The various objects, features, and advantages of the present disclosure will become more apparent upon consideration of the following detailed description of preferred embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are merely illustrative illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout.

[0030] Figure 1is a schematic structural diagram of a cleaning robot according to an exemplary embodiment;

[0031] Figure 2 is a schematic cross-sectional structural diagram of a cleaning robot according to an exemplary embodiment;

[0032] Figure 3 is a schematic diagram showing a partial structure of a cleaning robot according to an exemplary embodiment;

[0033] Figure 4 is a schematic diagram showing the internal structure of a cleaning robot according to an exemplary embodiment;

[0034] Figure 5 is a schematic structural diagram showing a cleaning device of a cleaning robot from a first perspective according to an exemplary embodiment;

[0035] Figure 6 is a schematic structural diagram showing a cleaning device of a cleaning robot from a second perspective according to an exemplary embodiment;

[0036] Figure 7 is a first partial structural schematic diagram of a cleaning robot according to an exemplary embodiment;

[0037] Figure 8 is a second partial structural schematic diagram of a cleaning robot according to an exemplary embodiment;

[0038] Figure 9 1 is a third partial structural diagram of a cleaning robot according to an exemplary embodiment.

[0039] The following are the descriptions of the reference numerals:

[0040] 10. Robot body; 20. Lifting device; 21. Main body; 211. Plate; 212. Reinforcement rib; 22. Connecting shaft; 11. Accommodating groove; 12. Slot; 13. Hook; 14. Limiting protrusion; 15. First limiting part; 16. Second limiting part; 30. Collecting device; 31. Entrance; 40. Cleaning device; 50. Power assembly. DETAILED DESCRIPTION

[0041] Typical embodiments that embody the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various variations in different embodiments without departing from the scope of the present disclosure, and the description and drawings therein are essentially for illustrative purposes rather than for limiting the present disclosure.

[0042] In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of this disclosure and in which are shown by way of example different exemplary structures, systems and steps that may implement aspects of the present disclosure. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps may be used, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "above", "between", "within", etc. may be used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience only, such as according to the orientation of the examples in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present disclosure.

[0043] One embodiment of the present disclosure provides a cleaning robot. Figures 1 to 6 The cleaning robot includes a robot body 10, a cleaning device 40, a collecting device 30 and a lifting device 20.

[0044] The cleaning device 40 is provided at the bottom of the robot body 10 , and the cleaning device 40 removes debris from the surface to be cleaned by interfering with the surface to be cleaned;

[0045] The collecting device 30 is disposed in the robot body 10 , and the collecting device 30 includes an inlet 31 , and the debris removed from the surface to be cleaned by the cleaning device 40 enters the collecting device 30 through the inlet 31 ;

[0046] The lifting device 20 is rotatably provided on the robot body 10 for lifting the robot body 10 ; when the cleaning robot is lifted by the lifting device 20 , the inlet 31 is tilted upward or perpendicular to the ground.

[0047] The cleaning robot of one embodiment of the present disclosure can remove debris from the surface to be cleaned through the cleaning device 40 and the collecting device 30 provided on the robot body 10, and the lifting device 20 provided on the robot body 10 can lift the cleaning robot, thereby facilitating the transportation of the cleaning robot.

[0048] In one embodiment, Figure 2 As shown, the collecting device 30 includes a accommodating cavity, that is, the collecting device 30 can be a dust box. According to the movement direction of the cleaning robot, the entrance 31 of the collecting device 30 is located obliquely behind the cleaning device 40, so that the collecting device 30 can be pneumatically connected to the cleaning device 40, and the collecting device 30 can receive the debris removed from the surface to be cleaned by the cleaning device 40.

[0049] Further, if Figure 2As shown, the cleaning robot also includes a power assembly 50, which can be located behind the collection device 30. The collection device 30 is provided with a filter device, and the power assembly 50 is pneumatically connected to the collection device 30 through the filter device, thereby generating a negative pressure between the cleaning device 40, the collection device 30, and the power assembly 50, thereby sucking debris from the surface to be cleaned into the collection device 30 through the inlet 31. Optionally, the power assembly 50 can be a fan.

[0050] In one embodiment, the cleaning device 40 includes at least one of a sweeping unit and a mopping unit. The cleaning robot can be used to clean the floor or can also be used to clean glass or other surfaces, which is not limited here.

[0051] It should be noted that the user lifts the cleaning robot by grasping the lifting device 20. During normal lifting, the installation method of the lifting device 20 can ensure that the entrance 31 is tilted upward or perpendicular to the ground, that is, the entrance 31 will not tilt downward, thereby preventing debris in the collection device 30 from falling.

[0052] The fact that the entrance 31 is perpendicular to the ground can be understood as that the plane where the entrance 31 is located is perpendicular to the ground, that is, the entrance 31 will not be tilted.

[0053] In some embodiments, the cleaning robot has a center of gravity, and the cleaning robot is divided into two parts with the center of gravity as the center, that is, the cleaning robot is divided into two parts along the forward direction of the cleaning movement of the cleaning robot. The pulling device 20 can be set on the first part or the second part of the cleaning robot. When the cleaning robot is lifted by the pulling device 20, the cleaning robot will tilt. At this time, it is only necessary to ensure that the entrance 31 is tilted upward.

[0054] Alternatively, the lifting device 20 can be set at the center position of the first part and the second part of the cleaning robot, that is, when the cleaning robot is lifted by the lifting device 20, the cleaning robot will not tilt (forming a left-right balanced state), and the entrance 31 is perpendicular to the ground.

[0055] In one embodiment, Figure 1 and Figure 3 as well as Figure 4 As shown, the robot body 10 is provided with a receiving slot 11, into which the lifting device 20 can be rotated. When the lifting device 20 is in use, the lifting device 20 is rotated relative to the robot body 10, that is, at least a portion of the lifting device 20 is disengaged from the receiving slot 11, thereby enabling the user to grasp the lifting device 20. When the lifting device 20 is not in use, the lifting device 20 can be rotated relative to the robot body 10 into the receiving slot 11, that is, the lifting device 20 is stored in the receiving slot 11, thereby avoiding interference between the lifting device 20 and external structures within the cleaning space.

[0056] It should be noted that the rotation of the lifting device 20 relative to the robot body 10 can be manually driven. Alternatively, the cleaning robot may include a driving mechanism that is connected to the lifting device 20 to drive the lifting device 20 to rotate relative to the robot body 10. The driving mechanism can be a motor that is connected to the lifting device 20 to drive the lifting device 20 to rotate, or the driving mechanism can be an oil cylinder or an air cylinder that drives the lifting device 20 through the telescopic movement of the piston rod. The driving mechanism can be operated by a control unit to complete the rotation of the lifting device 20 out of the receiving tank 11 or into the receiving tank 11.

[0057] In one embodiment, the accommodating groove 11 is adapted to the pulling device 20 so that when the pulling device 20 is placed in the accommodating groove 11, the upper surface of the pulling device 20 is higher than the port of the accommodating groove 11, thereby making it convenient for the user to apply external force to the pulling device 20 to drive the pulling device 20 to rotate out of the accommodating groove 11.

[0058] In one embodiment, the receiving groove 11 is adapted to the lifting device 20 so that, when the lifting device 20 is accommodated in the receiving groove 11, the upper surface of the lifting device 20 is flush with the end of the receiving groove 11, or the upper surface of the lifting device 20 is lower than the end of the receiving groove 11. In this case, the lifting device 20 may be provided with a notch, through which the user contacts the lifting device 20 to apply external force to the lifting device 20. Alternatively, the lifting device 20 may be provided with a protrusion to facilitate the user applying external force to the lifting device 20 through the protrusion, and the protrusion may be a pull ring or other structure.

[0059] In one embodiment, the lifting device 20 can rotate at a preset angle relative to the robot body 10. The preset angle is an acute angle, so that the user can grasp the lifting device 20 conveniently, and the lifting device 20 will not shake left and right during the grasping process.

[0060] In one embodiment, a limiting portion is provided on the robot body 10, and the limiting portion is used to limit contact with the lifting device 20 to limit the rotation angle of the lifting device 20 relative to the robot body 10, that is, to ensure that the maximum angle that the lifting device 20 can rotate relative to the robot body 10 is an acute angle.

[0061] It should be noted that the limiting portion can be a protrusion, that is, after the lifting device 20 rotates to the maximum angle, the lifting device 20 contacts the protrusion to prevent further rotation of the lifting device 20. Alternatively, the limiting portion can be an elastic member, that is, the elastic member is compressed when the lifting device 20 rotates relative to the robot body 10.

[0062] In one embodiment, Figure 8As shown, the limiting portion includes a first limiting portion 15. After the lifting device 20 rotates a certain angle from the receiving groove 11, the lower end of the lifting device 20 contacts the first limiting portion 15, thereby restricting further rotation of the lifting device 20. The first limiting portion 15 can be a flat surface, that is, after it contacts the end of the lifting device 20, the lifting device 20 cannot rotate further.

[0063] In one embodiment, Figure 9 As shown, the limiting portion includes a second limiting portion 16. After the lifting device 20 rotates into the receiving groove 11, the upper end of the lifting device 20 contacts the second limiting portion 16, i.e., the lifting device 20 rotates into position. The second limiting portion 16 can be a flat surface, i.e., after it contacts the end of the lifting device 20, the lifting device 20 rotates into position.

[0064] In one embodiment, the lifting device 20 is disposed at the top of the robot body 10 , that is, the user cleans the robot from the top of the robot body 10 in advance.

[0065] In some embodiments, the lifting device 20 can be set on the side of the robot body 10, which facilitates the advancement of the cleaning robot and ensures that when the cleaning robot is lifted by the lifting device 20, the entrance 31 is tilted upward or perpendicular to the ground.

[0066] In one embodiment, after the lifting device 20 rotates relative to the robot body 10 by a preset angle, an angle is formed between the lifting device 20 and the robot body 10, and the direction of the entrance 31 facing away from the collecting device 30 is consistent with the direction of the opening of the angle, so that when the user tilts the robot body 10 to lift it, the debris in the collecting device 30 will not flow out from the entrance 31, that is, the entrance 31 is tilted upward.

[0067] Combine Figure 4 As shown, after the lifting device 20 has rotated to its maximum angle relative to the robot body 10, the angle formed between the lifting device 20 and the robot body 10 is facing leftward. The inlet 31 of the collection device 30 is located on the left side of the collection device 30, meaning that the inlet 31 also faces leftward. Because the angle between the lifting device 20 and the robot body 10 is acute and facing leftward, when a user grasps the lifting device 20, their fingers will insert from the right side of the lifting device 20 to the left side, thereby tightening their grip. Consequently, when the lifting device 20 is lifted, the inlet 31 faces upward, preventing debris from the collection device 30 from flowing out through the inlet 31.

[0068] In one embodiment, the collecting device 30 and the cleaning device 40 are arranged in sequence along the forward direction of the cleaning movement of the robot body 10 , that is, according to the forward direction of the cleaning movement of the robot body 10 , the pulling device 20 is arranged in front of the collecting device 30 .

[0069] Optionally, the lifting device 20 is located above the cleaning device 40 and on the side of the cleaning device 40 away from the collecting device 30, that is, along the forward direction of the cleaning movement of the robot body 10, the collecting device 30, the cleaning device 40 and the lifting device 20 are arranged in sequence, the cleaning device 40 is located at the lower part of the robot body 10, and the cleaning device 40 is located in the middle part of the robot body 10, and the lifting device 20 is located at the top of the robot body 10.

[0070] Specific, combined Figures 1 to 4 As shown, the robot body 10 can be divided into two parts, left and right, when viewed from the top, and the cleaning device 40 can be close to the left side of the robot body 10, and the collecting device 30 is located on the right side of the robot body 10. The left side of the robot body 10 is the head of the cleaning robot, that is, the extension direction of the right side of the robot body 10 to the left is the forward direction of the cleaning movement of the cleaning robot, and the lifting device 20 is located on the left side of the robot body 10. Therefore, when the user lifts the cleaning robot, under the action of gravity, the left side of the robot body 10 will automatically face upward, that is, the inlet 31 of the collecting device 30 will face upward, thereby ensuring that the debris in the collecting device 30 will not flow out of the inlet 31, and the user does not need to deliberately ensure the advance angle of the cleaning robot. From the perspective of facilitating the user's lifting, it is completely possible to avoid the inlet 31 facing downward.

[0071] In some embodiments, at least a portion of the lifting device 20 may be located directly above the cleaning device 40 .

[0072] In one embodiment, Figure 5 and Figure 6 As shown, the lifting device 20 includes a main body 21 and a connecting shaft 22. The connecting shaft 22 is disposed on the main body 21 and is rotatably mounted on the robot body 10. The main body 21 is used for grasping by the user, while the connecting shaft 22 ensures that the lifting device 20 can rotate reliably relative to the robot body 10.

[0073] It should be noted that the main body 21 can be a handle shape commonly seen in related technologies, and the connecting shaft 22 can be a protrusion or other structure, as long as it can be ensured that the connecting shaft 22 can be rotatably connected to the robot body 10.

[0074] In one embodiment, the main body 21 is an arc-shaped structure, and the connecting shafts 22 are arranged in pairs. The two pairs of connecting shafts 22 are respectively arranged at both ends of the main body 21, so that the main body 21 can be rotatably arranged relative to the robot body 10 through the two connecting shafts 22, thereby ensuring a reliable connection between the lifting device 20 and the robot body 10.

[0075] Specific, combined Figure 5 and Figure 6As shown, the main body 21 is an arc-shaped structure as a whole, and connecting shafts 22 are respectively connected to both ends of the main body 21, and both ends of the connecting shaft 22 are respectively inserted into the robot body 10, thereby realizing a reliable connection between the lifting device 20 and the robot body 10.

[0076] In one embodiment, Figure 5 As shown, the connecting shaft 22 is arranged on the side of the main body 21 facing the robot body 10, so that after the pulling device 20 is connected to the robot body 10, the connecting shaft 22 cannot be seen from the outside, that is, the main body 21 can effectively block the connecting shaft 22.

[0077] In one embodiment, Figure 7 As shown, the robot body 10 is provided with a slot 12, and the connecting shaft 22 is rotatably disposed in the slot 12. The connecting shaft 22 and the slot 12 form a mating relationship of protrusion and groove, which can ensure that the connecting shaft 22 will not be separated from the robot body 10 and can also ensure that the connecting shaft 22 can rotate relative to the robot body 10.

[0078] In some embodiments, the connecting shaft 22 is a cylindrical structure, and the slot 12 is an open slot. The connecting shaft 22 can be installed in the slot 12 through the opening, as shown in FIG. Figure 7 shown.

[0079] In one embodiment, Figure 7 As shown, the robot body 10 is provided with a hook 13 and a limiting protrusion 14. A slot 12 is formed between the hook 13 and the limiting protrusion 14. That is, the slot 12 has an opening for the connecting shaft 22 to be inserted into the slot 12. After the connecting shaft 22 is installed in the slot 12, the hook 13 and the limiting protrusion 14 respectively limit the connecting shaft 22 in two directions, preventing the connecting shaft 22 from falling out of the slot 12.

[0080] Furthermore, the connecting shaft 22 can deform slightly during insertion into the slot 12 and return to its original state after insertion, thereby preventing the connecting shaft 22 from being disengaged from the slot 12. Furthermore, the opening direction of the slot 12 is not aligned with the opening direction of the angle formed between the main body 21 and the robot body 10, thereby eliminating the risk of the lifting device 20 being disengaged from the slot 12 when the lifting device 20 is lifted.

[0081] In one embodiment, the connecting shaft 22 and the main body 21 are an integrated structure, which not only has a high molding efficiency but also has good structural strength.

[0082] In some embodiments, the connecting shaft 22 and the main body 21 can be two independent parts, and are fixedly connected after being independently formed.

[0083] In one embodiment, Figure 5 As shown, the main body 21 includes: a plate body 211, a connecting shaft 22 is arranged on the plate body 211; a reinforcing rib 212, and the reinforcing rib 212 is arranged on the side of the plate body 211 facing the robot body 10, that is, the reinforcing rib 212 will not be exposed, but can ensure that the plate body 211 has sufficient strength.

[0084] In one embodiment, there are multiple reinforcing ribs 212 , and the multiple reinforcing ribs 212 are staggered to ensure that the main body 21 has a higher strength.

[0085] In one embodiment, the cleaning robot is a sweeping robot or a window cleaning robot.

[0086] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and example embodiments are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0087] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: Robot body; A cleaning device, the cleaning device being disposed at the bottom of the robot body and removing debris from the surface to be cleaned by interfering with the surface to be cleaned; a collecting device, the collecting device being disposed in the robot body, the collecting device comprising an inlet, and the debris removed from the surface to be cleaned by the cleaning device entering the collecting device through the inlet; a lifting device, the lifting device being rotatably provided on the robot body and being used for lifting the robot body; Wherein, the pulling device is at least partially located directly above the cleaning device.

2. The cleaning robot according to claim 1, characterized in that: The cleaning robot further includes a first limiting portion, and a contact position between the first limiting portion and the lower end portion of the lifting device is a plane.

3. The cleaning robot according to claim 2, characterized in that: The cleaning robot further includes a second limiting portion, and a contact position between the second limiting portion and the upper end portion of the lifting device is a plane.

4. The cleaning robot according to claim 2, characterized in that: When the cleaning robot is lifted by the lifting device, the entrance is tilted upward or perpendicular to the ground.

5. The cleaning robot according to claim 1, characterized in that: According to the forward direction of the cleaning movement of the robot body, the pulling device is arranged in front of the collecting device.

6. The cleaning robot according to claim 1, characterized in that: After the lifting device rotates to a maximum angle relative to the robot body, an angle toward the front is formed between the lifting device and the robot body, and the angle is an acute angle.

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: The pulling device comprises: Main body; A connecting shaft is provided on the main body, and the main body rotates relative to the robot body through the connecting shaft.

8. The cleaning robot according to claim 7, characterized in that: The main body is an arc-shaped structure.

9. The cleaning robot according to claim 7, characterized in that: The connecting shaft is fixedly connected to the main body.

10. The cleaning robot according to claim 7, characterized in that: The main body comprises: a plate body, wherein the connecting shaft is arranged on the plate body; The reinforcing rib is arranged on a side of the plate facing the robot body.

11. The cleaning robot according to claim 10, characterized in that: There are multiple reinforcing ribs, and the multiple reinforcing ribs are staggered.

12. The cleaning robot according to any one of claims 1 to 6, characterized in that: The robot body is provided with a receiving groove, and the pulling device can be rotated into the receiving groove.

13. The cleaning robot according to claim 12, characterized in that: When the lifting device is accommodated in the receiving groove, the upper surface of the lifting device is higher than the end of the receiving groove; Alternatively, when the lifting device is accommodated in the receiving groove, the upper surface of the lifting device is flush with the end of the receiving groove; Alternatively, when the lifting device is accommodated in the accommodating groove, the upper surface of the lifting device is lower than the end of the accommodating groove.

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